阅读说明：本技术 一种超高巷道智能化支护机器人 (Intelligent supporting robot for ultrahigh roadway ) 是由 李刚 闫飞 闫殿华 郑毅 张银星 李莉 谢学斌 王�琦 刘玉波 于 2021-10-14 设计创作，主要内容包括：本发明公开了一种超高巷道智能化支护机器人,所述超高巷道智能化支护机器人包括：行走组件、工作台、第一伸缩组件和第二伸缩组件,所述工作台设于行走组件的上方,工作台上设有作业区,所述第一伸缩组件的第一端与行走组件相连,第一伸缩组件的第二端与工作台相连,第一伸缩组件用于调节工作台与行走组件之间的距离,第二伸缩组件包括支护立柱和支撑板,支护立柱的第一端与工作台相连,支护立柱的第二端与支撑板相连,支护立柱用于调节支撑板与工作台之间的距离,钻架组件可拆卸地安装在工作台上,钻架组件用于对巷道顶板、煤帮进行锚杆锚索支护。本发明的超高巷道智能化支护机器人可以满足不同工况的使用需求,适用性较好。(The invention discloses an intelligent support robot for an ultrahigh roadway, which comprises: walking subassembly, workstation, first flexible subassembly and the flexible subassembly of second, walking subassembly's top is located to the workstation, is equipped with the operation district on the workstation, the first end of first flexible subassembly links to each other with walking subassembly, and the second end of first flexible subassembly links to each other with the workstation, and first flexible subassembly is used for adjusting the distance between workstation and the walking subassembly, and the flexible subassembly of second links to each other with the workstation including strutting stand and backup pad, and the first end of strutting the stand links to each other with the workstation, and the second end of strutting the stand links to each other with the backup pad, struts the stand and is used for adjusting the distance between backup pad and the workstation, and drill jig subassembly detachably installs on the workstation, and the drill jig subassembly is used for carrying out anchor bolt support to tunnel roof, coal group. The intelligent support robot for the ultrahigh roadway can meet the use requirements of different working conditions and is good in applicability.)

1. The utility model provides an intelligent robot that struts in superelevation tunnel which characterized in that includes:

a walking assembly;

the workbench is arranged above the walking assembly, and an operation area is arranged on the workbench;

the first end of the first telescopic assembly is connected with the walking assembly, the second end of the first telescopic assembly is connected with the workbench, and the first telescopic assembly is used for adjusting the distance between the workbench and the walking assembly;

the second telescopic assembly comprises a supporting stand column and a supporting plate, the first end of the supporting stand column is connected with the workbench, the second end of the supporting stand column is connected with the supporting plate, and the supporting stand column is used for adjusting the distance between the supporting plate and the workbench;

the drill frame assembly is detachably mounted on the workbench and used for carrying out anchor rod and anchor cable support on a roadway top plate and a coal side.

2. The intelligent support robot for the ultrahigh roadway according to claim 1, wherein the second telescopic assembly is pivotable between a first position and a second position, and in the first position, an included angle is formed between the axial direction of the support upright and the upper end face of the workbench, so that the support plate supports the roadway top plate.

3. The intelligent support robot for the ultrahigh roadway according to claim 2, wherein the second telescopic assembly further comprises a driving part, the driving part is connected with the workbench and the support upright, and the driving part is used for driving the support upright to rotate between the first position and the second position.

4. The intelligent support robot for the ultrahigh roadway according to claim 3, wherein an avoidance groove is formed in the workbench, and the second telescopic assembly is located in the avoidance groove in the second position.

5. The intelligent support robot for the ultrahigh roadway according to claim 4, further comprising a protection plate, wherein the protection plate is covered on the upper end of the avoidance groove.

6. The intelligent support robot for the ultrahigh roadway according to claim 1, wherein the number of the second telescopic assemblies is multiple, and the multiple second telescopic assemblies are arranged on the workbench at intervals.

7. The intelligent support robot for the ultrahigh roadway according to claim 1, wherein the first telescopic assembly comprises a telescopic upright column and a connecting rod component, a first end of the telescopic upright column is connected with the walking component, a second end of the telescopic upright column is connected with the workbench, a first end of the connecting rod component is connected with the walking component, and a second end of the connecting rod component is connected with the workbench.

8. The intelligent support robot for the ultrahigh roadway according to claim 7, wherein the number of the telescopic columns is multiple, the plurality of telescopic columns are arranged at intervals along the circumferential direction of the second end of the connecting rod part, the connecting rod part is pivotally connected with the workbench, and the connecting position of the connecting rod part and the workbench is located in the middle of the workbench.

9. The intelligent support robot for the ultrahigh roadway according to claim 1, further comprising a guard rail disposed on a peripheral edge of the working table, the guard rail being movable between an extended position in which the guard rail extends upward to enclose a protection area with an upper end surface of the working table and a folded position in which the guard rail is folded downward to enclose a covering area with a lower end surface of the working table.

10. The intelligent support robot for the ultrahigh roadway according to claim 1, wherein the drill frame assembly comprises a plurality of mounting bases, a plurality of drill frames and telescopic oil cylinders, the first ends of the mounting bases are detachably mounted on the workbench, the second ends of the mounting bases are connected with the plurality of drill frames, the telescopic oil cylinders are connected with the drill frames and the mounting bases, and the telescopic oil cylinders are used for driving the drill frames to move so as to adjust positions and angles of the drill frames.

Technical Field

The invention relates to the technical field of coal mining, in particular to an intelligent support robot for an ultrahigh roadway.

Background

Coal mining in China is mainly underground mining, a large number of roadways need to be excavated underground, smoothness of the roadways and stability of surrounding rocks are kept to have important significance on coal mine construction and production, geological conditions are increasingly complicated along with continuous improvement of mining depth, mining width and mining strength, and particularly, roadway supporting difficulty is increased due to the appearance of extra-large section roadways.

In the related art, coal mine roadway supports are subjected to wood buttress supports, brickwork supports, profile steel supports and single body supports to the anchor rod and anchor cable supports in the current mainstream. For a tunnel with an extra-large section, an ultrahigh tunnel top plate appears, and the conventional supporting equipment cannot support coal miners to complete anchor rod and anchor cable supporting work, so that the tunnel supporting efficiency is low and the safety is poor.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, the embodiment of the invention provides an intelligent support robot which can meet the use requirement of the anchor rod and anchor cable support of an ultrahigh roadway and has good applicability.

The intelligent support robot for the ultrahigh roadway comprises: a walking assembly; the workbench is arranged above the walking assembly, and an operation area is arranged on the workbench; the first end of the first telescopic assembly is connected with the walking assembly, the second end of the first telescopic assembly is connected with the workbench, and the first telescopic assembly is used for adjusting the distance between the workbench and the walking assembly; the second telescopic assembly comprises a supporting stand column and a supporting plate, the first end of the supporting stand column is connected with the workbench, the second end of the supporting stand column is connected with the supporting plate, and the supporting stand column is used for adjusting the distance between the supporting plate and the workbench; the drill frame assembly is detachably mounted on the workbench and used for carrying out anchor bolt and anchor cable support on the roadway roof.

According to the intelligent support robot for the ultrahigh roadway, disclosed by the embodiment of the invention, the support can be carried out according to the top plates with different roadway heights, when the top of the roadway is higher, the working table can be lifted through the first telescopic assembly, then the support upright column is used for adjusting the distance between the support plate and the working table, so that the support plate supports the top plate of the roadway, the working table is in an anchoring state at the moment, and then the drilling frame assembly is used for completing the anchor rod and anchor cable support operation on the top plate through telescopic action. When the top of the roadway is low, on one hand, the roadway can be directly supported through the workbench, so that the intelligent support robot for the ultrahigh roadway has a large contraction ratio, on the other hand, the first telescopic component is kept in a contraction state, the supporting plate of the second telescopic component is in contact with the top plate, in a space supported by the support stand column, the drill frame component on the workbench performs support operation as shown in the above, the use requirements of different working conditions are met, and the applicability is good.

In some embodiments, the second telescopic assembly is pivotable between a first position in which the axial direction of the support column is at an angle to the upper end face of the table so that the support plate supports the roof of the roadway, and a second position in which the axial direction of the support column is substantially parallel to the upper end face of the table so that the table supports the roof of the roadway.

In some embodiments, the second telescoping assembly further comprises a drive member coupled to the table and the support column, the drive member configured to drive the support column to rotate between the first position and the second position.

In some embodiments, an avoidance groove is formed in the workbench, and in the second position, the second telescopic assembly is located in the avoidance groove.

In some embodiments, the intelligent support robot for the ultra-high roadway further comprises a protection plate, and the protection plate is covered on the upper end of the avoidance groove.

In some embodiments, the number of the second telescopic assemblies is multiple, and the second telescopic assemblies are arranged on the workbench at intervals.

In some embodiments, the first telescopic assembly comprises a telescopic upright column and a connecting rod part, a first end of the telescopic upright column is connected with the walking assembly, a second end of the telescopic upright column is connected with the workbench, a first end of the connecting rod part is connected with the walking assembly, and a second end of the connecting rod part is connected with the workbench.

In some embodiments, the number of the telescopic columns is multiple, the plurality of telescopic columns are arranged at intervals along the circumferential direction of the second end of the connecting rod part, the connecting rod part is pivotally connected with the workbench, and the connecting position of the connecting rod part and the workbench is located in the middle of the workbench.

In some embodiments, the superelevation roadway intelligent support robot further comprises a guard rail, the guard rail is arranged on the peripheral edge of the workbench, and the guard rail is movable between an extended position and a folded position, in the extended position, the guard rail extends upwards to form a protective area with the upper end face of the workbench, and in the folded position, the guard rail folds downwards to form a covering area with the lower end face of the workbench.

In some embodiments, the drilling rig assembly comprises a plurality of mounting seats, a plurality of drilling rigs and telescopic oil cylinders, the first ends of the mounting seats are detachably mounted on the workbench, the second ends of the mounting seats are connected with the plurality of drilling rigs, the telescopic oil cylinders are connected with the drilling rigs and the mounting seats, and the telescopic oil cylinders are used for driving the drilling rigs to move so as to adjust the positions and angles of the drilling rigs.

Drawings

Fig. 1 is a schematic view of an intelligent support robot for an ultrahigh roadway in a first position according to an embodiment of the invention.

Fig. 2 is a schematic view of the intelligent support robot for the ultra-high roadway in the second position after the drill frame assembly is removed.

Fig. 3 is a top view of the intelligent support robot for the ultra-high roadway, after the drill frame assembly is removed, according to the embodiment of the invention.

Fig. 4 is a front view of the intelligent support robot for the ultrahigh roadway according to the embodiment of the invention.

Reference numerals:

1. a walking assembly; 11. a drive body; 12. a crawler belt;

2. a work table; 21. an avoidance groove; 22. a protection plate;

3. a first telescoping assembly; 31. a telescopic upright post; 32. a link member; 321. a rod body;

4. a second telescoping assembly; 41. supporting the upright column; 42. a support plate; 43. a drive member;

5. protecting the fence;

6. a telescopic ladder stand;

7. an electro-hydraulic control system;

8. a drill rig assembly; 81. a mounting seat; 82. a drill frame.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

The intelligent support robot for the ultrahigh roadway according to the embodiment of the invention is described below with reference to the drawings.

As shown in fig. 1 to 4, the intelligent support robot for an ultrahigh roadway according to the embodiment of the present invention includes: walking subassembly 1, workstation 2, first flexible subassembly 3, second flexible subassembly 4 and drill frame subassembly 8.

The work table 2 is provided with a work area so that an operator can perform construction work in the work area. The top of walking subassembly 1 is located to workstation 2, and the first end of first flexible subassembly 3 (as the lower extreme of first flexible subassembly 3 in fig. 1) links to each other with walking subassembly 1, and the second end of first flexible subassembly 3 (as the upper end of first flexible subassembly 3 in fig. 1) links to each other with workstation 2, and first flexible subassembly 3 is used for adjusting the distance between workstation 2 and the walking subassembly 1. The second telescopic assembly 4 comprises a support column 41 and a support plate 42, a first end (e.g. the lower end of the support column 41 in fig. 1) of the support column 41 is connected with the workbench 2, a second end (e.g. the upper end of the support column 41 in fig. 1) of the support column 41 is connected with the support plate 42, and the support column 41 is used for adjusting the distance between the support plate 42 and the workbench 2, for example, the support column 41 is hydraulically controlled to enable the length of the support column 41 to be adjustable. Drill frame subassembly 8 detachably installs on workstation 2, and drill frame subassembly 8 is used for carrying out stock anchor rope to the tunnel roof and struts.

It can be understood that, as shown in fig. 2, when the intelligent support robot for the ultra-high roadway is in the walking stage, the overall height dimension of the intelligent support robot for the ultra-high roadway is the shortest, that is, the distance between the workbench 2 and the walking assembly 1 is shrunk to the shortest, and the distance between the supporting plate 42 and the workbench 2 is shrunk to the shortest, for example, the distance between the supporting plate 42 and the workbench 2 is zero, so that the intelligent support robot for the ultra-high roadway can smoothly pass through the roadway.

When the work table 2 of robot is strutted in the intellectuality of superelevation tunnel promotes the stage, also can understand, when the top in tunnel is not too high, promote work table 2 through first flexible subassembly 3, and the distance of backup pad 42 and work table 2 is zero this moment to can support the roof in tunnel through work table 2. It can be understood that when the intelligent support robot for the ultrahigh roadway supports the top plate of the roadway through the workbench 2, the drill frame assembly 8 needs to be detached from the workbench 2, so as to avoid interference of the drill frame assembly 8 in the support of the workbench 2.

As shown in fig. 1, when the intelligent support robot for the ultra-high tunnel supports a high tunnel, the working platform 2 can be lifted by the first telescopic assembly 3, and the height of the supporting plate 42 is adjusted by the support upright 41, so that the overall height of the intelligent support robot for the ultra-high tunnel is increased to a maximum value, and a top plate of the high tunnel is supported.

According to the intelligent support robot for the ultrahigh roadway, the intelligent support robot for the ultrahigh roadway can support the roadway according to the top plates of the roadway with different heights, when the top of the roadway is higher, the workbench 2 can be lifted through the first telescopic assembly 3, then the support upright column 41 adjusts the distance between the support plate 42 and the workbench 2, so that the support plate 42 supports the top plate of the roadway, and the intelligent support robot for the ultrahigh roadway can support the higher roadway. When the top of the roadway is low, the roadway can be directly supported by the workbench 2, so that the intelligent support robot for the ultrahigh roadway has a large contraction ratio, the workbench 2 or the support plate 42 can be selectively switched according to the actual support height to support the top plate of the roadway, the use requirements of different working conditions are met, and the intelligent support robot for the ultrahigh roadway is good in applicability.

In addition, because the intelligent support robot for the ultrahigh roadway is provided with the drill frame assembly 8, anchor rod and anchor cable support can be carried out on the roadway roof through the drill frame assembly 8, the application range of the intelligent support robot for the ultrahigh roadway is further expanded, and the intelligent support robot for the ultrahigh roadway is good in practicability.

Alternatively, as shown in fig. 1 and 2, the boom assembly 8 includes a plurality of mounting seats 81, a boom 82 and a telescopic cylinder, the boom 82 is provided, a first end (e.g., a lower end of the mounting seat 81 in fig. 1) of the mounting seat 81 is detachably mounted on the work table 2, a second end (e.g., an upper end of the mounting seat 81 in fig. 1) of the mounting seat 81 is connected to the plurality of booms 82, and the telescopic cylinder is connected to the boom 82 and the mounting seat 81 and is used for driving the boom 82 to move so as to adjust the position and the angle of the boom 82. For example, after the ultra-high roadway intelligent support robot completes a temporary support state, an operator climbs the workbench 2 through the telescopic crawling ladder 6 and then performs operations such as anchor rod and anchor cable support on the workbench 2, so that the application range of the ultra-high roadway intelligent support robot is expanded, and the practicability is good.

In some embodiments, as shown in figures 1 and 2, the second telescopic assembly 4 is pivotable between a first position in which the axial direction of the support column 41 is at an angle to the upper end face of the table 2 so that the support plate 42 supports the roof of the roadway, and a second position in which the axial direction of the support column 41 is disposed substantially parallel to the upper end face of the table 2 so that the table 2 supports the roof of the roadway. For example, when the supporting column 41 is in the first position, the axial direction of the supporting column 41 is perpendicular to the upper end surface of the workbench 2, so that the intelligent supporting robot for the ultrahigh roadway has a larger supporting height. Of course, an included angle formed between the axial direction of the supporting upright column 41 and the plane where the workbench 2 is located can be set at any angle, so that the supporting requirements of working surfaces with different angles are met, and the application range of the intelligent supporting robot for the ultrahigh roadway is further expanded.

Specifically, as shown in fig. 1 to 3, the second telescopic assembly 4 further includes a driving part 43, the driving part 43 is connected to the working platform 2 and the supporting column 41, and the driving part 43 is configured to drive the supporting column 41 to rotate between the first position and the second position, so that the supporting column 41 moves between the first position and the second position, thereby further improving the automation degree of the intelligent supporting robot for the ultra-high tunnel.

For example, as shown in fig. 1 to 3, the driving member 43 is an oil cylinder, an air cylinder or an electric cylinder, one end of the driving member 43 is pivotally connected to the working platform 2, the second end of the driving member 43 is pivotally connected to the supporting upright 41, and in the second position, both the axial direction of the supporting upright 41 and the axial direction of the driving member 43 are substantially parallel to the upper end surface of the working platform 2, so that the structure of the intelligent supporting robot for the ultra-high tunnel is more reasonable.

Optionally, as shown in fig. 1 to 3, an avoiding groove 21 is formed on the working platform 2, and in the second position, the second telescopic assembly 4 is located in the avoiding groove 21. It can be understood that, when the supporting upright column 41 is located at the second position, the driving part 43 and the supporting upright column 41 are both located in the avoiding groove 21, and the heights of the driving part 43 and the supporting upright column 41 do not exceed the notch of the avoiding groove 21 at the moment, so that when the upper end surface of the workbench 2 of the intelligent supporting robot for the ultrahigh roadway is supported with the top plate of the roadway, the supporting upright column 41 and the driving part 43 can be prevented from causing interference, and the structure of the intelligent supporting robot for the ultrahigh roadway is more reasonable.

Preferably, as shown in fig. 1 to 3, a protection plate 22 is laid on the upper end of the work table 2, and the protection plate 22 is covered on the upper end of the escape slot 21, it being understood that the protection plate 22 is detachably connected to the work table 2, for example, the protection plate 22 is turnable with respect to the work table 2. When the second telescopic assembly 4 needs to be taken out, the protection plate 22 can be turned to open the avoidance groove 21, and after the second telescopic assembly 4 is taken out, the protection plate 22 can be turned to close the avoidance groove 21. According to the intelligent support robot for the ultrahigh roadway, the protection plate 22 is laid on the avoidance groove 21, so that the wear resistance of the workbench 2 can be improved, the service life of the workbench 2 is prolonged, an operator can conveniently work on the workbench 2, and the intelligent support robot for the ultrahigh roadway is good in practicability.

Optionally, as shown in fig. 1, a plurality of second telescopic assemblies 4 are provided, and the plurality of second telescopic assemblies 4 are arranged on the workbench 2 at intervals, in other words, a plurality of supporting columns 41 and supporting plates 42 are provided, the plurality of supporting columns 41 correspond to the plurality of supporting plates 42 one to one, and the plurality of supporting columns 41 are arranged on the workbench 2 at intervals. For example, the number of the supporting columns 41 and the number of the supporting plates 42 are four, the four supporting columns 41 correspond to the four supporting plates 42 one by one, and the four supporting columns 41 are arranged on the workbench 2 in an array, so that the working stability of the intelligent supporting robot for the ultra-high roadway can be improved.

In some embodiments, as shown in fig. 1 and 4, first telescoping assembly 3 includes a telescoping mast 31 and a linkage member 32, for example, telescoping mast 31 is hydraulically controlled to make its length adjustable. A first end of the telescopic column 31 (e.g., a lower end of the telescopic column 31 in fig. 1) is connected to the traveling unit 1, a second end of the telescopic column 31 (e.g., an upper end of the telescopic column 31 in fig. 1) is connected to the table 2, a first end of the link member 32 (e.g., a lower end of the link member 32 in fig. 1) is connected to the traveling unit 1, and a second end of the link member 32 (e.g., an upper end of the link member 32 in fig. 1) is connected to the table 2. For example, the connecting rod part 32 may be composed of a plurality of rod bodies 321, and two adjacent rod bodies 321 may rotate relatively, and the height of the working platform 2 is adjusted by the ultra-high roadway intelligent support robot according to the embodiment of the present invention through the telescopic upright column 31 and the connecting rod part 32, so that the stability of the ultra-high roadway intelligent support robot during supporting may be improved, and the reliability is good.

In some embodiments, as shown in fig. 1 and 4, the number of the telescopic columns 31 is multiple, and the plurality of telescopic columns 31 are arranged at intervals along the circumferential direction of the connection position of the connecting rod part 32 and the workbench 2, so that the connection strength between the telescopic columns 31 and the workbench 2 can be improved, and the stability of the intelligent support robot for the ultra-high roadway is high when the intelligent support robot is used.

Preferably, as shown in fig. 1 and 4, the link member 32 is pivotally connected to the workbench 2, and the connection position of the link member 32 and the workbench 2 is located in the middle of the workbench 2, so that the ultrahigh roadway intelligent support robot according to the embodiment of the present invention can support working surfaces with different angles by pivotally connecting the link member 32 to the workbench 2, and further, the application range of the ultrahigh roadway intelligent support robot is expanded. And because the connecting point of connecting rod part 32 and workstation 2 is located the middle part of workstation 2, stability when can further improve the intelligent support robot in ultrahigh tunnel and use.

In some embodiments, as shown in fig. 1 and 2, the ultrahigh roadway intelligent support robot further includes a guard rail 5, the guard rail 5 is disposed around the workbench 2, the guard rail 5 is movable between an extended position and a folded position, in the extended position, the guard rail 5 extends upward to enclose a protection area with the upper end surface of the workbench 2, and in the folded position, the guard rail 5 folds downward to enclose a protection area with the lower end surface of the workbench 2. In addition, as the guard rail 5 is folded downwards to form a covering area with the lower end face of the workbench 2 in an enclosing mode, the first telescopic component 3 and part of the walking components 1 can be covered through the guard rail 5 which is folded downwards, the probability that the first telescopic component 3 and the walking components 1 of the intelligent supporting robot for the ultrahigh roadway are impacted is reduced, the protection performance of the intelligent supporting robot for the ultrahigh roadway is improved to a certain extent, and the folding structure of the guard rail 5 fully utilized by the intelligent supporting robot for the ultrahigh roadway is high in practicability.

Further, as shown in fig. 1 to 4, the intelligent support robot for the ultra-high roadway further comprises a telescopic ladder stand 6, and the telescopic ladder stand 6 is connected with the workbench 2, so that an operator can climb onto the workbench 2 through the telescopic ladder stand 6, and convenience in use of the intelligent support robot for the ultra-high roadway is improved.

In some embodiments, as shown in fig. 1 to 4, the walking assembly 1 includes a driving body 11 and a crawler 12, the crawler 12 is disposed on the driving body 11, the driving body 11 is used for driving the crawler 12 to rotate, it can be understood that the intelligent support robot for the ultra-high roadway further includes an electro-hydraulic control system 7, the electro-hydraulic control system 7 controls a hydraulic motor in the driving body 11 to rotate so as to drive the crawler 12 to rotate, so that the intelligent support robot for the ultra-high roadway can realize actions such as going straight, turning or turning around, and the like, so that the intelligent support robot for the ultra-high roadway can adapt to a complex working environment, the application range of the intelligent support robot for the ultra-high roadway is expanded, and the reliability is high.

In some embodiments, as shown in fig. 1 to 4, the electro-hydraulic control system 7 further includes a three-dimensional laser scanning and video monitoring module, and the three-dimensional laser scanning and video monitoring module may perform real-time inspection on the position, the space state, or the device operation state of the support robot. In addition, the three-dimensional laser scanning and video monitoring module can also establish a working face three-dimensional geological model to identify the states of the coal rock and the coal bed, so that the electro-hydraulic control system 7 can correct the motion trail of the equipment in real time, the safe and reliable operation mode between the equipment is further ensured, and the capabilities of the support robot in fault diagnosis, mine pressure detection, posture control, remote control and the like are improved.

Furthermore, the electro-hydraulic control system 7 further comprises a supporting robot and surrounding rock intelligent coupling control module and a supporting robot gesture monitoring module. The supporting robot provided by the embodiment of the invention can intelligently monitor, analyze and judge the state information of the supporting robot and the surrounding rock through the modules, and automatically adjust the condition change of the surrounding rock by the supporting robot by using the electro-hydraulic control system 7 of the supporting robot, so that the intelligent degree of the supporting robot is improved.

Furthermore, the electro-hydraulic control system 7 further comprises a sound, emergency stop, frame locking and fault display module, and it can be understood that the fault display module can diagnose the self fault of the support robot and display and output the fault to the outside, so that an operator can conveniently control the support robot. Optionally, the electro-hydraulic control system 7 further has functions of sensing, wireless remote control, angle monitoring and the like, so that the application range of the support robot is expanded, and the intelligent degree of the support robot is improved.

Further, the electro-hydraulic control system 7 further comprises a locking module, and it can be understood that when the locking module detects that a person is close to a dangerous area, a signal instruction can be sent to the hydraulic support control system and the centralized control system, and then the running state of equipment is automatically locked, so that the safety of the support robot in the embodiment of the invention is improved.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.