A ground-walking hydraulic support transport robot

Abstract

A ground-walking hydraulic support handling robot solves the problem of existing support handling equipment that, during the process of arranging hydraulic supports, frequent manual connection and removal of hydraulic pipelines is required, resulting in high labor intensity, high mine maintenance and management costs, and poor safety. The robot comprises a body with a walking mechanism on the lower side, a support handling robot arm provided at the front of the body, the lower end of the support handling robot arm being connected to the body via a robot arm rotation mechanism; a load-bearing shovel is provided at the front end of the body, and ground-supporting mechanisms are provided on both sides of the load-bearing shovel. The body is equipped with a hydraulic oil pump station, an emulsion pump station, and a power source. It has a reasonable design and a compact structure. During the process of transporting the hydraulic support, the support's inlet and return liquid pipelines can be quickly connected without the need for manual plugging and unplugging of hydraulic pipelines. It has low labor intensity, high operating efficiency, good safety, and is flexible and reliable to use.

Description

Technical Field

[0001] The present invention belongs to the technical field of mining engineering equipment, and specifically relates to a hydraulic support transporting robot that can quickly connect the support's liquid inlet and return pipelines during the process of transporting the hydraulic support, without the need for manual plugging and unplugging of the hydraulic pipelines, with low labor intensity, high operating efficiency, good safety, and flexible use on the ground. Background Art

[0002] Stacked and gantry hydraulic supports are widely used in underground mine tunnels. Currently, conventional support handling equipment (monorail cranes, rubber-wheeled trucks, etc.) requires frequent manual connection and removal of hydraulic lines between the supports and the emulsion pumping station during deployment. This not only increases labor intensity and mine maintenance and management costs, but also poses significant safety risks because workers must operate near the supports during hydraulic line installation. Therefore, to improve operational efficiency and enhance production safety, improvements to existing hydraulic support handling equipment are necessary. Summary of the Invention

[0003] The present invention is aimed at the above problems and provides a hydraulic support transporting robot that can quickly connect the support's liquid inlet and return pipelines during the process of transporting the hydraulic support, without the need for manual plugging and unplugging of hydraulic pipelines, with low labor intensity, high operating efficiency, good safety, and flexible use.

[0004] The technical solution adopted by the present invention is: the ground-walking hydraulic support transport robot includes a body, and is characterized in that: a walking mechanism is provided on the lower side of the body, a support transporting robotic arm is provided on the front of the body, and the lower end of the support transporting robotic arm is connected to the body through a robotic arm rotation mechanism; and, a load-bearing shovel is provided at the front end of the body, and ground-supporting mechanisms are respectively provided on both sides of the load-bearing shovel; a hydraulic oil pump station, an emulsion pump station and a power source are also provided on the body.

[0005] The bracket handling robot arm includes a vertically arranged supporting outer sleeve, the lower end of the supporting outer sleeve is connected to the turntable of the robot arm rotation mechanism through a rotating connecting flange, the internal movable connection of the supporting outer sleeve is provided with a lifting guide rod, the upper end of the lifting guide rod is provided with a transversely arranged telescopic outer sleeve, and a vertically arranged lifting hydraulic cylinder is provided between the telescopic outer sleeve and the supporting outer sleeve; a telescopic guide sleeve is provided inside the telescopic outer sleeve, and a telescopic hydraulic cylinder is provided inside the telescopic guide sleeve, one end of the telescopic hydraulic cylinder is hinged to the front of the telescopic guide sleeve, and the other end of the telescopic hydraulic cylinder is hinged to the rear of the telescopic outer sleeve; and a bracket lifting seat is also provided at the front end of the telescopic guide sleeve, and a hydraulic pipeline quick connector is provided on the bracket lifting seat. The telescopic outer sleeve is arranged laterally at the upper end of the lifting guide rod and is driven to move vertically up and down in the supporting outer sleeve by utilizing the telescopic movement of the lifting hydraulic cylinder, and the telescopic guide sleeve is driven to move laterally in the telescopic outer sleeve by utilizing the telescopic movement of the lifting hydraulic cylinder; at the same time, the supporting outer sleeve is driven to rotate around the vertical axis by utilizing the mechanical arm rotation mechanism, thereby facilitating the flexible lifting and transportation of the hydraulic support by the support lifting seat at the front end of the telescopic guide sleeve.

[0006] Fixed and movable clamps are installed on the support base and on the front and rear sides of the hydraulic line quick connector. The support base is also equipped with a video monitoring device for precise alignment. When the support base, located at the front end of the telescopic guide sleeve, is lifting the hydraulic support, the video monitoring device ensures precise alignment of the hydraulic line quick connector with the quick connector connection on the support top beam, facilitating a secure connection. The fixed and movable clamps, in conjunction with each other, clamp the support top beam, ensuring reliable handling of the hydraulic support.

[0007] The movable clamping plate includes a connecting base plate, which is hingedly connected to the base plate hinged lugs on the support support base via the support support hinged lugs. The lower end of the clamping rocker provided on the connecting base plate is hingedly connected to the telescopic end of the clamping hydraulic cylinder, and the fixed end of the clamping hydraulic cylinder is hingedly connected to the clamping cylinder base on the support support base. The expansion and contraction of the clamping hydraulic cylinder drives the connecting base plate to swing back and forth around the rotation axis of the base plate hinged lugs, thereby clamping the support top beam of the hydraulic support located on the support support base.

[0008] A clamping plate is provided on the connecting base plate of the movable clamping plate, facing the fixed clamping plate. The clamping plate is connected to a plate connecting hole on the connecting base plate via a plate connecting rod. A clamping buffer mechanism is provided between the clamping plate and the connecting base plate. The clamping plate on the connecting base plate contacts the top beam of the hydraulic support, and the clamping buffer mechanism between the clamping plate and the connecting base plate increases the elasticity of the clamping structure, thereby ensuring a certain degree of compression at the clamping portion of the support support seat, thereby facilitating use.

[0009] The clamping and buffering mechanism includes a buffer guide rod disposed on the clamping plate, which is slidably connected to a buffer guide hole in the connecting base plate. A plurality of buffer disc springs are sleeved on the plate connecting rod and between the clamping plate and the connecting base plate. The buffer guide rod slides within the buffer guide hole to guide the buffering movement of the clamping plate, while the buffer disc springs disposed between the clamping plate and the connecting base plate absorb the impact force.

[0010] The hydraulic line quick connector is connected to the support support via a quick connector connector. A quick connector buffer spring is provided between the lower end of the hydraulic line quick connector and the quick connector connector. The hydraulic line quick connector passes through the quick connector mounting hole and is located above the support support. A hydraulic pipe socket is also provided at the lower portion of the quick connector connector. This allows the hydraulic pipe to be connected to the upper hydraulic line quick connector via the hydraulic pipe socket. The quick connector buffer spring provides a reasonable buffer between the hydraulic line quick connector and the quick connector connection on the support top beam, effectively preventing damage to components during the connection process.

[0011] The ground support mechanism includes a fixed box connected to the front end of the machine body. Vertically arranged ground support hydraulic cylinders are respectively provided on the left and right sides of the fixed box. The lower ends of the telescopic rods of the ground support hydraulic cylinders are provided with ground support pressure plates. Furthermore, the cylinder sides of the ground support hydraulic cylinders are movably connected to the interior of the fixed box via transverse telescopic sleeves. Transverse telescopic cylinders are respectively provided between the transverse telescopic sleeves and the fixed box. The expansion and contraction of the transverse telescopic cylinders drives the transverse telescopic sleeves to extend or retract laterally within the fixed box, thereby flexibly changing the distance between the two side ground support hydraulic cylinders according to actual use needs, thereby improving support stability. The ground support hydraulic cylinders on both sides are then extended downward, so that the ground support pressure plates at the lower ends firmly contact the roadway floor.

[0012] The load-bearing shovel includes a shovel main body connected to the front end of the machine body via a shovel connecting frame. A shovel up and down swinging mechanism is provided between the shovel connecting frame and the front end of the machine body. The shovel up and down swinging mechanism drives the shovel connecting frame and the shovel main body thereon to swing up and down a certain angle, thereby facilitating stable support of the support base of the hydraulic support.

[0013] The hydraulic support carried by the above-mentioned ground-based hydraulic support handling robot includes a support base, a support top beam disposed above the support base, and support columns disposed between the support top beam and the support base. Furthermore, a quick-connector connection is provided on the lower side of the middle portion of the support top beam. The support top beam is raised and lowered by utilizing the extension and retraction of the support columns, thereby providing stable support for the roadway space. Furthermore, during the hydraulic support handling process, the hydraulic line quick-connector on the support handling robot arm is connected to the quick-connector connection on the lower side of the middle portion of the support top beam, providing power for raising and lowering the support columns via the hydraulic lines.

[0014] The beneficial effects of the present invention are as follows: since the present invention adopts a machine body with a walking mechanism on the lower side, a support transporting robot arm is provided at the front of the machine body, and the lower end of the support transporting robot arm is connected to the machine body through a robot arm rotation mechanism; a load-bearing shovel is provided at the front end of the machine body, and ground support mechanisms are provided on both sides of the load-bearing shovel, and a hydraulic oil pump station, an emulsion pump station and a power source structure are provided on the machine body, so its design is reasonable and its structure is compact, and it can transport stack-type and door-type hydraulic supports in the tunnel. During the transportation of the hydraulic supports, the support inlet and return liquid pipelines can be quickly connected without manual plugging and unplugging of the hydraulic pipelines, and the dangerous area near the support can always be kept unmanned, with low labor intensity and good operation safety; and the support transporting robot arm can realize multiple degrees of freedom of movement, making the process of installing the support more flexible and efficient, and can achieve the purpose of safely and quickly transporting and installing the hydraulic support. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the present invention.

[0016] Figure 2 yes Figure 1 A structural schematic diagram of the bracket handling robot arm in FIG.

[0017] Figure 3 yes Figure 2 Front view of .

[0018] Figure 4 yes Figure 2 A schematic diagram of the local structure at the front end of the telescopic guide sleeve and the bracket support seat.

[0019] Figure 5 yes Figure 4 An exploded structure view of .

[0020] Figure 6 yes Figure 1 A schematic diagram of a connection structure between the load-bearing shovel plate and the ground supporting mechanism.

[0021] Figure 7 yes Figure 6 Cross-sectional view of the internal structure.

[0022] Figure 8 The figure is a structural diagram of a hydraulic support carried by the hydraulic support carrying robot of the present invention.

[0023] Description of the numbers in the figure: 1 body, 2 walking mechanism, 3 bracket handling mechanical arm, 4 mechanical arm rotation mechanism, 5 load-bearing shovel, 6 support mechanism, 7 emulsion pump station, 8 hydraulic oil pump station, 9 cab, 10 power source, 11 supporting outer sleeve, 12 rotation connection flange, 13 lifting guide plug rod, 14 lifting hydraulic cylinder, 15 telescopic outer sleeve, 16 telescopic hydraulic cylinder, 17 telescopic guide plug sleeve, 18 bracket lifting seat, 19 hydraulic pipeline quick connector, 20 fixed splint, 21 movable splint, 22 video monitoring device, 23 clamping rocker, 24 clamping hydraulic cylinder, 25 connecting base plate, 26 clamping pressure plate, 27 clamping buffer mechanism, 28 quick Plug-in connector buffer spring, 29 quick-connect connector connecting seat, 30 hydraulic pipe plug-in sleeve, 31 telescopic cylinder hinge hole, 32 buffer disc spring, 33 pressure plate connecting rod, 34 buffer guide rod, 35 pressure plate connecting hole, 36 locking nut, 37 buffer guide hole, 38 clamping cylinder hinge ear plate, 39 lifting seat hinge ear plate, 40 base plate hinge ear plate, 41 clamping cylinder base, 42 quick-connect connector mounting hole, 43 shovel plate main body, 44 shovel plate connecting frame, 45 fixed box, 46 horizontal telescopic sleeve, 47 ground support hydraulic cylinder, 48 ground support pressure plate, 49 horizontal telescopic cylinder, 50 bracket base, 51 bracket top beam, 52 support column, 53 quick-connect connector connecting part. DETAILED DESCRIPTION

[0024] according to Figures 1 to 8 The specific structure of the present invention is described in detail. The ground-walking hydraulic support handling robot includes a body 1, a crawler-type walking mechanism 2 is provided on the lower side of the body 1, and a support handling robot arm 3 is provided at the front of the body 1. The support handling robot arm 3 includes a vertically arranged supporting outer sleeve 11, and the lower end of the supporting outer sleeve 11 is connected to the turntable of the robot arm rotating mechanism 4 at the front of the body 1 through a rotating connecting flange 12. The internal movable connection of the supporting outer sleeve 11 is provided with a lifting guide rod 13, and the upper end of the lifting guide rod 13 is provided with a horizontally arranged telescopic outer sleeve 15; and a vertically arranged lifting hydraulic cylinder 14 is provided between the front part of the telescopic outer sleeve 15 and the side wall of the supporting outer sleeve 11. At the same time, a telescopic guide sleeve 17 is also provided inside the telescopic outer sleeve 15, and a telescopic hydraulic cylinder 16 is provided inside the telescopic guide sleeve 17. The telescopic end of the telescopic hydraulic cylinder 16 is hinged to the telescopic cylinder hinge hole 31 at the front of the telescopic guide sleeve 17, and the fixed end of the telescopic hydraulic cylinder 16 is hinged to the rear of the telescopic outer sleeve 15.

[0025] Furthermore, a support support seat 18 for lifting the support top beam 51 is provided at the front end of the telescopic guide sleeve 17, which is arranged transversely within the telescopic outer sleeve 15. Two sets of hydraulic line quick connectors 19 are provided in the middle of the upper side of the support support seat 18. The telescopic outer sleeve 15, located at the upper end of the lifting guide rod 13 and arranged transversely, is then lifted and lowered vertically within the support outer sleeve 11 by the telescopic hydraulic cylinder 14. The telescopic guide sleeve 17 is then driven to extend and retract laterally within the telescopic outer sleeve 15 by the telescopic hydraulic cylinder 16. Furthermore, the support outer sleeve 11 is driven to rotate about its vertical axis by the robotic arm rotation mechanism 4, allowing the support support 11 to be flexibly lifted and carried by the support support seat 18 at the front end of the telescopic guide sleeve 17.

[0026] A fixed clamping plate 20 is provided on the support support base 18, behind the hydraulic line quick connector 19. A movable clamping plate 21 is provided in front of the fixed clamping plate 20, in front of the hydraulic line quick connector 19. A video monitoring device 22 for precise alignment is also provided on the support support base 18. Thus, while the support support base 18 at the front end of the telescopic guide sleeve 17 is lifting the support top beam 51 of the hydraulic support, the video monitoring device 22 precisely aligns the hydraulic line quick connector 19 (male quick connector) with the quick connector connection portion 53 (female quick connector) at the lower middle portion of the support top beam 51, facilitating a quick and secure connection between the two, thereby enabling the automatic connection, filling, and discharging of the hydraulic support. The coordinated fixed clamping plate 20 and movable clamping plate 21 are used to clamp the support top beam 51, ensuring the reliability of the hydraulic support during handling.

[0027] The movable splint 21 is composed of a connecting base plate 25, which is hinged to the base plate hinge ear plate 40 on the bracket lifting seat 18 through the lifting seat hinge ear plate 39; and the lower end of the clamping rocker 23 arranged on the connecting base plate 25 is hinged to the telescopic end of the clamping hydraulic cylinder 24, and the fixed end of the clamping hydraulic cylinder 24 is hinged to the clamping cylinder base 41 on the bracket lifting seat 18; and then the connection base plate 25 is driven to swing back and forth around the rotating axis of the base plate hinge ear plate 40 through the extension and contraction of the clamping hydraulic cylinder 24, so as to clamp the bracket top beam 51 of the hydraulic bracket located on the bracket lifting seat 18, so as to facilitate movement.

[0028] Meanwhile, a clamping plate 26 is provided on the connecting base plate 25 of the movable clamping plate 21, on the side facing the fixed clamping plate 20. The clamping plate 26 is connected to a plate connecting hole 35 in the middle of the connecting base plate 25 via a plate connecting rod 33 in the middle and is locked with a lock nut 36. A clamping buffer mechanism 27 is provided between the clamping plate 26 and the connecting base plate 25. The clamping buffer mechanism 27 includes two sets of buffer guide rods 34 provided on the clamping plate 26. The two sets of buffer guide rods 34 are located on either side of the plate connecting rod 33 and are slidably connected to buffer guide holes 37 at corresponding positions on the connecting base plate 25. Several sets of buffer disc springs 32 are also sleeved on the pressure plate connecting rod 33 and between the clamping plate 26 and the connecting base plate 25. The buffer guide rod 34 slides within the buffer guide hole 37 to guide the buffer movement of the clamping plate 26. The buffer disc springs 32 disposed between the clamping plate 26 and the connecting base plate 25 absorb the impact force. Furthermore, the clamping plate 26 on the connecting base plate 25 contacts the support beam 51 of the hydraulic support, and the clamping buffer mechanism 27 between the clamping plate 26 and the connecting base plate 25 increases the elasticity of the clamping structure, ensuring a certain degree of compression at the clamping area above the support support base 18 and on both sides of the hydraulic line quick connector 19, facilitating ease of use.

[0029] Two sets of hydraulic line quick-connect fittings 19, located in the middle of the upper side of the support support base 18, are connected to the support support base 18 via a quick-connect fitting connection base 29. A quick-connect fitting buffer spring 28 is provided between the lower end of the hydraulic line quick-connect fitting 19 and the quick-connect fitting connection base 29. The hydraulic line quick-connect fitting 19 passes through the quick-connect fitting mounting hole 42 and is located above the support support base 18. A hydraulic line connector 30 for the hydraulic line to pass through is also provided at the lower portion of the quick-connect fitting connection base 29. Thus, the hydraulic line is connected to the upper hydraulic line quick-connect fitting 19 via the hydraulic line connector 30. The quick-connect fitting buffer spring 28 is used to provide a reasonable buffer between the hydraulic line quick-connect fitting 19 and the quick-connect fitting connection portion 53 on the support top beam 51, effectively preventing damage to components during the connection process and extending the service life of the device.

[0030] A supporting shovel 5 for supporting the support base 50 is located at the front of the machine body 1. The supporting shovel 5 comprises a shovel body 43, which is connected to a fixed housing 45 at the front of the machine body 1 via a shovel connecting frame 44. A shovel up and down swing mechanism is also located between the shovel connecting frame 44 and the front end of the fixed housing 45. This swing mechanism drives the shovel connecting frame 44 and the shovel body 43 thereon to swing up and down a certain angle, thereby facilitating stable support of the support base 50 of the hydraulic support. A cab 9 is also located in the middle of the machine body 1. A hydraulic oil pump station 8 for powering the traveling mechanism 2, the arm slewing mechanism 4, the support handling arm 3, and the ground support mechanism 6 is located in front of the cab 9 and on the machine body 1, respectively. An emulsion pump station 7 for supplying and returning fluid to the support columns 52 of the hydraulic support is located behind the cab 9. A power source 10 (e.g., a diesel engine or battery, or remotely transmitted via a cable) is located behind the cab 9. It can be understood that, according to specific usage needs, a remote control walking control method can be adopted, that is, the cab 9 is transformed into a control module for remote control driving.

[0031] A ground support mechanism 6 is provided on the left and right sides of the fixed box 45 at the front end of the machine body 1 (on both sides of the shovel blade 5). The ground support mechanism 6 includes a vertically arranged ground support hydraulic cylinder 47. The lower end of the telescopic rod at the bottom of the ground support hydraulic cylinder 47 is provided with a ground support pressure plate 48. The lower side of the ground support pressure plate 48 is provided with a number of ground contact bumps. The cylinder side of the ground support hydraulic cylinder 47 on both sides is movably inserted into the interior of the fixed box 45 through a transverse telescopic sleeve 46. A transverse telescopic cylinder 49 is provided between the transverse telescopic sleeve 46 and the fixed box 45. The expansion and contraction of the transverse telescopic cylinder 49 drives the transverse telescopic sleeve 46 to extend or retract laterally within the fixed box 45, thereby flexibly changing the distance between the two ground support hydraulic cylinders 47 according to actual use needs and improving support stability. Afterwards, the ground support hydraulic cylinders 47 on both sides are extended downward, so that the ground support pressure plates 48 at the lower ends are in stable contact with the roadway floor.

[0032] The hydraulic support being transported includes a support base 50 at the bottom, a support top beam 51 disposed above the support base 50, and two sets of support columns 52 disposed between the support top beam 51 and the support base 50. Furthermore, two sets of quick-connect connectors 53 for connecting to the hydraulic line quick-connect connectors 19 on the support lifting seat 18 are disposed on the lower side of the middle portion of the support top beam 51 and between the two sets of support columns 52. Thus, the support top beam 51 is driven to rise and fall by the extension and retraction of the support columns 52, thereby providing a stable support for the tunnel space. Simultaneously, during the hydraulic support transport process, the hydraulic line quick-connect connectors 19 on the support transport robot arm 3 are interconnected with the quick-connect connectors 53 on the lower side of the middle portion of the support top beam 51, providing power for the raising and lowering of the support columns 52 via the hydraulic lines.

[0033] When the ground-walking hydraulic support transport robot is in use, first, the walking mechanism 2 is used to move the hydraulic support transport robot to the vicinity of the hydraulic support to be moved which is in the top-connected state; then, the transverse telescopic cylinder 49 is driven to extend, so as to drive the transverse telescopic sleeve 46 to extend transversely in the fixed box 45, thereby increasing the distance between the ground-supporting hydraulic cylinders 47 on both sides; and then, the ground-supporting hydraulic cylinders 47 on both sides are extended downward, so that the ground-supporting pressure plate 48 is in firm contact with the bottom plate of the roadway. Afterwards, the lifting hydraulic cylinder 14 is extended to drive the upper end of the lifting guide rod 13 and the transversely arranged telescopic outer sleeve 15 to rise vertically in the supporting outer sleeve 11, and the telescopic guide sleeve 17 is driven to extend and retract laterally in the telescopic outer sleeve 15 by the telescopic hydraulic cylinder 16, and the supporting outer sleeve 11 is driven to rotate around the vertical axis by the robotic arm rotation mechanism 4, thereby adjusting the support lifting seat 18 at the front end of the telescopic guide sleeve 17 to the vicinity of the support top beam 51 of the hydraulic support to be moved; then, further fine-tuning and alignment are performed through the video monitoring device 22, so that the hydraulic pipeline quick connector 19 on the support lifting seat 18 and the quick connector connection part 53 on the support top beam 51 are within the range of automatic docking; after the positions are aligned, the lifting hydraulic cylinder 14 is continued to be extended upward, so that the hydraulic pipeline quick connector 19 and the quick connector connection part 53 on the support top beam 51 are automatically connected and locked, thereby connecting the hydraulic pipeline.

[0034] The clamping hydraulic cylinder 24 drives the movable clamping plate 21 to swing inward about the rotation axis of the baseplate hinged lug 40. The movable clamping plate 21 and the fixed clamping plate 20 then clamp the support top beam 51 located on the support lifting seat 18, facilitating subsequent movement. The lifting hydraulic cylinder 14 is then extended upward, allowing the support lifting seat 18 at the front end of the telescopic guide sleeve 17 to support the support top beam 51. Simultaneously, the hydraulic pipeline connected to the emulsion pump station 7 is used to return the emulsion and retract the extended support column 52, thereby lifting the support base 50 and freeing it from the roadway floor. The supporting mechanisms 6 on both sides are then retracted, and the transport robot carrying the hydraulic support is moved to a new support position. (During this movement, the positions of the various mechanisms on the support handling robot arm 3 can be flexibly adjusted to achieve avoidance based on the roadway shape and the layout of other equipment within it.)

[0035] After the hydraulic support robot reaches the new support location, it extends its supporting mechanisms 6 on both sides again to provide stable support. The support handling robot arm 3 then accurately moves the hydraulic support, which is clamped on the support support base 18, to the target position, with its support top beam 51 slightly contacting the roadway roof. The support columns 52 are then supplied with emulsion liquid via hydraulic lines connected to the emulsion pump station 7, gradually extending the support columns 52, ensuring that the support base 50 is in firm contact with the roadway floor and the support top beam 51 is in stable contact with the roof. Once the hydraulic support has been moved into position and provides stable support for the roadway roof, the movable clamps 21 are released, and the lifting hydraulic cylinder 14 is retracted, causing the support handling robot arm 3 to descend as a whole, disengaging the hydraulic line quick-connector 19 on the support support base 18 from the quick-connector connection 53 on the support top beam 51. Simultaneously, the various mechanisms on the support handling robot arm 3 are adjusted to their initial positions, preparing for the next support handling cycle. During the entire hydraulic support handling operation, there is no need to manually plug and unplug the hydraulic pipeline between the support and the emulsion pump station 7, and the dangerous area near the hydraulic support can always remain free of workers, effectively improving work efficiency and reducing safety hazards.

Claims

1. A ground-walking hydraulic support transport robot, comprising a body (1), characterized in that: The lower side of the machine body (1) is provided with a walking mechanism (2), the front part of the machine body (1) is provided with a support transporting mechanical arm (3), the lower end of the support transporting mechanical arm (3) is connected to the machine body (1) through a mechanical arm rotating mechanism (4); and the front end of the machine body (1) is provided with a load-bearing shovel (5), and both sides of the load-bearing shovel (5) are provided with a ground support mechanism (6); the machine body (1) is also provided with a hydraulic oil pump station (8), an emulsion pump station (7) and a power source (10); the support transporting mechanical arm (3) includes a vertical The supporting outer sleeve (11) is arranged in a longitudinal direction, and the lower end of the supporting outer sleeve (11) is connected to the turntable of the mechanical arm rotation mechanism (4) through a rotary connection flange (12). The internal movable plug of the supporting outer sleeve (11) is provided with a lifting guide plug rod (13), and the upper end of the lifting guide plug rod (13) is provided with a horizontally arranged telescopic outer sleeve (15), and a vertically arranged lifting hydraulic cylinder (14) is provided between the telescopic outer sleeve (15) and the supporting outer sleeve (11); the interior of the telescopic outer sleeve (15) is provided with a telescopic The guide sleeve (17) is provided with a telescopic hydraulic cylinder (16) inside the telescopic guide sleeve (17), one end of the telescopic hydraulic cylinder (16) is hinged to the front of the telescopic guide sleeve (17), and the other end of the telescopic hydraulic cylinder (16) is hinged to the rear of the telescopic outer sleeve (15); and the front end of the telescopic guide sleeve (17) is also provided with a bracket lifting seat (18), and the bracket lifting seat (18) is provided with a hydraulic pipeline quick plug connector (19); the bracket lifting seat (18) and the hydraulic pipeline quick plug connector (19) are provided on the bracket lifting seat (18). ) are provided with a fixed splint (20) and a movable splint (21) on the front and rear sides respectively, and a video monitoring device (22) for precise alignment is also provided on the support lifting seat (18); it also includes a hydraulic support to be transported, the hydraulic support includes a support base (50), a support top beam (51) is provided above the support base (50), and a support column (52) is provided between the support top beam (51) and the support base (50); and a quick-connect connector (53) is also provided on the lower side of the middle part of the support top beam (51).

2. The ground-moving hydraulic support transport robot according to claim 1, characterized in that: The movable splint (21) includes a connecting base plate (25), which is hinged to a base plate hinged ear plate (40) on a support support seat (18) through a support seat hinged ear plate (39); the lower end of a clamping rocker (23) provided on the connecting base plate (25) is hinged to a telescopic end of a clamping hydraulic cylinder (24), and the fixed end of the clamping hydraulic cylinder (24) is hinged to a clamping cylinder base (41) on the support support seat (18).

3. The ground-moving hydraulic support transport robot according to claim 2, characterized in that: A clamping plate (26) is provided on the connecting base plate (25) of the movable splint (21) on a side facing the fixed splint (20), and the clamping plate (26) is connected to the plate connecting hole (35) on the connecting base plate (25) via a plate connecting rod (33), and a clamping buffer mechanism (27) is provided between the clamping plate (26) and the connecting base plate (25).

4. The ground-moving hydraulic support transport robot according to claim 3, characterized in that: The clamping buffer mechanism (27) includes a buffer guide rod (34) provided on the clamping pressure plate (26), the buffer guide rod (34) being slidably connected to the buffer guide hole (37) on the connecting base plate (25), and a plurality of groups of buffer disc springs (32) being sleeved on the pressure plate connecting rod (33) and between the clamping pressure plate (26) and the connecting base plate (25).

5. The ground-moving hydraulic support transport robot according to claim 1, characterized in that: The hydraulic pipeline quick connector (19) is connected to the bracket support seat (18) through the quick connector connection seat (29), and a quick connector buffer spring (28) is provided between the lower end of the hydraulic pipeline quick connector (19) and the quick connector connection seat (29). The hydraulic pipeline quick connector (19) passes through the quick connector installation hole (42) and is located above the bracket support seat (18); a hydraulic pipe plug sleeve (30) is also provided at the lower part of the quick connector connection seat (29).

6. The ground-moving hydraulic support transport robot according to claim 1, characterized in that: The ground-supporting mechanism (6) includes a fixed box (45) connected to the front end of the machine body (1), and vertically arranged ground-supporting hydraulic cylinders (47) are respectively provided on the left and right sides of the fixed box (45), and a ground-supporting pressure plate (48) is provided at the lower end of the telescopic rod of the ground-supporting hydraulic cylinder (47); and the cylinder side of the ground-supporting hydraulic cylinder (47) is movably plugged into the fixed box (45) through a transverse telescopic sleeve (46), and a transverse telescopic cylinder (49) is respectively provided between the transverse telescopic sleeve (46) and the fixed box (45).

7. The ground-moving hydraulic support transport robot according to claim 1, characterized in that: The carrying shovel (5) includes a shovel main body (43), which is connected to the front end of the machine body (1) via a shovel connecting frame (44), and a shovel up and down swinging mechanism is also provided between the shovel connecting frame (44) and the front end of the machine body (1).

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