The invention relates to the technical field of machinery, in particular to a parallel gantry rolling walking temporary supporting robot which comprises a robot body, a top plate supporting mechanism and a supporting posture adjusting mechanism. The robot body comprises a gantry frame mechanism, a crawler walking mechanism, a PU connecting pair, a URR connecting pair, a left ultrasonic distance sensor and a right ultrasonic distance sensor. The top plate supporting mechanism comprises a supporting frame, a crawler belt mechanism, a roller mechanism and an ultrasonic distance sensor, and the supporting frame is connected with the gantry frame mechanism through a PU connecting pair and a URR connecting pair; the support pose adjusting mechanism comprises an electric cylinder, a linear displacement sensor and a pressure sensor which are respectively connected with the gantry frame mechanism and the top plate support mechanism through universal joints; according to the temporary supporting robot, continuous, timely and stable supporting of a top plate under the complex geological condition can be achieved, surrounding rock can be supported in time, the empty top distance is reduced, and safety and high efficiency of tunneling operation are guaranteed.
本发明涉及机械技术领域,具体涉及一种并联龙门滚动行走临时支护机器人,包括机器人机体、顶板支护机构、支护位姿调节机构;所述机器人机体包括龙门框架机构、履带行走机构、PU联接副、URR联接副、左超声距离传感器和右超声距离传感器;所述顶板支护机构包括支护框架、履带机构、滚轮机构、超声距离传感器,支护框架通过PU联接副、URR联接副与龙门框架机构相连接;所述支护位姿调节机构包括电动缸、直线位移传感器、压力传感器,分别通过万向节与龙门框架机构和顶板支护机构相连接;本发明的临时支护机器人可以实现对复杂地质条件下顶板的连续、及时、稳定支护,能够及时对围岩进行支护,减小空顶距,保障了掘进作业的安全与高效。
Parallel gantry rolling walking temporary supporting robot
一种并联龙门滚动行走临时支护机器人
14.03.2023
Patent
Elektronische Ressource
Chinesisch
Europäisches Patentamt | 2024
|Europäisches Patentamt | 2024
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