Manipulator for removing hydraulic support of fully mechanized coal mining face

Abstract

The invention discloses a mechanical arm for removing a hydraulic support on a fully-mechanized coal mining face, and relates to the technical field of coal mine fully-mechanized coal mining equipment mounting and dismounting equipment. By means of the optimal design of the mechanical arm structure, the mechanical arm can be suitable for a lower space under a frame, the overall structural strength of the mechanical arm can be remarkably improved, and the applicability of the mechanical arm is improved. The hydraulic support withdrawing mechanical arm comprises a base, a lifting oil cylinder, an overturning base, a swing oil cylinder and a telescopic arm. The turnover base is connected to the base and located on the front side of the base, the two ends of the lifting oil cylinder are hinged to the base and the turnover base respectively, the lifting oil cylinder is located on the rear side of the turnover base, the turnover base is driven by the lifting oil cylinder to turn over, and the telescopic arm is driven by the swing oil cylinder to swing left and right. Under the same traction force, the boundary dimension of the device is reduced, especially the height is greatly reduced, the exquisite structure can achieve larger traction force, and the applicable support type range is wider.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine fully mechanized mining equipment installation and removal equipment, in particular to a hydraulic support withdrawal manipulator and a one-step pushing structure. Background Art

[0002] In the traditional process of removing hydraulic supports from fully mechanized mining working faces, a winch with a pulley is commonly used to pull the support from its installation location and adjust its direction. The support is then pulled along the floor by the winch, or transported to a nearby flatbed truck or rail car, or hoisted out of the cut eye by a monorail. This method of removing hydraulic supports relies on the winch and is prone to the risk of winch wire rope breakage, resulting in significant safety hazards and low removal efficiency. In response to this, the prior art proposes using a hydraulic support removal manipulator to remove hydraulic supports from fully mechanized mining working faces. For example, the Chinese invention patent entitled "Coal Mine Fully Mechanized Mining Hydraulic Support Removal Manipulator" with application number "2013101931241" published on February 15, 2017, describes a structural design in which the manipulator is connected and fixed to the shield support via a crossbeam and its sliding shoes. The manipulator base is bolted to the crossbeam. During operation, the lifting cylinder extends upward, and the swing cylinder moves left and right to extract the support from its installation location. The withdrawn hydraulic support is adjusted by the extension and retraction of the inner arm, and the hydraulic support is removed after the adjustment is completed. However, in this case, the manipulator base and crossbeam are fixed together via bolts. When the manipulator is operating, the bolts are subjected to significant shear forces, making them susceptible to breakage. Secondly, the manipulator's lifting cylinder is located below the front of the outer arm. Under the same pulling force, the structure is tall and suitable for a narrow range of bracket models. Furthermore, the manipulator uses a swing seat to swing the outer arm, making the hinge between the outer arm and the swing seat susceptible to deformation and tearing. Furthermore, in terms of operation, the manipulator base and crossbeam do not have space for silt to accumulate. Although a sliding shoe device is installed when the manipulator and the protective bracket move forward, silt can still easily accumulate in front of them, requiring manual clearing of the silt before normal movement. During self-movement of the crossbeam, its self-movement step distance depends on the stroke of the protective bracket's push cylinder, requiring repeated support for step-by-step self-movement. This poses the problem of repeated damage to the roof. In other words, increasing roof pressure can easily compress the protective bracket, hindering its forward movement, and the self-movement speed is slow.

[0003] Another example is the Chinese utility model patent entitled "Hydraulic Support Retraction Tractor for Coal Mines" with application number "2010105191558," published on July 25, 2012. Similarly, the telescopic cylinder can swing up and down under the action of the lifting cylinder, or swing left and right under the action of the swinging cylinder. The telescopic cylinder itself can perform telescopic movements, ultimately achieving functions such as lifting and swinging to complete the lateral, longitudinal, and steering movements of the towed object; the telescopic cylinder can be raised and lowered, rotated left and right, and extended and retracted to withdraw and adjust the direction of the hydraulic support, and transport it over short distances. However, the telescopic cylinder, swinging cylinder, and other actuating mechanisms in this case are connected and fixed to the horizontally arranged frame of the crawler tractor, using independent power crawler traction, resulting in low climbing ability, low frame withdrawal force, high cost, and complex structure.

[0004] For example, as shown in the Chinese utility model patent entitled "A Coal Mine Comprehensive Mining Equipment Retraction Robot" and application number "202021042474.X" published on January 12, 2021, the beam and base in this case are split structures, and the beam and base are designed to be closed. When moving by themselves, materials are easily piled up in front of them; secondly, this technology uses a centralized Hooker hinge unit to connect and fix the base and the telescopic arm. When the telescopic arm swings left and right, the lifting cylinder connected to the base and the telescopic arm must be extended synchronously. This design requires synchronous and coordinated swinging and lifting, and there are defects such as unsmooth movement of the telescopic arm and poor coordination of movements; in addition, the connecting frame, swinging hydraulic telescopic cylinder, hydraulic telescopic arm, etc. are all connected and fixed on the base. Under the same pulling force, the fuselage height of this structure is large, and the height of the base structure is applicable to a wider range of bracket frame heights; the two swinging hydraulic telescopic cylinder barrels of this technology are connected to the moving platform, the piston rod is connected to the rotating frame, and the tail of the cylinder barrel faces outward, occupying the withdrawal space of the bracket to be withdrawn, which is easy to interfere with the bracket to be withdrawn.

[0005] Therefore, how to optimize the existing structure to reduce the height of the equipment, reduce the size of the equipment, enhance its connection stability, and increase the self-moving stroke has become a technical problem that needs to be urgently solved by those skilled in the art. Summary of the Invention

[0006] In response to the above problems, the present invention proposes a hydraulic support removal robot. Through the optimized design of the robot structure, it can not only be used in a lower space under the rack, but also significantly improve its overall structural strength and enhance its applicability.

[0007] The technical solution of the present invention is as follows: the hydraulic support withdrawal manipulator 1 includes a base 2, a lifting cylinder 3, a turning seat 4, a swing cylinder 5 and a telescopic arm 6; The flip seat 4 is connected to the base 2, and the flip seat 4 is located on the front side of the base 2. The two ends of the lifting cylinder 3 are respectively hinged on the base 2 and the flip seat 4, and the lifting cylinder 3 is located on the rear side of the flip seat 4. The flip seat 4 is driven by the lifting cylinder 3 to flip; the hinge point of the lifting cylinder 3 and the base 2 is higher than the hinge point of the lifting cylinder 3 and the flip seat 4; The root of the telescopic arm 6 is rotatably connected to the turning seat 4 , and both ends of the swing cylinder 5 are hinged to the telescopic arm 6 and the turning seat 4 respectively, and the swing cylinder 5 drives the telescopic arm 6 to swing left and right.

[0008] In this way, through the redesigned flip seat and the rear-placed design of the base and lifting cylinder, the overall height of the manipulator can be significantly reduced and the stress condition of the base can be improved, so that this case can not only be suitable for smaller workspaces, but also effectively ensure its overall structural strength while ensuring the same traction force.

[0009] The base 2 includes a base body 21 and a bottom base body 22 which are processed into one piece.

[0010] In this case, the integrated base and the overall height of the manipulator are lowered, and the stress condition of the base is improved, which can effectively solve the problem of easy breakage of the fuselage and beam fixed with bolts or pins in the existing technology, thereby improving the strength of the fuselage.

[0011] Furthermore, the front side of the flip seat 4 is provided with a swing hole arranged in the Z direction, and the middle part of the rear side is provided with a flip hole arranged in the Y direction. The flip seat in this case is the core connecting component of this case. Its front side is connected to the telescopic arm and its rear side is connected to the base. It can better serve the purpose of transfer connection and can better utilize the rear position of the base and lifting cylinder to achieve the purpose of lowering the overall height of the manipulator and improving the stress condition of the base.

[0012] Furthermore, a flip hole arranged along the Y direction is opened on the rear side of the flip seat 4, and a mounting hole along the Y direction is reserved at the front of the base 2. The flip seat 4 is connected to the base 2 by a flip axis passing through the flip hole and the mounting hole in the Y direction. A lower ear plate 40 is provided at the lower portion of the rear side of the flip seat 4 , the front end of the lifting cylinder 3 is hinged to the lower ear plate 40 , the rear end of the lifting cylinder 3 is hinged to the base 2 , and the rear end of the lifting cylinder 3 is higher than the front end.

[0013] Furthermore, a swing hole arranged along the Z direction is opened at the front of the flip seat 4, and a Z direction mounting hole is provided at the root of the telescopic arm 6. The telescopic arm 6 is connected to the flip seat 4 by a swing shaft passing through the swing hole and the Z direction mounting hole. There are two swing cylinders 5, which are respectively arranged on the left and right sides of the telescopic arm 6. Side ear plates 60 are fixedly installed on the left and right side surfaces of the telescopic arm 6. The front end of the swing cylinder 5 is hinged to the side ear plate 60, and the ear axis of the swing cylinder 5 is hinged to the flip seat 4.

[0014] Furthermore, the telescopic arm 6 includes an outer arm 61, an inner arm 62 and a telescopic cylinder 63. The outer arm 61 is connected to the flip seat 4 and the swing cylinder 5. The inner arm 62 is installed in the outer arm 61. The two ends of the telescopic cylinder 63 are respectively hinged to the inner arm 62 and the outer arm 61.

[0015] On the basis of the hydraulic support withdrawal manipulator, the one-step pushing mechanism can be connected to at least two shielding supports 7; The one-step pushing mechanism 11 includes a pushing outer cylinder 111 and a pushing inner cylinder 112. The pushing outer cylinder 111 is installed at the bottom of the base 2. The pushing inner cylinder 112 is connected to the pushing outer cylinder 111 through a pushing cylinder, and the pushing inner cylinder 112 is connected to the pushing head at the bottom of the shielding bracket 7.

[0016] In this way, the one-step pushing mechanism 11 can be used in conjunction with the shield support push cylinder stroke to effectively increase the single self-movement distance of the shield support each time the shield support moves, so that each time the shield support moves, it can move forward by at least one frame width, thereby realizing the one-step pushing of the shield support.

[0017] The one-step push mechanism 11 comprises two sets of outer push cylinders 111 and inner push cylinders 112. The inner push cylinders 112 are arranged within the outer push cylinders 111 and connected to the push-slide head at the bottom of the shield support 7. In this way, the hydraulic support removal manipulator and the shield support move a distance equal to the shield support 7 push cylinder stroke plus the internal push cylinder stroke of the push mechanism 11, that is, at least one shield width, achieving the one-step removal.

[0018] The front end of the outer push cylinder 111 is also equipped with a pressure roller 113, with both ends of the pressure roller 113 connected to the front end of the outer push cylinder 111. This, on the one hand, replaces the traditional sliding shoe with the pressure roller. Due to the weight of the equipment, when the base plate is uneven, the rotating pressure roller can partially solve the problem of material accumulation in front when removing the manipulator and moving the shield forward. On the other hand, by extending the outer push cylinder forward and installing the pressure roller, the overall load of the structure is significantly optimized, preventing the manipulator from falling due to excessive load.

[0019] In addition, if the number of working surface shielding brackets 7 is increased, it is only necessary to lengthen the bottom base body 22 on the base 2, and this lengthened section is connected by a pin shaft.

[0020] Compared to traditional manipulators, this design significantly reduces the overall height of the manipulator by redesigning the flip base and repositioning the base and lifting cylinders (both are designed to be located behind the flip base). This reduces the force arm acting on the base, making this design suitable for smaller workspaces while also ensuring traction and overall structural strength. Specifically, the overall height of the equipment in this design can be controlled within 1300mm. Under the same traction, it can accommodate the removal of smaller hydraulic supports and smaller spaces under the rack. In addition, this structure has higher overall strength and a more reasonable overall layout. Within the same equipment structure size, it can remove 10-55 ton hydraulic supports, making it suitable for a wider range of hydraulic supports.

[0021] Based on the manipulator, this proposal also proposes a one-step push mechanism. This mechanism utilizes the push cylinder to indirectly extend the travel of the push cylinder, effectively increasing the shield's displacement with each self-movement. This allows the shield to move forward at least a frame width with each self-movement, achieving one-step push of the shield. Furthermore, by extending the push cylinder forward and installing a pressure roller within the one-step push mechanism, it effectively prevents gnawing caused by uneven road surfaces and nodding caused by the manipulator's overload.

[0022] The beneficial effects of the present invention are: 1. The integrated base design of the present invention solves the problem of easy breakage when the fuselage and beam are fixed with bolts or pins, thereby improving the strength of the fuselage; Second, the connection method between the base and the telescopic arm in the present invention is that a hole is opened in the middle of the flip seat, and the telescopic arm is fixed to the bolt shaft, which solves the requirement of interchangeability between the front and back working surfaces and improves applicability; 3. The telescopic arm lifting cylinder of the present invention is rear-mounted, which reduces the overall height of the equipment and moves the center of gravity of the equipment backward, reducing the front bottom drilling during self-movement; Fourth, the present invention optimizes the structure of the hinge point between the end of the telescopic arm and the tilting seat to solve the problem of easy deformation and tearing of the hinge point at the end of the telescopic arm. The force bearing point of the swing cylinder is moved forward to both sides of the outer arm. Under the same outer arm size, the traction force of the present invention structure is greater. Fifth, the present invention further adds a one-step self-moving mechanism to solve the problem that traditional removal manipulators and shielding brackets must move themselves in multiple alternating steps. The one-step self-moving mechanism of this case can move the relevant equipment into place in one step, solving the problem of shielding brackets repeatedly damaging the roof. 6. The invention adds a roller pressing mechanism at the front end, which solves the problem of material accumulation at the front end during the self-movement of traditional equipment; 7. Under the same traction force, the present invention reduces the overall dimensions of the equipment, especially significantly reduces the height, and is also applicable to small-tonnage, low-frame space comprehensive mining working faces. In addition, the sophisticated structure of the present invention can achieve greater traction force and is applicable to a wider range of support frame types. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is the three-dimensional Figure 1 , Figure 2 This is the three-dimensional Figure 2 , Figure 3 This is a three-dimensional diagram of the flip seat in this case. Figure 4 This is a cross-sectional view of the flip seat in this case. Figure 5 This is a three-dimensional diagram of the base in this case.

[0024] In the figure, 1 is the hydraulic support withdrawal manipulator, 2 is the base, 21 is the seat body, 22 is the bottom basic body, 3 is the lifting cylinder, 4 is the flip seat, 40 is the lower ear plate, 5 is the swing cylinder, 6 is the telescopic arm, 60 is the side ear plate, 61 is the outer arm, 62 is the inner arm, and 63 is the telescopic cylinder.

[0025] Figure 6 This is a schematic diagram of the hydraulic support withdrawal process Figure 1 , Figure 7 This is a schematic diagram of the hydraulic support withdrawal process Figure 2 , Figure 8 This is a schematic diagram of the shield support moving process Figure 1 , Figure 9 This is a schematic diagram of the shield support moving process Figure 2 , Figure 10 This is a schematic diagram of the shield support moving process Figure 3 ; In the figure, 1 is a hydraulic support withdrawal manipulator, 11 is a one-step pushing mechanism, 111 is a pushing outer cylinder, 112 is a pushing oil cylinder, and 113 is a pressure roller; 7 is the shielding support and 8 is the support to be removed. DETAILED DESCRIPTION

[0026] In order to clearly illustrate the technical features of this patent, this patent is described in detail below through specific implementation methods and in combination with its accompanying drawings.

[0027] Considering that traditional manipulator structures are usually large in size, when faced with the pulling of small-sized hydraulic supports, although they can complete the corresponding action process in large alleys, their excessive size also makes them unable to be placed in small alleys, which greatly restricts the scope of application of the manipulator. More significantly, in order to ensure the layout space of the lifting cylinder, traditional manipulators are usually designed to be too large in the height direction. This not only restricts its scope of application, but also causes the bottom fixing seat to be subjected to excessive force due to the excessively long lever arm, which in turn accelerates the aging of the manipulator and makes it difficult to guarantee its designed service life. Based on this, this case proposes the following specific improved structure.

[0028] like Figure 1-5 As shown, the hydraulic support withdrawal manipulator 1 includes a fixed base 2, a lifting cylinder 3, a flip base 4, a swing cylinder 5 and a manipulator arm 6; the fixed base 2 is fixedly mounted on the crossbeam 10, the flip base 4 is vertically rotatably connected to the fixed base 2, and the flip base 4 is located in front of the fixed base 2, the two ends of the lifting cylinder 3 are respectively hinged to the fixed base 2 and the flip base 4, and the lifting cylinder 3 is located at the rear side of the flip base 4, and the flip base 4 is driven by the lifting cylinder 3 to perform vertical flipping; the hinge point of the lifting cylinder 3 and the fixed base 2 is higher than the hinge point of the lifting cylinder 3 and the flip base 4; The root of the manipulator 6 is rotatably connected to the flip seat 4, and the two ends of the swing cylinder 5 are respectively hinged to the manipulator 6 and the flip seat 4, and the manipulator 6 is driven to swing left and right by the swing cylinder 5. In this way, through the redesigned flip seat, and the design of the fixed seat and the rear-placed lifting cylinder, the overall height of the manipulator is significantly reduced, and the force arm of the fixed seat is reduced, so that this case can not only be applied to a smaller workspace, but also effectively ensure its overall structural strength while ensuring traction. Obviously, the driving structure of the lifting cylinder and the flip seat selected in the technical solution of the present invention is a structure that is generally excluded in the prior art because the driving force arm between the lifting cylinder and the flip seat becomes smaller. However, in the present invention, this structure can achieve a significant reduction in the height of the flip seat.

[0029] The hydraulic support withdrawal manipulator 1 also includes a crossbeam 10, and the fixed seat 2 and the crossbeam 10 are connected as a whole. As the main force-bearing component, the manipulator is subject to all forces that will eventually act on the connection point between it and the crossbeam, which puts a great test on the connection strength of the connection point. Traditional connection methods are all connected by bolts, and for ease of installation, the bolts are arranged in the vertical direction. In this way, once the above-mentioned connection point is subjected to force, a huge radial shear force will be generated on the bolts. Even if people increase the number of bolts during use, it can only play a mitigating role, and cannot solve the problem that the bolts between the manipulator and the crossbeam are easy to break and the connection point is easy to disconnect. In this case, the above-mentioned integrated design of the fixed seat and the crossbeam, as well as the overall reduction in height and shortening of the force arm of the manipulator can well solve this technical defect.

[0030] The flip seat 4 has a swing hole in the Z direction on its front side, and a flip hole in the Y direction in the middle of its rear side. The flip seat in this case serves as the core connecting component, with its front side connected to the robot arm and its rear side connected to the fixed seat, which can better serve the purpose of transfer connection. Furthermore, the rear placement of the fixed seat and the lifting cylinder can better reduce the overall height of the robot arm and the force arm of the fixed seat.

[0031] Specifically: like Figure 3 、 4 As shown in Figure 5, a flip hole arranged along the Y direction is opened on the rear side of the flip seat 4, and a mounting hole along the Y direction is reserved at the front of the base 2. The flip seat 4 and the base 2 are rotatably connected by a flip axis passing through the flip hole and the Y direction mounting hole.

[0032] like Figure 3 、 4 As shown in Figures 5 and 6, a lower lug plate 40 is provided at the lower rear portion of the tilting seat 4. The front end of the lifting cylinder 3 is hingedly connected to the lower lug plate 40, and the rear end of the lifting cylinder 3 is hingedly connected to the fixed seat 2, with the rear end of the lifting cylinder 3 being higher than the front end. This allows the tilting seat to rotate about the axis of the tilting shaft during its extension and retraction, resulting in an up-and-down swing.

[0033] like Figure 1 As shown, the front of the flip seat 4 is provided with a swing hole arranged along the Z direction, and the root of the telescopic arm 6 is provided with a Z direction mounting hole. The telescopic arm 6 is rotatably connected to the flip seat 4 through a swing axis passing through the swing hole and the Z direction mounting hole.

[0034] like Figure 1As shown, there are two swing cylinders 5, one on each side of the mechanical arm 6. Side lugs 60 are fixedly mounted on each side of the mechanical arm 6. The front end of the swing cylinder 5 is hinged to the side lugs 60, and the middle of the swing cylinder 5 is hinged to the flip seat 4. In this way, the coordinated extension and retraction of the two swing cylinders 5 can drive the mechanical arm to rotate around the axis of the swing axis, producing a left-right swing motion.

[0035] like Figure 1 As shown, the robotic arm 6 is a telescopic robotic arm, comprising an outer arm 61, an inner arm 62, and a telescopic cylinder 63. The outer arm 61 is connected to the tilting seat 4 and the swing cylinder 5, while the inner arm 62 is mounted within the outer arm 61. The ends of the telescopic cylinder 63 are articulated to the inner arm 62 and the outer arm 61, respectively. This allows the inner arm to be extended or retracted during the telescopic cylinder 63's extension and retraction.

[0036] like Figure 6-7 As shown, the fixed base of the hydraulic support withdrawal manipulator when working is the shield support. The withdrawal equipment and method commonly used in the prior art are shown in the invention patent application filed by the present applicant on October 18, 2013, entitled "A method for withdrawing a hydraulic support for comprehensive mining in a coal mine" with application number "201310492514.9". The withdrawal process mentioned in the case includes the following steps: Step 1, installing the manipulator 1 on the beam connected to the front of the shield support 7; Step 2, operating the manipulator 1 to pull the support 8 to be withdrawn forward from the position to be withdrawn; Step 3, pulling out the withdrawn hydraulic support or loading it onto a flatbed truck nearby, and transporting it out; Step 4, pushing the shield support 7 forward, and the manipulator 1 moves forward with the beam, and then repeating the process of Steps 1 to 3. In the above, the manipulator 1 is fixedly mounted on the crossbeam, and the crossbeam is directly fixedly mounted on the push-slide cylinder at the bottom of the shielding bracket 7. When performing the above step 4, it is necessary to first lower part of the shielding bracket, and then extend the push-slide cylinder at the bottom of the shielding bracket 7 that has not been lowered, so that the crossbeam and the lowered part of the shielding bracket move forward a certain distance; then lift up the shielding bracket after it moves forward, lower the shielding bracket in its original position, and shorten all the push-slide cylinders, so that several shielding brackets move forward a certain distance together.

[0037] However, after long-term actual use, people have found that this type of evacuation equipment always has the following technical problems: First, in terms of ease of use and working time, during the process of performing the above-mentioned step 4, the forward distance of each self-movement of the shielding bracket will be limited by the stroke of the push cylinder, and each self-movement will not exceed the maximum extension of the push cylinder; but every time a bracket to be withdrawn is withdrawn, the shielding bracket needs to move forward at least a distance of the frame width, which is about twice the stroke of the push cylinder; this results in the shielding bracket needing to repeat self-movement each time the above-mentioned step 4 is performed, which has a great impact on the overall working time and work efficiency when facing the withdrawal of dozens of brackets to be withdrawn. Although some technical solutions for increasing the stroke of the push cylinder have been mentioned in the prior art, such solutions will bring about more serious problems such as reduced stability and large equipment size.

[0038] Secondly, the traditional sliding shoes set in front of the crossbeam are affected by the weight of the equipment, and are prone to bottom scraping and gnawing when the ground in front is uneven.

[0039] Therefore, how to optimize the traditional withdrawal equipment and methods, overcome the above-mentioned technical problems, further ensure the service life and improve work efficiency has become a technical problem that needs to be solved urgently by those skilled in the art.

[0040] In response to this, this proposal builds upon the hydraulic support withdrawal robot 1 by also introducing a one-step mechanism for moving the shield. Without changing the structure of the hydraulic support or shield, and without significantly increasing costs or the space occupied by the equipment, this significantly improves the efficiency of shield movement, thereby increasing the overall efficiency of hydraulic support withdrawal.

[0041] The one-step pushing mechanism 11 includes a pushing outer cylinder 111 and a pushing inner cylinder 112. The pushing outer cylinder 111 is installed at the bottom of the base 2. The pushing inner cylinder 112 is installed in the pushing outer cylinder 111 through a pushing cylinder, and the pushing inner cylinder 112 is connected to the pushing head at the bottom of the shielding bracket 7.

[0042] The two ends of the pushing oil cylinder are respectively connected to the pushing outer cylinder and the pushing inner cylinder. In this way, the pushing inner cylinder 112 with the built-in pushing oil cylinder can be used to extend the stroke of the pushing cylinder in disguise, thereby effectively increasing the displacement of the shielding bracket each time it moves by itself, so that each time it moves by itself, it can move forward by at least one frame width, realizing the one-step pushing of the shielding bracket.

[0043] The one-step pushing mechanism 11 comprises a pair of parallel pushing outer cylinders 111, the rear ends of which are fixedly mounted to the bottom of the base 2. Pressure rollers 113 are also mounted at the front ends of the pushing outer cylinders 111, with each end of the pressure roller 113 pivotally connected to the two pushing outer cylinders 111. This replaces traditional sliding shoes with pressure rollers. Due to the weight of the equipment, when the ground ahead is uneven, the freely rotating pressure rollers can effectively flatten the road surface, avoiding the ground grinding caused by the uneven surface and resolving the problem of material accumulation ahead. Furthermore, by extending the pushing outer cylinders forward and mounting the pressure rollers, the overall load on the structure is significantly optimized, avoiding the nodding phenomenon caused by excessive load on the manipulator.

[0044] When the number of shielding brackets is three, the one-step pushing structure pushes the shielding brackets as follows: Figure 8-10 As shown, the initial state is as Figure 8 As shown, follow these steps: In the first step, the three shield support push cylinders extend, pushing the shield support and the base forward for the first time, moving one push cylinder step; The second step is to lower the shielding support close to the old pond side, which is directly connected to the base; The third step is to retract the push-slide cylinder of the shield support near the old pond side, and pull the shield support forward by a push-slide cylinder step through the reaction force; Figure 9 As shown; The fourth step is to extend the two push-moving cylinders and push the slide cylinder out close to the old pond side shield support. Figure 10 As shown; The fifth step is to retract the push cylinder near the old pond side shield support, and move forward a second time by reaction force, move one step, and support the old pond side shield support after it is in place; The sixth step is to lower the two shielding supports connected to the pushing inner tube, retract the pushing inner tube and the push cylinders of the two shielding supports, and move forward by reaction force. The self-movement amount at this time is the sum of the two self-movement amounts in the previous five steps, which is also equal to the width of one support to be removed. After it is in place, all the shielding supports are supported; the pushing of the shielding supports is completed.

[0045] There are many specific implementation ways of the present invention. The above is only the preferred implementation method of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principles of the present invention. These improvements should also be considered as the scope of protection of the present invention.

Claims

1. A hydraulic support removal manipulator, characterized in that: The hydraulic support removal manipulator (1) comprises a base (2), a lifting cylinder (3), a flip seat (4), a swing cylinder (5) and a telescopic arm (6); The flip seat (4) is connected to the base (2), and the flip seat (4) is located on the front side of the base (2); the two ends of the lifting cylinder (3) are hinged to the base (2) and the flip seat (4), respectively, and the lifting cylinder (3) is located on the rear side of the flip seat (4); the flip seat (4) is driven to flip by the lifting cylinder (3); the hinge point between the lifting cylinder (3) and the base (2) is higher than the hinge point between the lifting cylinder (3) and the flip seat (4); The base of the telescopic arm (6) is rotatably connected to the turning seat (4), and the two ends of the swing oil cylinder (5) are respectively hinged to the telescopic arm (6) and the turning seat (4), and the telescopic arm (6) is driven to swing left and right by the swing oil cylinder (5).

2. A hydraulic support removal manipulator according to claim 1, characterized in that: The base (2) comprises a seat body (21) and a bottom base body (22) which are processed into one piece.

3. The hydraulic support removal manipulator according to claim 1, characterized in that: The flip seat (4) has a flip hole arranged along the Y direction on the rear side, and the base (2) has a mounting hole along the Y direction on the front side, and the flip seat (4) is connected to the base (2) by a flip axis passing through the flip hole and the mounting hole in the Y direction; A lower ear plate (40) is provided at the lower portion of the rear side of the flip seat (4), the front end of the lifting cylinder (3) is hinged to the lower ear plate (40), the rear end of the lifting cylinder (3) is hinged to the base (2), and the rear end of the lifting cylinder (3) is higher than the front end.

4. The hydraulic support removal manipulator according to claim 1, characterized in that: The front portion of the flip seat (4) is provided with a swing hole arranged along the Z direction, the base of the telescopic arm (6) is provided with a Z direction mounting hole, and the telescopic arm (6) is connected to the flip seat (4) via a swing shaft passing through the swing hole and the Z direction mounting hole; Two swing cylinders (5) are provided, which are respectively provided on the left and right sides of the telescopic arm (6). Side ear plates (60) are fixedly installed on the left and right side surfaces of the telescopic arm (6). The front end of the swing cylinder (5) is hinged on the side ear plates (60), and the ear shaft of the swing cylinder (5) is hinged on the turning seat (4).

5. The hydraulic support removal manipulator according to claim 1, characterized in that: The telescopic arm (6) comprises an outer arm (61), an inner arm (62) and a telescopic oil cylinder (63); the outer arm (61) is connected to the turning seat (4) and the swing oil cylinder (5); the inner arm (62) is installed in the outer arm (61); and the two ends of the telescopic oil cylinder (63) are respectively connected to the inner arm (62) and the outer arm (61).

6. A one-step pushing mechanism for the hydraulic support removal manipulator according to claim 1, characterized in that: The one-step pushing mechanism (11) comprises a pushing outer cylinder (111) and a pushing inner cylinder (112), wherein the pushing outer cylinder (111) is mounted on the bottom of the base (2), and the pushing inner cylinder (112) is mounted inside the pushing outer cylinder (111) via a pushing oil cylinder, and the pushing inner cylinder (112) is connected to a pushing head at the bottom of the shielding bracket (7).

7. The one-step pushing mechanism according to claim 6, characterized in that: The one-step pushing mechanism (11) comprises two groups of pushing outer cylinders (111) and a pushing inner cylinder (112). The pushing inner cylinder (112) is arranged inside the pushing outer cylinder (111), and the pushing inner cylinder (112) is connected to a pushing head at the bottom of the shielding bracket (7).

8. The one-step pushing mechanism according to claim 7, characterized in that: A pressure roller (113) is also installed at the front end of the pushing outer cylinder (111), and both ends of the pressure roller (113) are connected to the front end of the pushing outer cylinder (111).

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