CN113833462A - Protective layer mining robot - Google Patents
Protective layer mining robot Download PDFInfo
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- CN113833462A CN113833462A CN202111038672.8A CN202111038672A CN113833462A CN 113833462 A CN113833462 A CN 113833462A CN 202111038672 A CN202111038672 A CN 202111038672A CN 113833462 A CN113833462 A CN 113833462A
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- 238000005065 mining Methods 0.000 title claims abstract description 71
- 239000011241 protective layer Substances 0.000 title claims abstract description 42
- 239000003245 coal Substances 0.000 claims abstract description 60
- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 238000005520 cutting process Methods 0.000 claims abstract description 50
- 238000000034 method Methods 0.000 claims abstract description 21
- 230000005641 tunneling Effects 0.000 claims abstract description 15
- 239000000463 material Substances 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims description 20
- 239000003638 chemical reducing agent Substances 0.000 claims description 14
- 239000002184 metal Substances 0.000 claims description 8
- 230000036346 tooth eruption Effects 0.000 claims description 8
- 239000011435 rock Substances 0.000 claims description 6
- 238000009423 ventilation Methods 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000004378 air conditioning Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract 1
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 238000005553 drilling Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010009 beating Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/68—Machines for making slits combined with equipment for removing, e.g. by loading, material won by other means
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/06—Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate
- E21C25/08—Mountings for the rods or drums
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/06—Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate
- E21C25/10—Rods; Drums
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/52—Machines incorporating two or more of the slitting means according to groups E21C25/02, E21C25/06, E21C25/16, E21C25/20 and E21C25/22
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/56—Slitting by cutter cables or cutter chains or by tools drawn along the working face by cables or the like, in each case guided parallel to the face, e.g. by a conveyor or by a guide parallel to a conveyor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/02—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for cutting or breaking-down devices
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/08—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for adjusting parts of the machines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/08—Guiding the machine
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/20—General features of equipment for removal of chippings, e.g. for loading on conveyor
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Manipulator (AREA)
- Drilling And Exploitation, And Mining Machines And Methods (AREA)
Abstract
The invention discloses a protective layer mining robot, which comprises a vehicle body provided with a traveling mechanism, wherein the upper end of the vehicle body is rotatably connected with a supporting table through a rotary table, and the front end of the vehicle body is provided with a mechanical arm used for grabbing a material conveying mechanism; the supporting table is provided with a material conveying mechanism and a cutting mechanism, construction can be prolonged through the splicing mode of the material conveying mechanism, the mining height of the material conveying mechanism is not limited by the thickness of a coal bed any more, the cutting mechanism can control up-and-down swinging when guaranteeing high-efficiency coal breaking, and a tunneling head is further arranged on the cutting mechanism to cut protective layers with different thicknesses and can drill coal pillars on two sides under the driving of a horizontal oil cylinder, so that the coal pillars are mined in the pulling process of the cutting head.
Description
Technical Field
The invention relates to the field of protective layer mining, in particular to a protective layer mining robot.
Background
Coal seams in coal mines in China have complex occurrence and mining conditions, coal and gas outburst is one of main dynamic disasters of the coal mines, the threat to mine safety production is great, a method generally applied to regional prevention and control of coal and gas outburst accidents in China is protective layer mining, and the protective layer mining refers to that coal seams with small upper or lower dangerousness are selected to be mined in advance before coal seams with outburst dangerousness are mined. The primary purpose of the protective layer mining is pressure relief, and the protective layer mining technology is not mature in view of the effect of the pressure relief of the current protective layer mining. The left coal pillars can cause pressure relief blind areas when the protective layer is mined, so that the pressure relief is insufficient, and an efficient robot capable of mining the protective layer and the coal pillars is urgently needed; the previous mechanized mining modes of the protective layer are mainly divided into three types, namely mining by a roller coal mining machine, mining by a coal planer and mining by a drilling coal mining machine. They have different problems: firstly, the roller coal cutter has insufficient power and violent vibration of the machine body, and the service life of the roller coal cutter is shortened when the roller coal cutter meets faults and gangue inclusion; secondly, the coal plough has weak coal seam applicability, high power and higher mining thickness. Thirdly, the drilling and mining machine has small mining width at one time, the drilling tool has serious deflection during drilling and mining, and coal pillars can be left.
Disclosure of Invention
In view of the technical defects, the invention aims to provide a protective layer mining robot, a vehicle body of the protective layer mining robot can be placed in a roadway, the mining power of the protective layer mining robot is not limited by the thickness of a coal seam any more, a cutting mechanism can swing up and down while ensuring high-efficiency coal breaking so as to cut protective layers with different thicknesses, and the cutting mechanism mines coal pillars on two sides in the backing process so as to reduce pressure relief blind areas.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a protective layer mining robot which comprises a vehicle body provided with a traveling mechanism, wherein the upper end of the vehicle body is rotatably connected with a supporting table through a rotary table, and the front end of the vehicle body is provided with a mechanical arm; the rear end of the supporting platform is provided with a sliding seat capable of moving along the length direction of the supporting platform and a first power mechanism capable of controlling the sliding seat to move, and the front end of the supporting platform is provided with two cutting mechanisms capable of longitudinally moving in the width direction of the supporting platform;
the sliding seat is provided with two spiral conveying blades and a second power mechanism for controlling the spiral conveying blades to rotate, and the spiral conveying blades are formed by splicing a plurality of sections of conveying blades;
the cutting mechanism comprises a second shell fixed at the front end of the support table, the front end of the second shell is hinged with a third shell, the rear end of the third shell is hinged with the output end of an angle adjusting oil cylinder and is controlled to rotate by the angle adjusting oil cylinder, and the base of the angle adjusting oil cylinder is connected to the support table and can slide longitudinally;
the front end of the supporting table is provided with a horizontal oil cylinder, the output end of the horizontal oil cylinder is connected with a third shell and controls the third shell to move longitudinally, a driving wheel is arranged on the third shell and drives the third shell to rotate through a motor, the front end of the third shell is rotatably connected with a cross shaft, the driving wheel is in transmission connection with the cross shaft through a transmission chain, the end part of the cross shaft extending to the outer side is further provided with a tunneling head, and cutting teeth are arranged on the outer surfaces of the transmission chain, the cross shaft and the tunneling head.
Preferably, the first power mechanism comprises a hydraulic motor II fixed at two ends of the sliding seat, the output end of the hydraulic motor II is connected with a planetary reducer II, the output end of the planetary reducer II is connected with a gear, and racks meshed with the gear are arranged on two sides of the upper end of the supporting table.
Preferably, the second power mechanism comprises a hydraulic motor I fixed in the middle of the sliding seat, the output end of the hydraulic motor I is connected with a planetary reducer II, the output end of the planetary reducer II is connected with a spiral conveying blade, one end, far away from the sliding seat, of the spiral conveying blade is rotatably connected to a support plate, and the support plate is fixed on the support table.
Preferably, be equipped with the first casing that is used for covering two auger delivery blades on the brace table, first casing is formed by the concatenation of a plurality of sections casing detachable, first casing is kept away from the one end of slide and the detachable fixed connection of second casing at it, still be equipped with a plurality of brackets that are used for supporting the second casing on the brace table.
Preferably, the both sides of brace table still are equipped with the sheet metal component that is used for covering water pipe or oil pipe, the sheet metal component is formed by the detachable concatenation of a plurality of sections panel beating units.
Preferably, the helical conveying blades are opposite in rotation direction and opposite in rotation direction, and both are rotated to the middle of the support table.
Preferably, a plurality of cameras used for acquiring surrounding environment information are installed on the protective layer mining robot, and the cameras are connected with an external display.
Preferably, be equipped with ventilation system on the supporting seat, ventilation system includes two inlet air channel, and negative-pressure air fan and air compressor machine are connected respectively to one of them end of two inlet air channel, and two inlet air channel's the other end all is equipped with the air-out passageway, and the negative-pressure air fan import is equipped with the air cleaner, and two air-out passageways all are established at the brace table front end.
Preferably, the cutting head is fully provided with cutting teeth, the cutting teeth are provided with wireless hardness sensors capable of measuring hardness of a cutting object, the wireless hardness sensors are electrically connected with an external control device, and when the cutting head cuts rocks, the angle modulation oil cylinder drives the third shell and the cross shaft to reduce cutting height.
The invention also provides a use method of the protective layer mining robot, which comprises the following steps:
s1, the protective layer mining robot is transported to a working area, and the cutting mechanism is aligned to the perforated area to be mined;
s2, an operator controls the angle-adjusting oil cylinder to adjust the swing angle of the third shell to control the cutting height of the transverse shaft and the transmission chain by observing the real-time image transmitted by the camera so as to cut coal seams with different thicknesses;
s3, in the cutting process, controlling the material conveying mechanism to convey coal from the coal seam opening to the outside of the opening, simultaneously obtaining the hardness of the coal rock cut by the cutting pick through the wireless hardness sensor, and reducing the mining height to avoid cutting the roof once the hardness exceeds the limit;
s4, controlling the third shell, the cross shaft and the transmission chain to move in the width direction of the support table through the horizontal oil cylinder, driving the tunneling head to rotatably drill into the coal pillars on the two sides in the propelling process by the cross shaft, and mining the coal pillars on the two sides in the backing process by the cutting mechanism to reduce the pressure relief blind area in the protective layer mining process after the tunneling head reaches the limit positions on the two sides;
s5, after the mining of the external coal seam is finished, continuously extending the length of the spiral conveying blade in the conveying mechanism to mine coal towards the inside, and then repeating the steps S2-S4.
The invention has the beneficial effects that:
1) the protective layer mining robot has high adaptability, ensures high-efficiency coal breaking, controls the vertical swing of the transverse shaft and the transmission chain through the third shell by the angle adjusting oil cylinder in the device, and cuts protective layers with different thicknesses by using the cutting teeth on the transverse shaft and the transmission chain.
2) The protective layer mining robot can control the third shell, the transverse shaft and the transmission chain to move in the width direction of the support table through the horizontal oil cylinder, the main shaft drives the tunneling head to rotate and drive the tunneling head into the coal pillars on two sides in the moving process, the coal pillars on two sides are mined in the backing process, and pressure relief blind areas are reduced.
3) The protective layer mining robot is provided with the tunneling head on the transverse shaft, and the tunneling head can drill coal pillars on two sides under the driving of the horizontal oil cylinder, so that the coal pillars are mined in the pulling process of the cutting head.
4) The protective layer mining robot is not limited by the thickness of a coal seam like most coal mining machines in the prior art, the size of the whole machine of the existing coal mining machine cannot be too large, the installed power of a carried motor is low, and the placement position of a vehicle body is not limited in the application, so that the size of the vehicle body and the installed power of the motor are not limited, and the mining height is not limited by the thickness of the coal seam any more.
5) The protective layer mining robot provided by the invention realizes unmanned working face of mining work, provides good and safe working environment for workers, and meanwhile, the protective layer mining robot needs less operators for working, and can reduce labor cost.
6) The first shell and the second shell play a supporting role to a certain extent, so that the hole collapse phenomenon is prevented, and the two shells have a guiding function, so that the deflection phenomenon of the spiral conveying blade is prevented.
7) The first shell, the sheet metal part and the spiral conveying blade can be assembled quickly to extend the length, and can be assembled through the mechanical arm to realize the butt joint of the front device and the rear device quickly.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a protective layer mining robot provided in an embodiment of the invention;
fig. 2 is a schematic structural view (side view) of a protective layer mining robot provided in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a feeding mechanism and a cutting mechanism according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a cutting mechanism provided in an embodiment of the present invention;
fig. 5 is a schematic structural diagram (top view) of a cutting mechanism provided in an embodiment of the present invention;
fig. 6 is a schematic structural view (side view) of a cutting mechanism provided in an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a first power mechanism according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram (side view) of a first power mechanism according to an embodiment of the present invention.
Description of reference numerals:
1. a traveling mechanism, 2, a supporting table, 2-2, a material conveying mechanism, 2-3, a cutting mechanism, 2-1-1, a hydraulic motor I, 2-1-2, a sliding seat, 2-1-3, a planetary reducer I, 2-1-4, a rack, 2-1-6, a bracket, 2-1-7, a hydraulic motor II, 2-1-8, a planetary reducer II, 2-1-9, a gear, 2-2-2, a first shell, 2-3-1, a second shell, 2-3-2, a spiral conveying blade, 2-3-3, an angle adjusting oil cylinder, 2-3-4, a horizontal oil cylinder, 2-3-5, a transmission chain, 2-3-6 and a tunneling head, 2-3-7 parts of a transverse shaft, 2-3-8 parts of a tension wheel, 2-3-9 parts of a driving wheel, 2-3-10 parts of a motor, 2-3-12 parts of a protective cover, 2-3-13 parts of a third shell, 2-4-4 parts of an air inlet channel, 2-4-3 parts of an air compressor, 2-4-5 parts of a negative pressure fan, 2-4-6 parts of an air filter, 3 parts of a mechanical arm.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 8, a protective layer mining robot comprises a vehicle body provided with a traveling mechanism 1, wherein the upper end of the vehicle body is rotatably connected with a support platform 2 through a rotary table;
a material conveying mechanism 2-2 is arranged on the supporting platform 2, the material conveying mechanism 2-2 comprises a sliding seat 2-1-2 movably arranged on the supporting platform 2, and a first power mechanism for controlling the sliding seat 2-1-2 to move along the length direction of the sliding seat is also arranged on the supporting platform 2; the front end of the vehicle body is provided with a mechanical arm 3 for grabbing the material conveying mechanism;
the front end of the supporting platform 2 is also provided with two cutting mechanisms 2-3 which can move longitudinally in the width direction;
the sliding seat 2-1-2 is provided with two spiral conveying blades 2-3-2 and a second power mechanism for controlling the rotation of the spiral conveying blades 2-3-2, and the spiral conveying blades 2-3-2 are formed by splicing a plurality of conveying blades;
the cutting mechanism 2-3 comprises a second shell 2-3-1 fixed at the front end of the support platform 2, the front end of the second shell 2-3-1 is hinged with a third shell 2-3-13, the rear end of the third shell 2-3-13 is hinged with the output end of the angle adjusting oil cylinder 2-3-3 and is controlled to rotate by the angle adjusting oil cylinder 2-3-3, and the base of the angle adjusting oil cylinder 2-3-3 is connected to the support platform 2 and can slide longitudinally;
the front end of the supporting table 2 is provided with a horizontal oil cylinder 2-3-4, the output end of the horizontal oil cylinder 2-3-4 is connected with a third shell 2-3-13 and controls the third shell to move longitudinally, the third shell 2-3-13 is provided with a driving wheel 2-3-9 and drives the third shell to rotate through a motor 2-3-10, the front end of the third shell 2-3-13 is rotatably connected with a transverse shaft 2-3-7, the driving wheel 2-3-9 is in transmission connection with the transverse shaft 2-3-7 through a transmission chain 2-3-5, meanwhile, a tension pulley 2-3-8 is used for tensioning the transmission chain 2-3-5, and the end part of the transverse shaft 2-3-7 extending to the outer side is also provided with a tunneling head 2-3-6, cutting picks are arranged on the outer surfaces of the transmission chain 2-3-5, the transverse shaft 2-3-7 and the heading head 2-3-6.
The first power mechanism comprises hydraulic motors II 2-1-7 fixed at two ends of the sliding seat 2-1-2, the output ends of the hydraulic motors II 2-1-7 are connected with planetary speed reducers II 2-1-8, the output ends of the planetary speed reducers II 2-1-8 are connected with gears 2-1-9, and racks 2-1-4 meshed with the gears 2-1-9 are arranged on two sides of the upper end of the supporting platform 2.
The second power mechanism comprises a hydraulic motor I2-1-1 fixed in the middle of the sliding seat 2-1-2, the output end of the hydraulic motor I2-1-1 is connected with a planetary reducer II 2-1-8, the output end of the planetary reducer II 2-1-8 is connected with a spiral conveying blade 2-3-2, one end, far away from the sliding seat 2-1-2, of the spiral conveying blade 2-3-2 is rotatably connected to a support plate, and the support plate is fixed on the support table 2.
The supporting table 2 is provided with a first shell 2-2-2 used for covering two spiral conveying blades 2-3-2, the first shell 2-2-2 is formed by splicing a plurality of sections of shells in a detachable mode, one end, far away from the sliding seat 2-1, of the first shell 2-2-2 is fixedly connected with a second shell 2-3-1 in a detachable mode, and the supporting table 2 is further provided with a plurality of brackets 2-1-6 used for supporting the second shell 2-3-1.
The both sides of brace table 2 still are equipped with the sheet metal component that is used for covering water pipe or oil pipe, the sheet metal component is formed by the detachable concatenation of a plurality of sections panel beating units.
The two spiral conveying blades 2-3-2 are opposite in rotation direction and opposite in rotation direction, and both are rotated to the middle of the supporting platform 2.
The protective layer mining robot is provided with a plurality of cameras for acquiring surrounding environment information, and the cameras are connected with an external display.
The air-conditioning unit is characterized in that the supporting seat 2 is provided with a ventilation system, the ventilation system comprises two air inlet channels 2-4-4, one ends of the two air inlet channels 2-4-4 are respectively connected with the negative pressure fan 2-4-5 and the air compressor 2-4-3, the other ends of the two air inlet channels 2-4-4 are respectively provided with an air outlet channel, an inlet of the negative pressure fan 2-4-5 is provided with an air filter 2-4-6, and the two air outlet channels are respectively arranged at the front end of the supporting seat 2.
The cutting head 2-3 is fully provided with cutting teeth, a wireless hardness sensor capable of measuring hardness of a cutting object is arranged on the cutting teeth, the wireless hardness sensor is electrically connected with an external control device, and when the cutting head 2-3 cuts rocks, the angle adjusting oil cylinder 2-3-3 drives the third shell 2-3-13 and the transverse shaft 2-3-7 to reduce cutting height.
The horizontal oil cylinder 2-3-4 is externally embedded with a protective cover 2-3-12.
In the embodiment, a hydraulic motor I2-1-1, a hydraulic motor II 2-1-7, an angle-adjusting oil cylinder 2-3-3, a horizontal oil cylinder 2-3-4, a motor 2-3-10, an air compressor 2-4-3, a negative pressure fan 2-4-5 and a mechanical arm 3 are respectively connected with an external controller.
The embodiment also provides a use method of the protective layer mining robot, which comprises the following steps:
s1, the protective layer mining robot is transported to a working area, and the cutting mechanism is aligned to the perforated area to be mined;
s2, an operator controls the angle-adjusting oil cylinder 2-3-3 to adjust the swing angle of the third shell 2-3-13 by observing the real-time image transmitted by the camera to control the cutting height of the transverse shaft 2-3-7 and the transmission chain 2-3-5 so as to cut coal seams with different thicknesses;
s3, in the cutting process, controlling the material conveying mechanism 2-2 to convey coal from the coal seam hole to the outside of the hole, simultaneously obtaining the hardness of the coal rock cut by the cutting pick through the wireless hardness sensor, and reducing the mining height to avoid cutting the roof once the hardness exceeds the limit;
s4, controlling the third shell 2-3-13, the cross shaft 2-3-7 and the transmission chain 2-3-5 to move in the width direction of the support table 2 through the horizontal oil cylinder 2-3-4, driving the tunneling head 2-3-6 to rotationally drill into the coal pillars on the two sides in the propelling process by the cross shaft 2-3-7, and mining the coal pillars on the two sides in the backing process by the cutting mechanism 2-3 to reduce the pressure relief blind area in the protective layer mining process after the coal pillars on the two sides are mined in the backing process;
s5, continuously prolonging the length of the spiral conveying blade 2-3-2 in the conveying mechanism 2-2 to mine coal towards the inside after the mining of the external coal seam is finished, and then repeating the steps S2-S4.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A protective layer mining robot comprises a vehicle body provided with a traveling mechanism (1), wherein the upper end of the vehicle body is rotatably connected with a supporting table (2) through a rotary table, and the front end of the vehicle body is provided with a mechanical arm (3); the method is characterized in that: the rear end of the supporting platform (2) is provided with a sliding seat (2-1-2) capable of moving along the length direction of the supporting platform and a first power mechanism capable of controlling the sliding seat (2-1-2) to move, and the front end of the supporting platform (2) is provided with two cutting mechanisms (2-3) capable of longitudinally moving in the width direction of the supporting platform;
the sliding seat (2-1-2) is provided with two spiral conveying blades (2-3-2) and a second power mechanism for controlling the spiral conveying blades (2-3-2) to rotate, and the spiral conveying blades (2-3-2) are formed by splicing a plurality of conveying blades;
the cutting mechanism (2-3) comprises a second shell (2-3-1) fixed at the front end of the support table (2), the front end of the second shell (2-3-1) is hinged with a third shell (2-3-13), the rear end of the third shell (2-3-13) is hinged with the output end of the angle adjusting oil cylinder (2-3-3) and is controlled to rotate through the angle adjusting oil cylinder (2-3-3), and the base of the angle adjusting oil cylinder (2-3-3) is connected to the support table 2 and can slide longitudinally;
the front end of the supporting table (2) is provided with a horizontal oil cylinder (2-3-4), the output end of the horizontal oil cylinder (2-3-4) is connected with a third shell (2-3-13) and controls the third shell to move longitudinally, the third shell (2-3-13) is provided with a driving wheel (2-3-9) and drives the third shell to rotate through a motor (2-3-10), the front end of the third shell (2-3-13) is rotatably connected with a transverse shaft (2-3-7), the driving wheel (2-3-9) is in transmission connection with the transverse shaft (2-3-7) through a transmission chain (2-3-5), and the end part of the transverse shaft (2-3-7) extending to the outer side is also provided with a tunneling head (2-3-6), cutting picks are arranged on the outer surfaces of the transmission chain (2-3-5), the transverse shaft (2-3-7) and the tunneling head (2-3-6).
2. The cap mining robot of claim 1, wherein: the first power mechanism comprises hydraulic motors II (2-1-7) fixed at two ends of the sliding seat (2-1-2), the output ends of the hydraulic motors II (2-1-7) are connected with planetary speed reducers II (2-1-8), the output ends of the planetary speed reducers II (2-1-8) are connected with gears (2-1-9), and racks (2-1-4) meshed with the gears (2-1-9) are arranged on two sides of the upper end of the supporting platform (2).
3. The cap mining robot of claim 1, wherein: the second power mechanism comprises a hydraulic motor I (2-1-1) fixed in the middle of the sliding seat (2-1-2), the output end of the hydraulic motor I (2-1-1) is connected with a planetary reducer II (2-1-8), the output end of the planetary reducer II (2-1-8) is connected with a spiral conveying blade (2-3-2), one end, far away from the sliding seat (2-1-2), of the spiral conveying blade (2-3-2) is rotatably connected to a support plate, and the support plate is fixed on the support table (2).
4. The cap mining robot of claim 1, wherein: the supporting table (2) is provided with a first shell (2-2-2) used for covering two spiral conveying blades (2-3-2), the first shell (2-2-2) is formed by splicing a plurality of sections of shells in a detachable mode, one end, far away from the sliding seat (2-1), of the first shell (2-2-2) is detachably and fixedly connected with the second shell (2-3-1), and the supporting table (2) is further provided with a plurality of brackets (2-1-6) used for supporting the second shell (2-3-1).
5. The cap mining robot of claim 4, wherein: the two sides of the supporting table (2) are also provided with sheet metal parts used for covering the water pipe or the oil pipe, and the sheet metal parts are formed by detachably splicing a plurality of sections of sheet metal units.
6. The cap mining robot of claim 1, wherein: the two spiral conveying blades (2-3-2) are opposite in rotating direction and turning direction and both rotate to the middle of the supporting platform (2).
7. The cap mining robot of claim 1, wherein: the protective layer mining robot is provided with a plurality of cameras for acquiring surrounding environment information, and the cameras are connected with an external display.
8. The cap mining robot of claim 1, wherein: the air-conditioning unit is characterized in that a ventilation system is arranged on the supporting seat (2), the ventilation system comprises two air inlet channels (2-4-4), one ends of the two air inlet channels (2-4-4) are respectively connected with a negative pressure fan (2-4-5) and an air compressor (2-4-3), the other ends of the two air inlet channels (2-4-4) are respectively provided with an air outlet channel, an air filter (2-4-6) is arranged at the inlet of the negative pressure fan (2-4-5), and the two air outlet channels are arranged at the front end of the supporting table (2).
9. The cap mining robot of claim 1, wherein: cutting teeth are fully distributed on the cutting head (2-3), a wireless hardness sensor capable of measuring hardness of a cutting object is mounted on the cutting teeth, the wireless hardness sensor is electrically connected with an external control device, and when the cutting head (2-3) cuts rocks, the angle adjusting oil cylinder (2-3-3) drives the third shell (2-3-13) and the transverse shaft (2-3-7) to reduce cutting height.
10. A use method of a protective layer mining robot is characterized in that: the method specifically comprises the following steps:
s1, the protective layer mining robot is transported to a working area, and the cutting mechanism is aligned to the perforated area to be mined;
s2, an operator controls the angle-adjusting oil cylinder (2-3-3) to adjust the swing angle of the third shell (2-3-13) by observing the real-time image transmitted by the camera to control the cutting height of the transverse shaft (2-3-7) and the transmission chain (2-3-5) so as to cut coal seams with different thicknesses;
s3, in the cutting process, controlling the material conveying mechanism (2-2) to convey coal from the coal seam hole to the outside of the hole, simultaneously obtaining the hardness of the coal rock cut by the cutting pick through the wireless hardness sensor, and reducing the mining height to avoid cutting the roof once the hardness exceeds the limit;
s4, controlling the third shell (2-3-13), the cross shaft (2-3-7) and the transmission chain (2-3-5) to move in the width direction of the support table (2) through the horizontal oil cylinder (2-3-4), driving the tunneling head (2-3-6) to rotationally drill into the coal pillars on the two sides by the cross shaft (2-3-7) in the propelling process, and mining the coal pillars on the two sides by the cutting mechanism (2-3) in the backing process to reduce the pressure relief blind area in the protective layer mining process after the coal pillars on the two sides reach the limit positions on the two sides;
s5, continuously prolonging the length of the spiral conveying blade (2-3-2) in the conveying mechanism (2-2) to mine coal towards the inside after the mining of the external coal seam is finished, and then repeating the steps S2-S4.
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| CN202111038672.8A CN113833462B (en) | 2021-09-06 | 2021-09-06 | Protective layer exploitation robot |
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| CN116446872A (en) * | 2023-03-22 | 2023-07-18 | 山东元征行机械设备有限公司 | Multi-degree-of-freedom mineral exploitation device |
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