A unit hydraulic support handling robot

Abstract

The present invention relates to the field of intelligent operation robots for coal mines, and in particular to a unit hydraulic support handling robot, which aims to solve the problems of unstable frame movement and low frame movement efficiency of unit hydraulic supports in narrow tunnels. The unit hydraulic support handling robot realizes the linkage action of crawlers, first hydraulic legs, second hydraulic legs, anti-overturning hydraulic legs, guide rail hydraulic motors, slewing supports, lifting hydraulic cylinders, tilt adjustment hydraulic cylinders, spiral swing cylinders, hydraulic clamps and wheel motors through electromagnetic proportional multi-way valves and flameproof control cabinets, thereby realizing the entire process of the unit hydraulic support handling robot carrying the unit hydraulic support. During the process, the upper and lower ends of the unit hydraulic support are respectively kept stably fastened and supported, ensuring the stability of the frame movement process. At the same time, there is no need to move the unit hydraulic support from the center position of the tunnel to the side position of the tunnel through the side push mechanism and support mechanism of the unit hydraulic support, which significantly improves the frame movement efficiency.

Description

Technical Field

[0001] The invention relates to the field of intelligent coal mine operation robots, and in particular to a unit hydraulic support transport robot. Background Art

[0002] As a commonly used support equipment for fully mechanized mining working faces in underground coal mines, the support strength and support efficiency of advanced hydraulic supports are significantly stronger than the traditional support method of single columns and top beams. However, most advanced hydraulic supports adopt a step-by-step forward movement method, which can easily cause the tunnel roof to be repeatedly supported and damaged by the hydraulic supports, and then frequently disturb the surrounding rock, which is not conducive to the control of the roof, and can easily cause the roof to become unstable and sink, or even cause roof collapse accidents.

[0003] Unit hydraulic support is a type of hydraulic support that has appeared in recent years. Each hydraulic support is a single independent unit, which is used to solve the problem of repeated support and damage to the roof by the advanced hydraulic support. The unit hydraulic support consists of a top beam, a base, a column, a side push jack, a support jack and other supporting accessories. When moving the support in a narrow lane (5 meters wide), it can be moved from the center of the lane to the side of the lane through its own side push mechanism and support mechanism, and the unit hydraulic support can be moved from the back of the advanced support to the front by using a monorail crane for external transportation.

[0004] However, since each unit hydraulic support weighs more than 3 tons, the monorail crane moving method makes it difficult to control the stability of the movement during the moving process. In addition, the monorail crane moving method requires the unit hydraulic support to be moved from the center of the tunnel to the side of the tunnel through the unit hydraulic support's own side push jack. The entire moving process is too inefficient and cannot meet on-site work needs. Summary of the invention

[0005] The invention provides a unit hydraulic support transport robot to solve the problems of unstable frame movement and low frame movement efficiency of the unit hydraulic support in a narrow lane.

[0006] In order to achieve the above-mentioned purpose, the present invention provides a unit hydraulic support handling robot, comprising a whole machine base plate, a support loading base plate rotatably installed at the front end of the whole machine base plate, a solid wheel is installed below the front end boss of the support loading base plate, the solid wheel is fixedly connected to the wheel motor, two crawlers are symmetrically fixed at the lower end of the whole machine base plate, guide rails are symmetrically fixed on both sides of the front end of the whole machine base plate, grooves are arranged on the guide rails, guide rail racks are fixedly installed at the upper ends of the two guide rails, the guide rail racks cooperate with gears fixed on the output shaft of the guide rail hydraulic motor, the guide rail hydraulic motor is fixedly installed on a movable guide base, the lower end of the movable guide base is slidably installed in the groove of the fixed guide rail, the upper end surface of the movable guide base is fixedly connected to the shield shell of the slewing support, the turbine turntable of the slewing support is fixedly connected to the slewing support shell, the slewing support shell is connected to the vertical arm through a lifting device, a spiral swing cylinder is fixedly installed on the middle and upper part of the vertical arm, the output rotating end surface of the spiral swing cylinder is fixedly connected to the slewing arm, and hydraulic clamps are installed at equal intervals on the slewing arm.

[0007] In the above-mentioned unit hydraulic support handling robot, it is optional that the lifting device includes a tilt adjustment hydraulic cylinder, a lifting hydraulic cylinder and a lifting arm, the slewing bearing shell is rotatably connected to the lifting arm, the slewing bearing shell is rotatably connected to the cylinder end of the lifting hydraulic cylinder, the piston rod end of the lifting hydraulic cylinder is rotatably connected to the lifting arm, the middle ear seat on the upper end surface of the lifting arm is rotatably connected to the cylinder end of the tilt adjustment hydraulic cylinder, the piston rod end of the tilt adjustment hydraulic cylinder is rotatably connected to the upper end ear seat of the vertical arm, and the lower end of the vertical arm is rotatably connected to the lifting arm.

[0008] In the above-mentioned unit hydraulic support handling robot, it is optional that an oil tank is fixedly installed on the upper end surface of the rear end of the whole machine base plate, and a motor hydraulic pump group, a radiator, a magnetic starter, a flameproof control cabinet and an electromagnetic proportional multi-way valve are fixedly installed on the upper end surface of the oil tank.

[0009] In the above-mentioned unit hydraulic support handling robot, it is optional that the movable guide base includes a slewing support rotating base plate, and the four corners of the lower end surface of the slewing support rotating base plate are respectively fixedly installed with supporting square tubes, and the lower end of the supporting square tube is fixedly installed on the square tube type wheel axle, and guide wheels are symmetrically installed at both ends of the square tube type wheel axle, and the guide wheels are installed in the grooves on the guide rails.

[0010] In the above-mentioned unit hydraulic support handling robot, it is optional that a second hydraulic support leg is fixedly installed at the tail of the whole machine base plate, an anti-overturning hydraulic support leg is fixedly installed at the front end of the whole machine base plate, and a first hydraulic support leg is fixedly installed at the transition position of the front end boss of the support loading base plate.

[0011] In the above-mentioned unit hydraulic support handling robot, it is optional that the bottom hanging ear of the front end boss of the support loading base plate is rotatably connected to the wheel motor mounting frame, two wheel motors are provided, and the two wheel motors are symmetrically fixedly mounted on the wheel motor mounting frame.

[0012] In the above-mentioned unit hydraulic support handling robot, it is optional that a support loading base plate hanging ear is set on the support loading base plate, and a whole machine base plate hanging ear is set on the whole machine base plate, and the support loading base plate hanging ear is rotatably connected with the whole machine base plate hanging ear.

[0013] In the above-mentioned unit hydraulic support handling robot, optionally, a cable reel is fixedly mounted on the front end boss of the support loading base plate.

[0014] In the above-mentioned unit hydraulic support handling robot, it is optional that two lifting hydraulic cylinders are provided, and the two lifting hydraulic cylinders are symmetrically arranged on both sides of the lifting arm, and two guide rail hydraulic motors are provided, and the two guide rail hydraulic motors are symmetrically arranged on the slewing bearing mounting base plate.

[0015] In the above-mentioned unit hydraulic support handling robot, it is optional that three hydraulic clamps are provided, and the three hydraulic clamps are arranged on the swivel arm at equal intervals.

[0016] The unit hydraulic support handling robot provided by the present invention realizes the linkage action of the crawler, the first hydraulic support leg, the second hydraulic support leg, the anti-overturning hydraulic support leg, the guide rail hydraulic motor, the slewing support, the lifting hydraulic cylinder, the tilt adjustment hydraulic cylinder, the spiral swing cylinder, the hydraulic clamp and the wheel motor through the electromagnetic proportional multi-way valve and the explosion-proof control cabinet, thereby realizing the whole process of the unit hydraulic support handling robot handling the unit hydraulic support, and completing the operation process of moving the unit hydraulic support from the rear end of the advance support to the front end. Compared with the frame shifting method of the monorail crane, the upper and lower ends of the unit hydraulic support in this process are respectively kept stably fastened and supported, thereby ensuring the stability of the frame shifting process. At the same time, there is no need to move it from the center position of the lane to the side position of the lane through the side pushing mechanism and the supporting mechanism of the unit hydraulic support, thereby significantly improving the frame shifting efficiency.

[0017] The construction of the present invention and other objects and advantageous effects thereof will become more apparent through the description of the preferred embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of the overall structure of a unit hydraulic support handling robot provided by an embodiment of the present invention;

[0020] Figure 2A schematic diagram of the structure of the support loading bottom plate of the unit hydraulic support handling robot provided in an embodiment of the present invention;

[0021] Figure 3 A schematic diagram of the structure of a mobile guide base of a unit hydraulic support handling robot provided in an embodiment of the present invention;

[0022] Figure 4 A schematic structural diagram of the entire bottom plate of the unit hydraulic support handling robot provided in an embodiment of the present invention;

[0023] Figure 5 A schematic diagram of the wheel motor of the unit hydraulic support handling robot provided by an embodiment of the present invention;

[0024] Figure 6 A schematic diagram of the slewing support structure of the unit hydraulic support handling robot provided in an embodiment of the present invention;

[0025] Figure 7 A schematic diagram of the folded state of the anti-overturning hydraulic legs of the unit hydraulic support handling robot provided by an embodiment of the present invention;

[0026] Figure 8 A schematic diagram of the unfolded state of the anti-overturning hydraulic legs of the unit hydraulic support handling robot provided by an embodiment of the present invention;

[0027] Figure 9a A schematic diagram of a first state of a unit hydraulic support handling robot provided by an embodiment of the present invention;

[0028] Figure 9b A schematic diagram of a second state of a unit hydraulic support handling robot provided by an embodiment of the invention;

[0029] Fig.9c A schematic diagram of a third state of the unit hydraulic support handling robot provided by an embodiment of the present invention;

[0030] Figure 9d A schematic diagram of a fourth state of the unit hydraulic support handling robot provided by an embodiment of the invention;

[0031] Fig.9e A schematic diagram of the fifth state of the unit hydraulic support handling robot provided by an embodiment of the present invention.

[0032] Description of reference numerals:

[0033] 1- the first hydraulic outrigger;

[0034] 2-Solid wheels;

[0035] 3- Wheel motors;

[0036] 4- Bracket loading base plate;

[0037] 5- Cable reel;

[0038] 6-unit hydraulic support;

[0039] 7-Hydraulic clamp;

[0040] 8-Swivel arm;

[0041] 9-Spiral swing cylinder;

[0042] 10-Standing arms;

[0043] 11-Tilt adjustment hydraulic cylinder;

[0044] 12-Lifting hydraulic cylinder;

[0045] 13-Lift the boom;

[0046] 14-motor hydraulic pump set;

[0047] 15- Radiator;

[0048] 16-Magnetic starter;

[0049] 17- Explosion-proof control cabinet;

[0050] 18- electromagnetic proportional multi-way valve;

[0051] 19-Fuel tank;

[0052] 20- second hydraulic outrigger;

[0053] 21- machine bottom plate;

[0054] 22-tracks;

[0055] 23-Guide rail hydraulic motor;

[0056] 24-slewing support;

[0057] 2401-driving motor, 2402-enveloping worm, 2403-turbine turntable, 2404-shield housing;

[0058] 25-mobile guide base;

[0059] 2501-slewing bearing mounting base plate; 2502-guide wheel; 2503-supporting square tube; 2504-square tube wheel axle;

[0060] 26-slewing bearing housing;

[0061] 27-anti-overturning hydraulic outriggers;

[0062] 2701-first telescopic oil cylinder, 2702-first telescopic outrigger, 2703-second telescopic oil cylinder, 2704-second telescopic outrigger;

[0063] 28-guide rail rack;

[0064] 29-Guide rail;

[0065] 30- bracket loading bottom plate hanging ear;

[0066] 31-Hanging ear of the whole machine bottom plate;

[0067] 32-Wheel motor mount. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme in the embodiment of the present invention will be described in more detail below in conjunction with the drawings in the preferred embodiments of the present invention. In the drawings, the same or similar reference numerals throughout represent the same or similar parts or parts with the same or similar functions. The described embodiments are part of the embodiments of the present invention, not all of them. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limitations on the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The embodiments of the present invention are described in detail below in conjunction with the drawings.

[0069] like Figure 1-Figure 6 As shown, the present invention provides a unit hydraulic support handling robot, including a whole machine bottom plate 21, the front end of the whole machine bottom plate 21 is rotatably mounted on the support loading bottom plate 4, a solid wheel 2 is installed below the front end boss of the support loading bottom plate 4, the solid wheel 2 is fixedly connected to the wheel motor 3, two crawlers 22 are symmetrically fixed at the lower end of the whole machine bottom plate 21, guide rails 29 are symmetrically fixed on both sides of the front end of the whole machine bottom plate 21, grooves are arranged on the guide rails 29, guide rail racks 28 are fixedly installed on the upper ends of the two guide rails 29, and the guide rail racks 28 cooperate with the gears fixed on the output shaft of the guide rail hydraulic motor 23, The guide rail hydraulic motor 23 is fixedly installed on the mobile guide base 25, the lower end of the mobile guide base 25 is slidably installed in the groove of the fixed guide rail 29, the upper end surface of the mobile guide base 25 is fixedly connected to the shield shell 2404 of the slewing support 24, the turbine turntable 2403 of the slewing support 24 is fixedly connected to the slewing support shell 26, the slewing support shell 26 is connected to the vertical arm 10 through a lifting device, the spiral swing cylinder 9 is fixedly installed in the middle and upper part of the vertical arm 10, the output rotating end surface of the spiral swing cylinder 9 is fixedly connected to the slewing arm 8, and the hydraulic clamps 7 are installed at equal intervals on the slewing arm 8.

[0070] It should be noted that the unit hydraulic support 6 is loaded on the support loading base plate 4, and the bottom of the unit hydraulic support 6 is placed on the support loading base plate 4. The guide rack 28 and the gear fixed on the output shaft of the guide hydraulic motor 23 form a gear rack match. The teeth of the two guide racks 28 are arranged oppositely. The crawler 22 is driven by the crawler motor. The lower end face of the slewing support 24 is the fixed end face, and the upper end face of the slewing support 24 is the rotating end face. Preferably, the lower end face of the slewing support 24 is fixed to the mobile guide base by bolts. On the platform 25, the upper end surface of the slewing support 24 is fixed to the slewing support housing 26 by bolts, the solid wheel 2 is installed on the wheel motor 3 by bolts, two guide rails 29 are symmetrically welded to the front ends of the whole machine bottom plate 21, two guide rail racks 28 are respectively welded to the two guide rails 29, the guide rail hydraulic motor 23 is fixed to the mobile guide base 25 by bolts, the spiral swing cylinder 9 is fixed to the middle and upper part of the vertical arm 10 by bolts, and the slewing arm 8 is fixedly connected to the output rotating end surface of the spiral swing cylinder 9 by bolts;

[0071] The output shaft of the guide rail hydraulic motor 23 rotates to drive the gear to rotate, and the gear and the guide rail rack 28 cooperate to drive the mobile guide base 25 to slide along the fixed guide rail 29; the slewing support 24 drives the slewing support housing 26 to rotate. Specifically, Figure 6 As shown, the slewing support 24 includes a driving motor 2401, an enveloping screw 2402, a turbine turntable 2403 and a shield shell 2404, wherein the driving motor 2401 is fixed on the movable guide base 25, the turbine turntable 2403 is rotatably installed in the shield shell 2404, the enveloping screw 2402 and the turbine turntable 2403 form a worm gear match, the shield shell 2404 is fixed to the slewing support rotating base plate 2501 by bolts, and the slewing support shell 26 is fixed to the turbine turntable 2403 by bolts. The driving motor 2401 drives the enveloping screw 2402 to rotate, the enveloping screw 2402 drives the turbine turntable 2403 to rotate, and the rotation of the turbine turntable 2403 drives the slewing support shell 26 to rotate; the output shaft of the spiral swing cylinder 9 drives the slewing arm 8 to rotate; the lifting device lifts the upright arm 10, the spiral swing cylinder 9 and the slewing arm 8 to adjust the height of the slewing arm 8.

[0072] like Figure 1 As shown, the lifting device includes a tilt adjustment hydraulic cylinder 11, a lifting hydraulic cylinder 12 and a lifting arm 13, the slewing bearing housing 26 is rotatably connected to the lifting arm 13, the slewing bearing housing 26 is rotatably connected to the cylinder end of the lifting hydraulic cylinder 12, the piston rod end of the lifting hydraulic cylinder 12 is rotatably connected to the lifting arm 13, the middle ear seat on the upper end surface of the lifting arm 13 is rotatably connected to the cylinder end of the tilt adjustment hydraulic cylinder 11, the piston rod end of the tilt adjustment hydraulic cylinder 11 is rotatably connected to the upper end ear seat of the vertical arm 10, and the lower end of the vertical arm 10 is rotatably connected to the lifting arm 13.

[0073] It should be noted that, preferably, the lifting arm 13 and the slewing bearing housing 26 are hingedly connected by a pin, the cylinder end of the lifting hydraulic cylinder 12 and the slewing bearing housing 26 are hingedly connected by a pin, the piston rod end of the lifting hydraulic cylinder 12 and the lifting arm 13 are hingedly connected by a pin, the cylinder end of the tilt adjustment hydraulic cylinder 11 and the middle ear seat of the upper end surface of the lifting arm 13 are hingedly connected by a pin, the piston rod end of the tilt adjustment hydraulic cylinder 11 and the upper end ear seat of the vertical arm 10 are hingedly connected by a pin, and the lower end of the vertical arm 10 and the lifting arm 13 are hingedly connected by a pin.

[0074] like Figure 1 As shown, an oil tank 19 is fixedly mounted on the upper end surface of the tail of the whole machine bottom plate 21, and a motor hydraulic pump group 14, a radiator 15, a magnetic starter 16, a flameproof control cabinet 17 and an electromagnetic proportional multi-way valve 18 are fixedly mounted on the upper end surface of the oil tank 19.

[0075] It should be noted that, preferably, the oil tank 19 is fixed to the upper end surface of the rear end of the whole machine base plate 21 by bolts, and the motor hydraulic pump group 14, radiator 15, magnetic starter 16, explosion-proof control cabinet 17 and electromagnetic proportional multi-way valve 18 are all fastened to the empty position on the upper end surface of the oil tank 19 by bolts.

[0076] like Figure 1 , Figure 3 As shown, the movable guide base 25 includes a swivel supporting rotating base plate 2501, and the four corners of the lower end surface of the swivel supporting rotating base plate 2501 are respectively fixedly installed with supporting square tubes 2503, and the lower end of the supporting square tube 2503 is fixedly installed on a square tube type wheel axle 2504. Guide wheels 2502 are symmetrically installed at both ends of the square tube type wheel axle 2504, and the guide wheels 2502 are installed in the grooves on the guide rail 29.

[0077] It should be noted that the four guide wheels 2502 are installed on two square tube axles 2504 to form a single rotational degree of freedom. Preferably, the upper end of the supporting square tube 2503 is welded to the four corners of the lower end surface of the slewing bearing mounting base plate 2501, and the lower end of the supporting square tube 2503 is welded to the square tube axle 2504.

[0078] like Figure 1 , Figure 7 , Figure 8 As shown, the second hydraulic support leg 20 is fixedly installed at the tail of the whole machine bottom plate 21, the anti-overturning hydraulic support leg 27 is fixedly installed at the front end of the whole machine bottom plate 21, and the first hydraulic support leg 1 is fixedly installed at the transition position of the front end boss of the bracket loading bottom plate 4.

[0079] It should be noted that the first hydraulic leg 1, the second hydraulic leg 20 and the anti-rollover hydraulic leg 27 are all retractable. Preferably, the second hydraulic leg 20 is welded to the tail of the whole machine bottom plate 21, the anti-rollover hydraulic leg 27 is welded to the front end of the whole machine bottom plate 21, and the first hydraulic leg 1 is welded to the transition position of the front end boss of the bracket loading bottom plate 4; specifically, the anti-rollover hydraulic leg 27 includes a first telescopic oil cylinder 2701, a first telescopic leg 2702, a second telescopic oil cylinder 2073 and a second telescopic leg 2704, Figure 7 and Figure 8 The folded state and the unfolded state of the anti-overturning hydraulic support leg 27 are respectively shown, wherein the first telescopic cylinder 2701 controls the unfolding and folding of the first telescopic support leg 2702, and the second telescopic cylinder 2073 controls the unfolding and folding of the second telescopic support leg 2704.

[0080] like Figure 1 , Figure 2 , Figure 5 As shown, the bottom hanging ear of the front end boss of the bracket loading base plate 4 is rotatably connected to the wheel motor mounting frame 32 , and two wheel motors 3 are provided, and the two wheel motors 3 are symmetrically fixedly mounted on the wheel motor mounting frame 32 .

[0081] It should be noted that, preferably, the wheel motor 3 is mounted on the wheel motor mounting frame 32 by bolts, and the wheel motor mounting frame 32 and the bottom hanging ear of the front end boss of the bracket loading base plate 4 are hingedly connected through a pin shaft.

[0082] like Figure 1 , Figure 2 , Figure 4 As shown, a bracket loading base plate hanging ear 30 is provided on the bracket loading base plate 4, and a complete machine base plate hanging ear 31 is provided on the complete machine base plate 21, and the bracket loading base plate hanging ear 30 is rotatably connected with the complete machine base plate hanging ear 31.

[0083] It should be noted that, preferably, the bracket loading bottom plate hanging ear 30 and the whole machine bottom plate hanging ear 31 are hingedly connected through a pin shaft.

[0084] like Figure 1 As shown, the cable reel 5 is fixedly mounted on the front end boss of the bracket loading base plate 4 .

[0085] It should be noted that, preferably, the cable reel 5 is fixed to the front end boss of the bracket loading base plate 4 by bolts.

[0086] like Figure 1 As shown, two lifting hydraulic cylinders 12 are provided, and the two lifting hydraulic cylinders 12 are symmetrically arranged on both sides of the lifting arm 13; two guide rail hydraulic motors 23 are provided, and the two guide rail hydraulic motors 23 are symmetrically arranged on the slewing bearing mounting base plate 2501.

[0087] It should be noted that two lifting hydraulic cylinders 12 are used for support to improve the support strength, and two guide rail hydraulic motors 23 are provided to improve the movement stability of the movable guide base 25.

[0088] like Figure 1 As shown, three hydraulic clamping jaws 7 are provided, and the three hydraulic clamping jaws 7 are arranged on the swivel arm 8 at equal intervals.

[0089] It should be noted that the upper end of the unit hydraulic support 6 is clamped by three hydraulic clamping claws 7 and moves together with the slewing arm 8 .

[0090] In a 5m wide tunnel, a row of unit hydraulic supports is located in the middle of the tunnel to support the tunnel roof. When the unit hydraulic support needs to be moved from the back of the advance support to the front, unlike the monorail lifting and moving process, there is no need to move it from the center of the tunnel to the side of the tunnel through the side pushing mechanism and supporting mechanism of the unit hydraulic support. During the working process, after power is turned on, the magnetic starter 16 and the flameproof control cabinet 17 control the motor hydraulic pump group 14 to work, and the hydraulic oil in the oil tank 19 is sucked into the motor hydraulic pump group 14 and pumped out from the motor hydraulic pump group 14 to drive the crawler 22, the first hydraulic leg 1, the second hydraulic leg 20, the anti-overturning hydraulic leg 27, the guide rail hydraulic motor 23, the slewing support 24, the lifting hydraulic cylinder 12, the tilt adjustment hydraulic cylinder 11, the spiral swing cylinder 9, the hydraulic clamp 7 and the wheel motor 3 to move or rotate. The linkage action of the above-mentioned hydraulic drive parts is realized through the electromagnetic proportional multi-way valve 18 and the flameproof control cabinet 17, thereby realizing the whole process of the unit hydraulic support handling robot carrying the unit hydraulic support 6, and completing the operation process of moving the unit hydraulic support from the back of the advance support to the front. Specifically:

[0091] like Figure 9a As shown, the unit hydraulic support transport robot is driven to one side of the unit hydraulic support 6 to be transported;

[0092] like Figure 9b As shown, the first hydraulic leg 1, the second hydraulic leg 20 and the anti-overturning hydraulic leg 27 are released and stably supported on the ground;

[0093] like Fig.9c As shown, through linkage control, the translation of the mobile guide base 25, the rotation of the slewing support housing 26 driven by the slewing support 24, and the rotation of the spiral swing cylinder 9 are realized, and the slewing arm 8 is translated to the top of the unit hydraulic support 6. The height of the slewing arm 8 is adjusted to the upper end surface position of the unit hydraulic support 6 by the lifting hydraulic cylinder 12, that is, the "① translation-② rotation-③ rotation-④ translation" action, and the above process is repeated in reverse to ensure that the hydraulic clamp 7 completes the grabbing and clamping of the unit hydraulic support 6;

[0094] like Figure 9dAs shown, the height of the slewing arm 8 and the unit hydraulic support 6 is adjusted by the lifting hydraulic cylinder 12 to ensure that the bottom end of the unit hydraulic support 6 is higher than the loading surface of the support loading bottom plate 4, and then the spiral swing cylinder 9 rotates in the opposite direction, the slewing support 24 drives the slewing support housing 26 to rotate in the opposite direction, and the moving guide base 25 translates in the opposite direction, so as to translate the unit hydraulic support 6 onto the support loading bottom plate 4, that is, "① (reverse) translation-② (reverse) rotation-③ (reverse) rotation-④ (reverse) translation";

[0095] like Fig.9e As shown, the first hydraulic leg 1, the second hydraulic leg 20 and the anti-overturning hydraulic leg 27 are folded and the unit hydraulic support 6 is transported to the designated position by the unit hydraulic support transport robot to complete the rack placement operation. The rack placement operation process is similar to the rack moving process and will not be repeated here.

[0096] The unit hydraulic support handling robot provided by the present invention realizes the linkage action of the crawler 22, the first hydraulic support leg 1, the second hydraulic support leg 20, the anti-overturning hydraulic support leg 27, the guide rail hydraulic motor 23, the slewing support 24, the lifting hydraulic cylinder 12, the tilt adjustment hydraulic cylinder 11, the spiral swing cylinder 9, the hydraulic clamp 7 and the wheel motor 3 through the electromagnetic proportional multi-way valve 18 and the explosion-proof control cabinet 17, thereby realizing the whole process of the unit hydraulic support handling robot handling the unit hydraulic support 6, and completing the operation process of moving the unit hydraulic support from the rear end of the advance support to the front end. Compared with the frame shifting method of the monorail crane, the upper and lower ends of the unit hydraulic support 6 in this process are respectively kept stably fastened and supported, thereby ensuring the stability of the frame shifting process. At the same time, there is no need to move it from the center position of the lane to the side position of the lane through the side pushing mechanism and the supporting mechanism of the unit hydraulic support 6, thereby significantly improving the frame shifting efficiency.

[0097] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The orientation or position relationship indicated by the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise precisely and specifically specified.

[0098] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements 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 unit hydraulic support handling robot, characterized in that: The present invention relates to a hydraulic lift platform, wherein the hydraulic lift platform is a hydraulic lift platform, the hydraulic lift platform is a hydraulic lift platform, the hydraulic lift platform is a hydraulic lift platform, and the hydraulic lift platform is a hydraulic lift platform. The hydraulic lift platform is a hydraulic lift platform, wherein the hydraulic lift platform is a hydraulic lift platform. The hydraulic lift platform is a hydraulic lift platform, wherein the hydraulic lift platform is a hydraulic lift platform. The hydraulic lift platform is a hydraulic lift platform, wherein the hydraulic lift platform is a hydraulic lift platform, and the hydraulic lift platform is a hydraulic lift platform. The hydraulic lift platform is a hydraulic lift platform, wherein the hydraulic lift platform is a hydraulic lift platform, and the hydraulic lift platform is a hydraulic lift platform. It also includes a slewing support, the slewing support includes a driving motor, an enveloping screw, a turbine turntable and a shield shell, the driving motor is fixed on the moving guide base, the turbine turntable is rotatably installed in the shield shell, the enveloping screw and the turbine turntable form a worm gear match, the upper end surface of the moving guide base is fixedly connected to the shield shell of the slewing support, the turbine turntable of the slewing support is fixedly connected to the slewing support shell, the driving motor rotates to drive the enveloping screw to rotate, and the slewing support shell is driven to rotate by the cooperation between the enveloping screw and the turbine turntable; The slewing support housing is connected to the vertical arm through a lifting device, a spiral swing cylinder is fixedly installed on the middle and upper part of the vertical arm, the output rotating end surface of the spiral swing cylinder is fixedly connected to the slewing arm, and the output shaft of the spiral swing cylinder rotates to drive the slewing arm to rotate; a plurality of hydraulic clamps are installed on the slewing arm at equal intervals, and the top of the unit hydraulic support is clamped by the plurality of hydraulic clamps and moves synchronously with the slewing arm; The lifting device comprises a tilt adjustment hydraulic cylinder, a lifting hydraulic cylinder and a lifting arm, the slewing support shell is rotatably connected to the lifting arm, the slewing support shell is rotatably connected to the cylinder end of the lifting hydraulic cylinder, the piston rod end of the lifting hydraulic cylinder is rotatably connected to the lifting arm, the middle ear seat of the upper end surface of the lifting arm is rotatably connected to the cylinder end of the tilt adjustment hydraulic cylinder, the piston rod end of the tilt adjustment hydraulic cylinder is rotatably connected to the upper end ear seat of the vertical arm, the lower end of the vertical arm is rotatably connected to the lifting arm, and the lifting hydraulic cylinder is used to adjust the height of the slewing arm and the unit hydraulic support so that the bottom of the unit hydraulic support is higher than the loading surface of the support loading bottom plate; The tail of the whole machine bottom plate is fixedly installed with a second hydraulic support leg, the front end of the whole machine bottom plate is fixedly installed with an anti-overturning hydraulic support leg, and the transition position of the front end boss of the bracket loading bottom plate is fixedly installed with a first hydraulic support leg, and the first hydraulic support leg, the second hydraulic support leg and the anti-overturning hydraulic support leg are all retractable; wherein, the anti-overturning hydraulic support leg comprises a first telescopic oil cylinder, a first telescopic support leg, a second telescopic oil cylinder and a second telescopic support leg, the first telescopic oil cylinder controls the retraction and extension of the first telescopic support leg, and the second telescopic oil cylinder controls the retraction and extension of the second telescopic support leg; An oil tank is fixedly mounted on the upper end surface of the tail portion of the whole machine bottom plate, and a motor hydraulic pump group, a radiator, a magnetic starter, a flameproof control cabinet and an electromagnetic proportional multi-way valve are fixedly mounted on the upper end surface of the oil tank.

2. The unit hydraulic support handling robot according to claim 1, characterized in that: The movable guide base includes a swivel support and rotating base plate, and the four corners of the lower end surface of the swivel support and rotating base plate are respectively fixedly installed with supporting square tubes, and the lower end of the supporting square tube is fixedly installed on the square tube wheel axle. Guide wheels are symmetrically installed at both ends of the square tube wheel axle, and the guide wheels are installed in the grooves on the guide rails.

3. The unit hydraulic support handling robot according to claim 1, characterized in that: The bottom hanging ear of the front end boss of the bracket loading bottom plate is rotatably connected to the wheel motor mounting frame, two wheel motors are arranged, and the two wheel motors are symmetrically fixedly mounted on the wheel motor mounting frame.

4. The unit hydraulic support handling robot according to claim 3, characterized in that: The bracket loading bottom plate is provided with a bracket loading bottom plate hanging ear, the whole machine bottom plate is provided with a whole machine bottom plate hanging ear, and the bracket loading bottom plate hanging ear is rotatably connected with the whole machine bottom plate hanging ear.

5. The unit hydraulic support handling robot according to any one of claims 1 to 4, characterized in that: The cable reel is fixedly mounted on the front end boss of the bracket loading base plate.

6. The unit hydraulic support handling robot according to any one of claims 1 to 4, characterized in that: Two lifting hydraulic cylinders are provided, and the two lifting hydraulic cylinders are symmetrically arranged on both sides of the lifting arm. Two guide rail hydraulic motors are provided, and the two guide rail hydraulic motors are symmetrically arranged on the slewing support mounting base plate.

7. The unit hydraulic support handling robot according to any one of claims 1 to 4, characterized in that: The hydraulic clamps are provided in three pieces, and the three hydraulic clamps are arranged on the slewing arm at equal intervals.

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