Development of a Mechanism of Swing Phase Locomotive Supports

Abstract

The working environment in underground coal mines is dark, confined, dusty, generally hot, and includes dangerous and/or physically heavy work. Automation of underground coal mine activities would negate many of these problems. To progress the automation on longwall faces in an inclined seam, the authors have been developing Swing Phase Locomotive Mechanism as a self advancing support which has high adaptability to conditions of seams.
The mechanism and control system havebeen developed by using the experimental model WALKMINE-1 (WALKING Mechanism In Narrow Environment mark 1). WALKMINE-1 is composed of two frames which are connected by ten sub-jacks. Each frame has a base plate and an upper plate connected by two main jacks. Extension of the main jacks of both frames generates the force to press the roof and floor. During this phase, WALKMINE-1 is fixed. By releasing one of the frame's main jacks, the frame detaches from the roof and floor, and is supported by the sub-jacks. The locomotion of WALKMINE-1 is achieved by the alternate motions of the two frames. The swing phase frame is supported by thestance phase frame through sub jacks and it may move any direction with six degrees of freedom. The locomotion of WALKMINE-1 is multidirectional and has no relation to the direction of gravity.
The testing result shows that the Swing Phase Locomotion has been achieved by WALKMINE-1 with the developed control system. It could be an elemental technique for automation of the activities in underground work places.