Monorail anchoring and supporting cooperative machine for fully mechanized excavation face

Abstract

The present invention discloses electromechanical equipment integrating functions of anchor protection and supporting, 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 system. 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. Furthermore, the present invention has good turning and slope changing performance, and the transport efficiency of the equipment is high. In addition, an anchoring robot working platform has a buffering function, the anchoring is stable, and the operation efficiency is high.

What is claimed is: 
     
         1 . A monorail anchoring and supporting cooperative machine for a fully mechanized excavation face, comprising a suspension support system, a power system, an advanced support system, a subsidiary transport system and an anchoring robot system, wherein 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, and 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. 
     
     
         2 . The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to  claim 1 , wherein the suspension support system comprises 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. 
     
     
         3 . The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to  claim 1 , wherein the power system comprises a 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 comprises 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, and in order to facilitate the travelling control of the equipment, the motor is a frequency conversion integrated machine. 
     
     
         4 . The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to  claim 1 , wherein the advanced support system comprises 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; and 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. 
     
     
         5 . The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to  claim 1 , wherein the subsidiary transport system comprises 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 comprises an upper suspending beam, a hydraulic cylinder and a lower suspending beam; and the upper suspending beam is connected with the system main beam through a pin. 
     
     
         6 . The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to  claim 5 , wherein the chain wheel and chain transporting device comprises 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 comprises a bevel gear AA, a bevel gear BB, a servo motor AA and a motor cabinet; the carrying manipulator comprises 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. 
     
     
         7 . The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to  claim 1 , wherein the anchoring robot system comprises 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 comprises 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. 
     
     
         8 . The monorail anchoring and supporting cooperative machine for the fully mechanized excavation face according to  claim 7 , wherein the anchoring robot working platform comprises 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 comprises 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; and the propulsion motor drives the jumbolter to move in the jumbolter guide rail through the jumbolter driving chain.   
     
     
         9 . A monorail anchoring and supporting cooperative machine for a fully mechanized excavation face, wherein a working process comprises 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, wherein 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 the 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.