Rail-mounted hydraulic prop handling robot

Abstract

This invention provides a track-mounted hydraulic prop handling robot, relating to the field of drilling construction technology. It includes a track, a walking drive device, a moving platform, a working platform, and a handling robot. Both the walking drive device and the moving platform are mounted on the track, with the walking drive device propelling the moving platform along the track. The working platform is mounted below the moving platform and can be raised and lowered relative to it. The handling robot is connected to the working platform and operates on it. This invention sets up a track in the tunnel, and the walking drive device, moving platform, and working platform drive the handling robot to move along the track. The robot's movements handle the hydraulic props, greatly improving handling efficiency, eliminating the risks of manual labor, and not occupying ground space.

Description

Technical Field

[0001] This invention relates to the field of drilling operation technology, and in particular to a track-mounted hydraulic support transport robot. Background Technology

[0002] In coal mine underground transfer conveyors, single hydraulic props are used for support. These props are placed on both sides of the roadway, and the rear props need to be moved to the front for use. Currently, the movement of these props is done manually. Since each prop weighs approximately 100 kg, it needs to be moved a long distance each time. Furthermore, it requires the use of pallets as auxiliary supports. Each pallet weighs approximately 30 kg, and temporary supports need to be erected manually to lift and place the pallets directly above the props. Without this manual movement, efficiency is low, and the auxiliary work of placing the pallets consumes a significant amount of time and carries certain safety risks. Summary of the Invention

[0003] The purpose of this invention is to provide a track-mounted hydraulic support transport robot to solve the problems of low efficiency and safety risks associated with existing manual transport methods.

[0004] To solve the above technical problems, the present invention provides a track-mounted hydraulic support transport robot, the specific technical solution of which is as follows:

[0005] A track-mounted hydraulic support transport robot includes a track, a walking drive device, a mobile platform, a working platform, and a transport manipulator; the walking drive device and the mobile platform are both mounted on the track, and the walking drive device is used to drive the mobile platform to move on the track; the working platform is mounted below the mobile platform and can be raised and lowered relative to the mobile platform; the transport manipulator is connected to the working platform and operates on the working platform.

[0006] Furthermore, the track includes a guide portion and a support portion arranged along its length direction, the guide portion being perpendicular to the support portion, and the support portion being located below the guide portion; the moving platform includes a first platform frame, a first rolling pulley, and a first guide pulley; the first rolling pulley and the first guide pulley are both mounted on the first platform frame, the two first rolling pulleys are respectively located on both sides of the support portion and roll in cooperation with the support portion, and the two first guide pulleys are respectively located on both sides of the guide portion and roll in cooperation with the guide portion.

[0007] Furthermore, the mobile platform also includes a vehicle stabilization mechanism, which is installed on the first platform frame and used to support the tunnel.

[0008] Furthermore, the vehicle stabilization mechanism includes a first mounting base, a support arm, and a first telescopic component; the first mounting base is disposed on the first platform frame, one end of the support arm is hinged to the first mounting base, and the other end is used to support the roadway; one end of the first telescopic component is hinged to the first mounting base, and the other end is hinged to the support arm, so as to drive the support arm to rotate through its extension and retraction.

[0009] Furthermore, the working platform includes a second platform frame, a first rotating mechanism, and a first swinging mechanism; the second platform frame is connected to the mobile platform via a lifting mechanism; the first rotating mechanism is mounted on the second platform frame; the first swinging mechanism is mounted on the rotating mechanism and drives it to rotate; the handling robot is mounted on the first swinging mechanism and drives it to swing up and down via the first swinging mechanism.

[0010] Furthermore, the handling robot includes a first robotic arm, a first telescopic arm, a second telescopic component, and grippers; the first robotic arm is mounted on the work platform; the first telescopic arm is installed inside the first robotic arm and can extend and retract relative to the first robotic arm; the two second telescopic components correspond one-to-one with the two grippers, one end of the second telescopic component and one end of the gripper are both hinged to the free end of the first telescopic arm, and the other end of the second telescopic component is hinged to the other end of the gripper.

[0011] Furthermore, it also includes an auxiliary robotic arm, which is mounted above the work platform, while the transport robotic arm is mounted below the work platform; the auxiliary robotic arm can move relative to the work platform.

[0012] Furthermore, the working platform includes a second platform frame, a second rotating mechanism, and a second swinging mechanism; the second rotating mechanism is mounted on the second platform frame; the second swinging mechanism is mounted on the second rotating mechanism and drives it to rotate; the auxiliary manipulator is mounted on the second swinging mechanism and drives it to swing up and down.

[0013] Furthermore, the auxiliary manipulator includes a second manipulator arm, a second telescopic arm, a third swing mechanism, and a pallet holder; the second manipulator arm is mounted on the work platform; the second telescopic arm is telescopically mounted inside the second manipulator arm; the third swing mechanism is mounted on the free end of the second telescopic arm; and the pallet holder is mounted on the third swing mechanism.

[0014] Furthermore, it also includes a walkable power assembly mounted on the track, the power assembly being located between the walking drive device and the mobile platform, and connected to both the walking drive device and the mobile platform respectively; the power assembly provides power for the lifting and lowering of the work platform and the movement of the handling robot.

[0015] The track-mounted hydraulic prop handling robot provided by the present invention sets up a track in the roadway, and drives the handling robot to move on the track through a walking drive device, a moving platform and a working platform. The hydraulic prop is handled by the movement of the handling robot, which greatly improves the handling efficiency, eliminates the risks of manual operation, and does not occupy ground space. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the track-mounted hydraulic support transport robot provided in an embodiment of the present invention;

[0018] Figure 2 A diagram showing the working state of the track-mounted hydraulic support transport robot provided in an embodiment of the present invention (I);

[0019] Figure 3 Working state diagram (II) of the track-type hydraulic support transport robot provided for embodiments of the present invention;

[0020] Figure 4 A schematic diagram of the walking device of the track-type hydraulic support transport robot provided in an embodiment of the present invention;

[0021] Figure 5 A schematic diagram of the powertrain of the track-mounted hydraulic support transport robot provided in an embodiment of the present invention;

[0022] Figure 6 A schematic diagram of the structure of the moving platform of the track-type hydraulic support transport robot provided in an embodiment of the present invention;

[0023] Figure 7 This is a schematic diagram of the working platform of the track-type hydraulic support transport robot provided in an embodiment of the present invention;

[0024] Figure 8 This is a schematic diagram of the handling manipulator of the track-type hydraulic support handling robot provided in an embodiment of the present invention;

[0025] Figure 9 This is a schematic diagram of the auxiliary manipulator of the track-type hydraulic support transport robot provided in an embodiment of the present invention.

[0026] icon:

[0027] 100 - Track; 110 - Guide section; 120 - Support section;

[0028] 200 - Walking drive unit; 210 - Mounting bracket; 220 - Drive wheel; 230 - First pulley; 240 - Braking mechanism;

[0029] 300 - Mobile platform; 310 - First platform frame; 320 - First rolling pulley; 330 - First guide pulley; 340 - Vehicle stabilizing mechanism; 341 - First mounting base; 342 - Support arm; 343 - First telescopic component;

[0030] 400 - Working platform; 410 - Second platform frame; 420 - First rotating mechanism; 430 - Lifting mechanism; 440 - Second rotating mechanism; 450 - Second swing mechanism;

[0031] 500 - Handling robot; 510 - First robotic arm; 520 - First telescopic arm; 530 - Second telescopic component; 540 - Gripper;

[0032] 600 - Powertrain; 610 - Moving trolley; 620 - Hydraulic system; 630 - Electrical system; 640 - Connecting seat; 650 - First rod; 660 - Second rod;

[0033] 700 - Auxiliary robotic arm; 710 - Second robotic arm; 720 - Second telescopic arm; 730 - Third swing mechanism; 740 - Pallet frame. Detailed Implementation

[0034] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0036] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0037] Combined with appendix Figure 1 As shown, this embodiment provides a track-type 100 hydraulic prop handling robot to solve the problems of low handling efficiency and high safety risks associated with manual handling. The track-type 100 hydraulic prop handling robot of this embodiment includes a track 100, a walking drive device 200, a moving platform 300, a working platform 400, and a handling manipulator 500.

[0038] In this embodiment, the track 100 is set at the top of the tunnel, and the track 100 can be a monorail structure as shown in the figure. In this embodiment, the walking drive device 200 and the moving platform 300 are both installed on the track 100, and the walking drive device 200 is used to drive the moving platform 300 to walk on the track 100. In this embodiment, the working platform 400 is located below the moving platform 300 and is connected to the moving platform 300, and can be raised and lowered relative to the moving platform 300. In this embodiment, the handling robot 500 is installed on the working platform 400 and can move on the working platform 400 to handle the hydraulic support.

[0039] The above structure drives the handling robot 500 to move through the walking drive device 200, the mobile platform 300, and the working platform 400. The handling robot 500 moves the hydraulic support through its movements, which greatly improves the handling efficiency, eliminates the risks of manual operation, and does not occupy ground space, thus avoiding the problem of inconvenience in passing other vehicles.

[0040] The track 100 in this embodiment can be in the shape of an I-beam as shown in the figure. It includes a guide portion 110 (a vertical plate) and a support portion 120 (a horizontal plate) arranged along its length. The guide portion 110 is perpendicular to the support portion 120, and the support portion 120 is located below the guide portion 110.

[0041] Based on the structure of track 100, combined with the attached Figure 4 As shown, the walking drive device 200 of this embodiment includes a mounting frame 210, a first drive mechanism (not shown in the figure), a drive wheel 220, a first pulley 230, and a braking mechanism 240. The first drive mechanism, drive wheel 220, first pulley 230, and braking mechanism 240 are all mounted on the walking frame. The first drive mechanism provides power to the drive wheel 220 and can be a motor or similar structure. The braking mechanism 240 is used to brake the walking drive device 200. The two drive wheels 220 are respectively mounted on both sides of the guide portion 110 and roll in cooperation with the guide portion 110. The rotation of the drive wheels 220 enables the walking drive device 200 to move. The first pulley 230 slides in cooperation with the support portion 120 to ensure the stability of the walking drive device 200.

[0042] In addition, combined with the appendix Figure 5 As shown, the track 100 type hydraulic support transport robot of this embodiment also includes a power assembly 600 that provides power for the lifting and lowering of the work platform 400 and the movement of the transport manipulator 500. The power assembly 600 is located between the walking drive device 200 and the moving platform 300. The power assembly 600 of this embodiment includes a moving trolley 610, a hydraulic system 620, an electrical system 630, and a connecting seat 640. The moving trolley 610 is mounted on the track 100. A first rod 650 is connected to one of the connecting seats 640 and is connected to the walking drive device 200. A second rod 660 is connected to the other connecting seat 640 and is connected to the moving platform 300. During movement, the walking drive device 200 drives the moving platform 300 to move on the track 100 through the power assembly 600. The hydraulic system 620 and electrical system 630 of this embodiment are existing structures and will not be described in detail in this embodiment.

[0043] Combined with appendix Figure 6As shown, in order to achieve stable movement of the mobile platform 300, the mobile platform 300 in this embodiment includes a first platform frame 310, a first rolling pulley 320, and a first guide pulley 330. In this embodiment, the first rolling pulley 320 and the first guide pulley 330 are both mounted on the first platform frame 310. The two first rolling pulleys 320 are located on both sides of the support portion 120 and roll in cooperation with the support portion 120. The two first guide pulleys 330 are located on both sides of the guide portion 110 and roll in cooperation with the guide portion 110. The two first rolling pulleys 320 achieve rolling cooperation with the support portion 120 and support for the entire platform. The two first guide pulleys 330 cooperate with the guide portion 110 to achieve clamping and guiding, making the entire mobile platform 300 move more smoothly.

[0044] As a preferred embodiment of this embodiment, the mobile platform 300 of this embodiment also includes a stabilizing mechanism 340. The stabilizing mechanism 340 is installed on the first platform frame 310. The movement of the stabilizing mechanism 340 can support the roadway and prevent the mobile platform 300 and the working platform 400 below from being misaligned during transportation, thus affecting the transportation operation.

[0045] Furthermore, the vehicle stabilization mechanism 340 of this embodiment includes a first mounting base 341, a support arm 342, and a first telescopic component 343; wherein, the first mounting base 341 of this embodiment is disposed on the first platform frame 310, one end of the support arm 342 of this embodiment is hinged to the first mounting base 341, and the other end is used to support the roadway; one end of the first telescopic component 343 of this embodiment is hinged to the first mounting base 341, and the other end is hinged to the support arm 342, so that by its telescopic extension, the support arm 342 can be rotated to… Figure 2 In the supporting state, the end of the support arm 342 away from the mobile platform 300 is provided with a foot, which abuts against the top of the tunnel when in the supporting state.

[0046] Combined with appendix Figure 7 As shown, to achieve multi-angle movement of the handling robotic arm, the work platform 400 in this embodiment includes a second platform frame 410, a first rotating mechanism 420, and a first swinging mechanism (not shown in the figure). The second platform frame 410 is connected to the moving platform 300 via a lifting mechanism 430. The lifting mechanism 430 includes a lifting frame and a telescopic component (not shown in the figure), the lifting frame being a scissor frame. The telescopic component can be a hydraulic cylinder, and all the telescopic components described below can be hydraulic cylinders, powered by the aforementioned hydraulic system 620.

[0047] In this embodiment, the first rotating mechanism 420 is mounted on the second platform frame 410. The first rotating mechanism 420 is a device capable of outputting torque, such as a motor. In this embodiment, the first swing mechanism is mounted on the rotating mechanism and is driven to rotate by the first rotating mechanism 420. The first swing mechanism includes a swing cylinder. In this embodiment, the handling robot 500 is mounted on the first swing mechanism and is driven to swing up and down by the first swing mechanism. It can also be driven to rotate by the first rotating mechanism 420 and to lift up and down by the lifting mechanism 430, so as to realize the multi-angle movement of the handling robot 500, which facilitates handling operations.

[0048] Combined with appendix Figure 8 As shown, in order to further improve the flexibility of the handling robot 500, this embodiment improves the structure of the handling robot 500, which includes a first robotic arm 510, a first telescopic arm 520, a second telescopic component 530 and a gripper 540.

[0049] In this embodiment, the first robotic arm 510 is mounted on the first rotating mechanism 420 on the work platform 400. The first telescopic arm 520 is mounted inside the first robotic arm 510 and can extend and retract relative to the first robotic arm 510. Two second telescopic components 530 correspond one-to-one with two grippers 540. One end of each second telescopic component 530 and one end of each gripper 540 are hinged to the free end of the first telescopic arm 520 (i.e., the end not connected to the work platform 400). The other end of each second telescopic component 530 is hinged to the other end of each gripper 540. The extension and retraction of the second telescopic components 530 can drive the two grippers 540 to perform clamping or separating actions. The extension and retraction of the grippers 540 is achieved through the first telescopic arm 520. The first telescopic arm 520 in this embodiment also has telescopic components such as hydraulic cylinders (not shown in the figure) to drive the extension and retraction of the first telescopic arm 520.

[0050] Combined with appendix Figure 9 As shown, in a preferred embodiment of this invention, in order to improve stability during the handling process and prevent the hydraulic support from falling off during handling, the track 100 type hydraulic support handling robot of this embodiment also includes an auxiliary manipulator 700. The auxiliary manipulator 700 is installed above the work platform 400, and the handling manipulator 500 is installed below the work platform 400. The auxiliary manipulator 700 can move relative to the work platform 400 to cooperate with the handling manipulator 500 to perform handling work.

[0051] As a preferred embodiment of this embodiment, in order to realize the rotation of the auxiliary robot 700, the working platform 400 of this embodiment further includes a second rotation mechanism 440 and a second swing mechanism 450. The second rotation mechanism 440 has the same or similar structure as the first rotation mechanism 420, and the second swing mechanism 450 has the same or similar structure as the first swing mechanism.

[0052] In this embodiment, the second rotating mechanism 440 is mounted on the second platform frame 410; the second swinging mechanism 450 is mounted on the second rotating mechanism 440 and drives it to rotate; the auxiliary robot 700 is mounted on the second swinging mechanism 450 and drives it to swing up and down. During operation, the auxiliary robot 700 can be moved in a certain position by the second rotating mechanism 440 and the second swinging mechanism 450. Figure 3 The state in.

[0053] In a preferred embodiment of this invention, to further improve the flexibility of the auxiliary manipulator 700, the auxiliary manipulator 700 includes a second manipulator 710, a second telescopic arm 720, a third swing mechanism 730, and a pallet frame 740. The second manipulator 710 is mounted on the second rotating mechanism 440 of the work platform 400. The second telescopic arm 720 is telescopically mounted within the second manipulator 710. The second telescopic arm 720 has the same structure and operating principle as the first telescopic arm 520, and is also driven to extend and retract by telescopic components such as hydraulic cylinders (not shown in the figure). The third swing mechanism 730 is mounted on the free end of the second telescopic arm 720 (i.e., the end of the second telescopic arm 720 not connected to the telescopic component). The pallet frame 740 is mounted on the third swing mechanism 730 and is used to assist in supporting the hydraulic strut.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A track-mounted hydraulic support transport robot, characterized in that, It includes a track set on the top of the tunnel, a walking drive device, a moving platform, a working platform and a handling robot, wherein the handling robot includes a first robotic arm, which is installed below the working platform; It also includes an auxiliary robotic arm, which is mounted above the work platform; Both the walking drive device and the mobile platform are mounted on the track, and the walking drive device is used to drive the mobile platform to move on the track; The working platform is installed below the mobile platform and can be raised and lowered relative to the mobile platform; The handling robot is connected to the work platform and operates on the work platform; The track-mounted hydraulic support transport robot also includes a walkable powertrain mounted on the track. The powertrain is located between the walking drive device and the mobile platform, and is connected to both the walking drive device and the mobile platform respectively. The powertrain provides power for the lifting of the work platform and the movement of the transport manipulator. The powertrain includes a trolley, a hydraulic system, an electrical system, and a connecting seat, wherein the trolley is mounted on a track; One of the connecting seats is connected to a first rod, the first rod being connected to the walking drive device; the other connecting seat is connected to a second rod, the second rod being connected to the mobile platform. The track includes a guide portion and a support portion arranged along its length, the guide portion being perpendicular to the support portion, and the support portion being located below the guide portion; The walking drive device includes a mounting frame, a first drive mechanism, a drive wheel, a first pulley, and a braking mechanism, wherein the first drive mechanism, the drive wheel, the first pulley, and the braking mechanism are all mounted on the mounting frame. The drive wheel is slidably engaged with the guide portion, and the first pulley is slidably engaged with the support portion.

2. The track-mounted hydraulic support transport robot according to claim 1, characterized in that, The mobile platform includes a first platform frame, a first rolling pulley, and a first guide pulley; the first rolling pulley and the first guide pulley are both mounted on the first platform frame, the two first rolling pulleys are respectively located on both sides of the support and roll in cooperation with the support, and the two first guide pulleys are respectively located on both sides of the guide and roll in cooperation with the guide.

3. The track-mounted hydraulic support transport robot according to claim 2, characterized in that, The mobile platform also includes a vehicle stabilization mechanism, which is installed on the first platform frame and used to support the tunnel.

4. The track-mounted hydraulic support transport robot according to claim 3, characterized in that, The vehicle stabilization mechanism includes a first mounting base, a support arm, and a first telescopic component; The first mounting base is mounted on the first platform frame, and one end of the support arm is hinged to the first mounting base, while the other end is used to support the roadway. One end of the first telescopic component is hinged to the first mounting base, and the other end is hinged to the support arm, so that the support arm can be rotated by its telescopic extension.

5. The track-mounted hydraulic support transport robot according to claim 1, characterized in that, The working platform includes a second platform frame, a first rotating mechanism, and a first swinging mechanism; The second platform frame is connected to the mobile platform via a lifting mechanism; The first rotating mechanism is mounted on the second platform frame; The first swing mechanism is mounted on the rotating mechanism and is driven to rotate by the first rotating mechanism; The handling robot is mounted on the first swing mechanism and is driven to swing up and down by the first swing mechanism.

6. The track-mounted hydraulic support transport robot according to any one of claims 1-5, characterized in that, The handling robot also includes a first telescopic arm, a second telescopic component, and grippers; The first telescopic arm is installed inside the first robotic arm and can extend and retract relative to the first robotic arm; The two second telescopic components are matched one-to-one with the two grippers. One end of the second telescopic component and one end of the gripper are both hinged to the free end of the first telescopic arm, and the other end of the second telescopic component is hinged to the other end of the gripper.

7. The track-mounted hydraulic support transport robot according to any one of claims 1-5, characterized in that, The auxiliary robotic arm can move relative to the work platform.

8. The track-mounted hydraulic support transport robot according to claim 7, characterized in that, The working platform includes a second platform frame, a second rotating mechanism, and a second swinging mechanism; The second rotating mechanism is mounted on the second platform frame; The second swing mechanism is mounted on the second rotating mechanism and is driven to rotate by the second rotating mechanism; The auxiliary manipulator is mounted on the second swing mechanism and is driven to swing up and down by the second swing mechanism.

9. The track-mounted hydraulic support transport robot according to claim 7, characterized in that, The auxiliary manipulator includes a second manipulator arm, a second telescopic arm, a third swing mechanism, and a pallet frame; The second robotic arm is mounted on the work platform; The second telescopic arm is telescopically mounted inside the second robotic arm; The third swing mechanism is installed at the free end of the second telescopic arm; The tray frame is mounted on the third swing mechanism.

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