CN-121993234-A - Anchor protection net laying device and support system for coal mine

CN121993234ACN 121993234 ACN121993234 ACN 121993234ACN-121993234-A

Abstract

The invention provides an anchor protection net laying device and a support system for a coal mine, wherein the anchor protection net laying device for the coal mine comprises a frame, a rotary propelling beam, a support net laying assembly and a controller, and the frame is provided with a positioning center; the rotary propelling beam is rotatable around the locating center and is provided with an anchor hole drilling assembly, an anchoring agent filling assembly and an anchor rod installation assembly, the anchor hole drilling assembly, the anchoring agent filling assembly and the anchor rod installation assembly are sequentially arranged around the locating center, the support net laying assembly is arranged on the frame and comprises a multi-shaft mechanical arm and a mechanical gripper, and the mechanical gripper is used for grabbing and laying the support net to an area to be supported. The invention can realize full-automatic intelligent support in the coal mine, improve the safety of operation, reduce the cost and the labor intensity and improve the working efficiency.

Inventors

SHEN JINJIE
REN ZHIJIE
JIAO XIAOFENG
LIU JIE
QIU WEIJIAN
WU ZHUOHONG
LI JIE
WANG DIANWU
MA QIJIE
LV JISHUANG
KANG PENG
LAN HUIMIN
LIANG DAHAI
SANG SHENGYUAN
QIU BO

Assignees

山西天地煤机装备有限公司
中国煤炭科工集团太原研究院有限公司

Dates

Publication Date: 20260508
Application Date: 20260204

Claims (10)

1. An anchor screen laying device for a coal mine, comprising: The machine frame is provided with a positioning center; The rotary propelling beam can rotate around the locating center, the rotary propelling beam is provided with an anchor hole drilling assembly, an anchoring agent filling assembly and an anchor rod installation assembly, and the anchor hole drilling assembly, the anchoring agent filling assembly and the anchor rod installation assembly are sequentially arranged around the locating center; The support net laying assembly is arranged on the frame and comprises a multi-shaft mechanical arm and a mechanical gripper, and the mechanical gripper is used for grabbing and laying the support net to an area to be supported; the controller, anchor hole drilling subassembly, anchoring agent filling subassembly, stock installation component with the electric connection between the support net lays the subassembly, the controller is used for control first telescopic link the second telescopic link anchor hole drilling subassembly anchoring agent filling subassembly stock installation component with the support net lays the subassembly operation in order to realize the anchor rod support operation.
2. The anchor net laying device for coal mines according to claim 1, wherein an installation seat is arranged on the frame, the multi-shaft mechanical arm comprises a first rotating shaft, a telescopic arm and a first rotating seat, the first rotating shaft is connected between the installation seat and the telescopic arm, a second rotating shaft is connected between the first rotating seat and the telescopic arm, a third rotating shaft is arranged between the first rotating seat and the mechanical gripper, the first rotating shaft is parallel to the second rotating shaft, and the axis of the third rotating shaft is perpendicular to the axis of the second rotating shaft.
3. The anchor net laying device for coal mines according to claim 2, wherein the mechanical gripper comprises a fixing seat, a first swing rod, a second swing rod and a driver, the fixing seat is connected with the third rotating shaft, the fixing seat is provided with a supporting rod, the first swing rod and the second swing rod are rotatably arranged at two ends of the supporting rod, the first swing rod and the second swing rod are respectively provided with a claw, the claws are used for hooking a supporting net, and the driver is used for driving the first swing rod and the second swing rod to rotate relative to the supporting rod so as to drive the claws to move oppositely or reversely, so that the supporting net is fixed.
4. The anchor protection net laying device for coal mines according to claim 1, wherein the frame comprises a positioning shaft, a first telescopic rod, a second telescopic rod and a positioning center, the positioning shaft, the first telescopic rod and the positioning center are coaxially arranged, the positioning shaft and the positioning center are respectively located at two ends of the first telescopic rod, one end of the second telescopic rod is connected with the positioning shaft, the other end of the second telescopic rod is connected with the rotary propelling beam, and the second telescopic rod is used for driving the rotary propelling beam to move relative to the positioning shaft along the axial direction of the positioning shaft.
5. The anchor screen laying device for coal mines according to claim 4, further comprising a rotating assembly, wherein the rotating assembly comprises a third telescopic rod, one end of the third telescopic rod is connected with the rotary propelling beam, the other end of the third telescopic rod is connected with the frame, the third telescopic rod extends along the radial direction of the positioning shaft, and the third telescopic rod is used for driving the rotary propelling beam to rotate around the positioning center.
6. The anchor screen laying device for coal mines according to claim 4, wherein the frame further comprises a gooseneck bracket and a rod storage bin, the gooseneck bracket is connected with the positioning shaft, the rod storage bin comprises a rotating shaft, a chassis and a deflector rod disc, the rotating shaft is rotatably connected with the gooseneck bracket, the chassis and the deflector rod disc are sleeved on the rotating shaft, the chassis is used for bearing an anchor rod, a plurality of grooves are formed in the deflector rod disc at intervals, and the grooves are used for accommodating the anchor rod.
7. The anchoring net laying device for coal mines according to claim 6, wherein the rotary shaft comprises a first driver, the first driver comprises a fixed cylinder and a rotary rod which are coaxially arranged, the fixed cylinder is rotatable relative to the gooseneck bracket, the rotary rod is rotatable relative to the fixed cylinder, a locking assembly is arranged between the fixed cylinder and the gooseneck bracket and used for locking or unlocking the fixed cylinder and the gooseneck bracket so as to limit rotation of the fixed cylinder.
8. The mine anchor screen laying device of claim 7 wherein the locking assembly comprises a locking bracket fixedly connected to the fixed barrel and a first locking lever rotatably connected to the locking bracket, the locking bracket having a second locking lever opposite the first locking lever, the first locking lever being rotatable relative to the locking bracket to define a locking slot, the gooseneck bracket having a locking lever that mates with the locking slot.
9. The apparatus according to claim 6, wherein the anchor rod installation assembly comprises an anchor rod anchor box and an anchor rod gripper, the anchor rod anchor box is movable along the axial direction of the positioning shaft relative to the rotary pushing beam, the anchor rod gripper comprises a base, a clamping jaw and an elastic member, the base is arranged on the rotary pushing beam, the clamping jaw is rotatable relative to the base, and two ends of the elastic member are correspondingly connected with the base and the clamping jaw, and the clamping jaw is used for clamping an anchor rod on the anchor rod anchor box.
10. A coal mine roadway support system comprising the coal mine anchor screen laying apparatus of any one of claims 1 to 9.

Description

Anchor protection net laying device and support system for coal mine Technical Field The invention relates to the technical field of coal mining, in particular to an anchor protection net laying device and a supporting system for a coal mine. Background In the coal mine excavating operation, the anchor bolt support is a main mode of roadway support, and can effectively ensure production safety. The anchor bolt support usually needs to sequentially perform the steps of anchor hole drilling, anchor agent filling, anchor bolt installation and the like. However, most of these steps need to be accomplished separately by relying on multiple devices. In the use process of the equipment, the connection and conversion between different equipment needs to take a great deal of time to debug and reposition, so that the overall working efficiency is greatly reduced. Disclosure of Invention The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, the embodiment of the invention provides the anchor protection net laying device for the coal mine and the coal mine roadway support system, which can realize full-automatic intelligent underground coal mine support, improve the safety of operation, reduce the cost and the labor intensity and improve the working efficiency. The invention provides an anchor protection net laying device for a coal mine, comprising: The machine frame is provided with a positioning center; The rotary propelling beam can rotate around the locating center, the rotary propelling beam is provided with an anchor hole drilling assembly, an anchoring agent filling assembly and an anchor rod installation assembly, and the anchor hole drilling assembly, the anchoring agent filling assembly and the anchor rod installation assembly are sequentially arranged around the locating center; The support net laying assembly is arranged on the frame and comprises a multi-shaft mechanical arm and a mechanical gripper, and the mechanical gripper is used for grabbing and laying the support net to an area to be supported; the controller, anchor hole drilling subassembly, anchoring agent filling subassembly, stock installation component with the electric connection between the support net lays the subassembly, the controller is used for control first telescopic link the second telescopic link anchor hole drilling subassembly anchoring agent filling subassembly stock installation component with the support net lays the subassembly operation in order to realize the anchor rod support operation. In summary, the anchor protection net laying device for the coal mine provided by the invention realizes seamless connection and quick switching of three key processes of anchor hole drilling, anchor agent filling and anchor rod installation on equipment through the rotation design of the rotary pushing beam around the locating center, thereby remarkably improving the overall efficiency of supporting operation of the coal mine tunnel, reducing the frequency and intensity of manual intervention, and further reducing the operation time and labor cost. The support net laying assembly can also realize automation and mechanization of support net laying operation, improves laying quality and efficiency, also avoids potential safety hazards possibly existing in the manual laying process, and provides powerful guarantee for life safety of coal mine operators. And the controller can automatically control the components according to an operation algorithm stored in the controller, so that the full-flow automatic operation of the anchor bolt supporting operation is realized, the underground full-automatic intelligent supporting of the coal mine is realized, the safety of the operation is improved, the cost and the labor intensity are reduced, and the working efficiency is improved. In some embodiments, the frame is provided with a mounting seat, the multi-axis mechanical arm comprises a first rotating shaft, a telescopic arm and a first rotating seat, the first rotating shaft is connected between the mounting seat and the telescopic arm, a second rotating shaft is connected between the first rotating seat and the telescopic arm, a third rotating shaft is arranged between the first rotating seat and the mechanical gripper, the first rotating shaft is parallel to the second rotating shaft, and the axis of the third rotating shaft is perpendicular to the axis of the second rotating shaft. In some embodiments, the mechanical gripper comprises a fixing seat, a first swinging rod, a second swinging rod and a driver, wherein the fixing seat is connected with the third rotating shaft, the fixing seat is provided with a supporting rod, the first swinging rod and the second swinging rod are rotationally arranged at two ends of the supporting rod, the first swinging rod and the second swinging rod are respectively provided with a claw, the claws are used for hooking a supporting net, and the dr