Locomotive Mechanism for Underground Working Places ? Introduction

Working places in underground mines are formed by digging. The main feature of underground working places is that they are surrounded by rock. Digging through rock, which is main operation of mining, generates great reacting force. In many cases, supports are required to maintain a roof. Working places change their location with progress of mining operation. Therefore, for automate the work in such environment, a locomotive mechanism which can endure great reacting force, can support effectively the roof and floor, and has high moving performance in rough environment, might be required. In narrow underground environment which is surrounded by rock, it is possible to generate great fixing force by means of a jack which is set between the roof and floor or both side wall it is usual to apply a jack as anchor post for fixing machinery or reacting force. Self advancing supports widely used in long wall faces in coal mines could be said an example of locomotive mechanism with propping up fixing method. However it is difficult to say that ordinary self advancing supports have enough adaptability for various condition of the roof and floor. New locomotive method for underground working place 'Swing Phase Locomotion' is proposed. It is achieved by mechanism based on frame type support and synchronous control of jacks. Furthermore, to achieved high adaptability to various conditions of the roof and floor, another walking mechanism has been developed. The mechanism employs propping up jack as its legs.