A 360° Bracket Disassembly and Assembly Manipulator

Abstract

The present invention relates to the technical field of fully mechanized coal mining work underground in coal mines, and specifically relates to a 360° support disassembly and assembly manipulator, which includes: a base, the base is horizontally installed on the ground, and a 360° moving device for cooperating with a single rail hoist to adjust the installation of a hydraulic support is further arranged on the base. The 360° moving device includes a longitudinal moving device for controlling the horizontal and longitudinal movement of the hydraulic support. A transverse moving device for controlling the horizontal and transverse movement of the hydraulic support is installed on the longitudinal moving device, and a fixing device for fixing the hydraulic support is installed on the transverse moving device. The use of the 360° disassembly and assembly manipulator that can horizontally move the hydraulic support on a plane in cooperation with a single rail hoist replaces the use of a hydraulic lifting device to assemble the hydraulic support, eliminates the need to open a chamber, avoids the safety hazards brought during the process of opening the chamber, and at the same time avoids the problems of difficulty and long time consumption during the process of opening the chamber, improving the assembly and production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of fully-mechanized coal mining underground, and specifically to a 360° bracket disassembly and assembly manipulator for the assembly and disassembly of hydraulic supports in fully-mechanized coal mining faces underground in coal mines. Background Art

[0002] In the existing hydraulic support installation and disassembly process, since the single-track crane can only move in the direction of a single coordinate axis during hoisting, a frame-type hydraulic hoisting device is required to assemble and disassemble the hydraulic support. The location requirements for using the frame-type hydraulic hoisting device to assemble and disassemble the hydraulic support are relatively high. For the flat roadway section alone, it requires more than 40 meters, and a yard is arranged at each end of the roadway and a winch is installed. In the middle of the roadway, a large-section chamber with dimensions of length * width * height = 12 × 5.2 × 5 meters is constructed by picking the roof and brushing the sidewalls. The roof-breaking construction is difficult and poses a high safety threat. During the roof-breaking construction, the mine cave may collapse due to uneven stress, and because of the high construction difficulty, the time period from construction to the completion of the installation of the hydraulic support is long.

[0003] To solve the problems of large roof-breaking construction, high roof-breaking safety threat, and long roof-breaking time, a 360° bracket disassembly and assembly manipulator is invented. The 360° bracket disassembly and assembly manipulator is used to replace the frame-type hydraulic hoisting device and cooperate with the original single-track crane inside the roadway to assemble the hydraulic support. Using the 360° bracket disassembly and assembly manipulator to assemble the hydraulic support does not require roof-breaking construction. Only local undercutting of 0.6 m at the bottom of the existing roadway (section width * height = 4.8 × 3.6 meters) is required to cooperate with the single-track crane to assemble the hydraulic support, effectively reducing the safety hazards brought by roof-breaking construction. At the same time, it can reduce the assembly cycle of the hydraulic support and improve the mining rate. Summary of the Invention

[0004] The purpose of the present invention is to provide a 360° bracket disassembly and assembly manipulator, which is provided with a 360° moving device composed of a transverse moving device and a transverse moving device. The 360° moving device is used to carry the hydraulic support to move and cooperate with the single-track crane for hoisting, so as to replace the hydraulic hoisting device to assemble the hydraulic support, and solve the safety problems and long construction time caused by picking the roof and opening a chamber when the hydraulic hoisting device assembles the hydraulic support.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A 360° bracket disassembly and assembly manipulator, comprising:

[0007] A base, which is horizontally and fixedly installed on the ground;

[0008] The base is further provided with a 360° moving device for cooperating with the single-track crane to install the hydraulic support.

[0009] By setting up a 360° moving device, after the hydraulic support base is fixed on the 360° moving device by means of a single-rail crane, other parts can be lifted by the single-rail crane. Then, by controlling the 360° moving device to drive the movement of the hydraulic support base, the installation position on the base is aligned with other parts. After that, the parts are lowered by the single-rail crane and then installed by workers, thus completing the installation of the entire hydraulic support. This solves the problem that a single-rail crane can only move in a single axis and a hydraulic lifting device must be used for the hoisting of the hydraulic support. After setting up the 360° moving device, there is no need to use a hydraulic lifting device for the assembly of the hydraulic support, which solves the potential safety hazard caused by the need to open a chamber when using a hydraulic lifting device. At the same time, the time consumed for opening the chamber is saved, the work efficiency is improved, and after the hydraulic support is assembled, it can be directly sent to the required position by the single-rail crane, further improving the work efficiency.

[0010] Preferably, the 360° moving device includes a lateral moving device capable of carrying the hydraulic support to move left and right, a longitudinal moving device capable of carrying the hydraulic support to move forward and backward, and a fixing device for fixing the hydraulic support. By setting up a lateral moving device capable of driving the hydraulic support to move left and right and a longitudinal moving device capable of driving the hydraulic support to move forward and backward, through the mutual cooperation of the lateral and longitudinal directions, the 360° all-round movement of the hydraulic support on the horizontal plane is realized, enabling the 360° support disassembly and assembly manipulator to be adjusted to any position to cooperate with the single-rail crane for the assembly of the hydraulic support, solving the problem that a single-rail crane can only move in a single axis. Because the control accuracy of the single-rail crane is relatively low and it is difficult to control during the hoisting and assembly of parts, the mutual cooperation of the lateral moving device and the longitudinal moving device is used to control the position change during the assembly of the hydraulic support, which can effectively improve the assembly accuracy and assembly speed. The single-rail crane is only used to realize the lifting and lowering of parts.

[0011] Preferably, the base is composed of a bottom pad and three left, middle and right guide rails fixedly mounted on the pad, the directions of the three guide rails are parallel to the monorail crane, and baffles for limiting are also installed on the outer walls of the guide rails on the left and right sides, and the longitudinal moving device includes a lower platform horizontally slidably mounted on the base, the lower platform is composed of plate one and plate two connected by bolts, and three sliders are arranged at the bottom of the lower platform and cooperate with the three guide rails on the base, an identical slider is welded on each of plate one and plate two, and a half slider is welded at the position where plate one and plate two are connected and cooperated, and after plate one and plate two are connected to form the lower platform, they are combined into a complete slider, and the three sliders are rectangular long strip sliders with the same length as plate one and plate two, and the roughness of the mating surfaces of the three guide rails and the three sliders are all lower than Ra6.4, and two hydraulic rods one are installed on the pad by mounting seats and bolts, and the two hydraulic rods one are parallel to the three guide rails, and the output ends of the two hydraulic rods one are respectively connected to plate one and plate two by connecting seats. The guide rail and the slider cooperate with each other, and then the two hydraulic rods are used to push the connected plates one and two to realize the longitudinal movement of the hydraulic support. The pushing accuracy of the hydraulic rod is higher than the movement accuracy of the monorail crane, and it is easier to adjust when assembling the hydraulic support. The use of the guide rail and the slider can reduce the friction between the lower platform and the base relative to the full contact between the entire lower platform and the base, so that less energy is consumed when moving the hydraulic support and the moving speed is faster. Each slider is equal to the length of plate one and plate two and equal to the width of the guide rail, which greatly guarantees the structural strength of the equipment while reducing friction. The baffles on the left and right guide rails are used to limit the movement of the slider, which can prevent the slider from deviating and the installation process is simple. Unlike ordinary guide rail sliders, the slider wraps the slide rail, but the baffle limit method is used to reduce the complexity of processing and reduce production costs. The I-shaped wheel and the slide rail are not used in combination mainly because although the I-shaped wheel has good left and right anti-deviation ability, the force is mainly concentrated on the shaft connected to the wheel, so the load-bearing capacity is not as good as the slider, and the wheel type has a smaller contact surface and poorer stability.

[0012] Preferably, the transverse mechanism includes two "U"-shaped guide grooves welded to the upper surfaces of the first plate and the second plate. The guide grooves on the first plate and the second plate are pairwise opposite. The four guide grooves and the three guide rails are perpendicular to each other in space. An upper platform is arranged above the first plate and the second plate. Two guide blocks for cooperating with the guide grooves are welded to the bottom of the upper platform. The two guide blocks are slidably installed in the four guide grooves. The roughness of the contact surface between the guide blocks and the guide grooves is lower than Ra6.4. Limit grooves are welded to both sides of the upper platform. The two limit grooves buckle the bottom surface of the lower platform. Two hydraulic rods II are horizontally arranged at the bottom of the upper platform. The two hydraulic rods II are located outside the first lower platform. One end of the hydraulic cylinders of the two hydraulic rods II is hingedly installed on the lower platform with a bolt mounting seat. The output ends of the hydraulic rods II are hingedly installed below the upper platform with bolts and mounting seats. The two hydraulic rods II and the two hydraulic rods I are in a perpendicular state in space. The upper platform is pushed by the hydraulic rods II arranged perpendicular and staggered with the hydraulic rods I to realize the lateral movement of the hydraulic support to cooperate with the single-track crane for hoisting, solving the drawback that the single-track crane can only move along the guide rail and cannot move horizontally left and right to cooperate with the assembly of the hydraulic support, so a frame-type hydraulic support needs to be arranged for the assembly of the hydraulic support. The two limit grooves on the upper platform buckle the lower platform, connecting the two plates into a whole, preventing safety hazards such as rollover caused by the center-of-gravity shift during lateral movement, improving the safety of the equipment. At the same time, the two hydraulic rods II arranged outside the lower platform are used to reduce the space occupied by the hydraulic rods in the vertical direction, lower the center of gravity of the equipment, and prevent rollover caused by too high a center of gravity during the process of the hydraulic rods II driving the hydraulic support to move laterally, further improving the safety of the equipment.

[0013] Preferably, the fixing device is a pin hole opened on the upper platform and cooperating with the base of the hydraulic support. By opening a pin hole on the upper platform that mates with the base of the hydraulic support, after the hydraulic support is lifted onto the upper platform by the single-track crane, the position of the hydraulic support is adjusted so that the holes on the base of the hydraulic support are aligned with the pin holes on the upper platform. Then, the pins are manually inserted into the pin holes and the holes on the base of the hydraulic support to fix the base of the hydraulic support to the upper platform, preventing the hydraulic support from tipping over during assembly and improving the stability of the equipment.

[0014] Alternatively, the fixing device includes an installation groove formed on the upper platform and adapted to the base of the hydraulic support. The upper platform is thickened, and an installation groove is formed in the middle of the upper platform. The installation groove is rectangular, with its length and width both 10 - 30 mm greater than those of the base of the hydraulic support, and the groove depth is 60 - 80 mm. After hoisting the base of the hydraulic support above the installation groove by a single-track crane, align the base of the hydraulic support and directly place it into the installation groove. There is no need to align the holes on the hydraulic support with the pin holes on the upper platform one by one, saving installation time. If the hydraulic support tilts during installation, the side walls of the installation groove will also play a limiting role. Using this fixing method is more convenient than the pin fixing method, without the need to tighten and remove pins one by one. However, the stability of this fixing method is not as good as that of the pin fixing method. This fixing method can be adopted when the height and center of gravity of the hydraulic support are relatively low, or when the volume of the hydraulic support is relatively small.

[0015] Preferably, a detection device for detecting the balance state of the device is provided on the guide rail. The detection device includes partitions fixedly installed on the left and right side baffles. Both partitions are located between the two baffles, and a pressure sensor is installed between each baffle and the partition. When the upper platform drives the hydraulic support to move left and right, the sliders at the bottom of the lower platform will exert pressure on the left and right side baffles. The pressure sensors are set to detect the pressure received by the two side baffles. When the detected pressure reaches the set value, the second push rod stops and no longer extends, preventing the hydraulic support from tipping over due to the second push rod pushing the hydraulic support to extend excessively, thus improving the stability and safety of the equipment.

[0016] Preferably, a lubrication device is installed on the side wall of each guide groove. The lubrication device includes a lubrication groove fixed on each guide groove. Lubrication holes are formed between the lubrication groove and the inner wall of the guide groove, and a semi-circular groove is formed at the lubrication hole opening on the inner side of the guide groove. The size of the lubrication hole is 1 - 2 mm, and the diameter of the semi-circular groove is 3 - 4 mm. Lubricating liquid is provided inside the lubrication groove. The lubricating liquid seeps into the inside of the guide groove through the lubrication holes and accumulates in the groove. When the guide block moves left and right along the guide groove, the lubricating liquid will coat the guide block to lubricate it. Because of the adhesiveness between liquids, the guide block will continuously bring out the lubricating liquid during movement to lubricate the part of the guide block passing through the groove. If the guide block does not move, the lubricating liquid will not be pulled out by the guide block. If the guide block no longer blocks the groove, the lubricating liquid will accumulate in the semi-circular groove to form a spherical water droplet. Due to the surface tension of the liquid, the accumulated spherical liquid droplet will not drip, ensuring automatic lubrication of the guide groove and the guide block, improving the smoothness and stability of the equipment driving the hydraulic support to move left and right, and reducing the loss and waste of the lubricating liquid at the same time.

[0017] Preferably, cleaning devices for cleaning gravel and dust on the track are provided at both the front and rear ends of each slider. The cleaning device includes a housing fixedly installed at both the front and rear ends of each slider. A cleaning block is provided inside each housing. Each cleaning block is connected to the housing by a spring. A guiding slope is formed on each cleaning block. Since it is considered that the guide rail is close to the ground of the mine roadway, dust and gravel are likely to accumulate on the guide rail. The dust and gravel will increase the frictional resistance when the slider moves on the guide rail, causing the hydraulic rod 1 to consume more energy when pushing the hydraulic support to move longitudinally. At the same time, the dust and gravel will exacerbate the wear between the guide rail and the slider, further increasing the frictional resistance. With continuous wear, the replacement cost of the equipment will also increase. Therefore, it is necessary to set up a cleaning device to clean the gravel and dust on the guide rail. The cleaning block is made of high-temperature resistant foamed rubber. The cleaning block is pressed against the guide rail by a spring to make it closely fit the guide rail. When the slider slides on the guide rail, the cleaning block will push the dust and gravel on the guide rail in front of the slider in the direction of the slider's movement, ensuring that the guide rail within the moving range of the slider is not affected by dust and gravel. The function of the guiding slope is that if there is too much dust and gravel, it can push the dust and gravel to the side of the guide rail so that they fall under the guide rail, preventing them from piling up too high and crossing over the cleaning block.

[0018] Preferably, a lubricating block for adsorbing lubricating fluid to lubricate the guide rail is installed on each cleaning block. The cleaning blocks are all located between the guiding slope and the end face of the slider. The lubricating block can be made of water-absorbing materials such as water-absorbing sponge. The lowest point of the lubricating block made of water-absorbing sponge is lower than the lowest point of the cleaning block when it is not under force. After adsorbing the lubricating fluid with a soft and water-absorbing material, it is pressed against the guide rail by a spring to make it closely fit the guide rail. When the hydraulic rod 1 pushes the slider to move on the guide rail, the lubricating fluid on the water-absorbing sponge will be applied to the guide rail to lubricate the guide rail, realizing automatic lubrication of the guide rail and the slider. At the same time, it can further clean the dust that the cleaning block fails to completely clean, reduce the frictional force between the guide rail and the slider, make its longitudinal movement smoother, reduce the energy required to push the hydraulic support, improve the efficiency of the equipment, and at the same time increase the service life of the guide rail slider and reduce the maintenance cost.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] 1. A 360° bracket disassembly and assembly manipulator according to the present invention is provided with a 360° moving device composed of a horizontally arranged transverse moving device and a transverse moving device. The hydraulic support base is hoisted onto the transverse moving device by a single-rail hoist, and then the positions of the transverse moving device and the transverse moving device are adjusted by the first hydraulic rod and the second hydraulic rod to achieve 360° horizontal movement of the hydraulic support base within a single quadrant. Then, in cooperation with the single-rail hoist, other parts of the hydraulic support are hoisted above the installation position on the hydraulic support base and then lowered, and assembled by workers, and finally the installation of the entire hydraulic support is completed. After completion, it is directly hoisted to the required working position by the single-rail hoist. It solves the problem that in the roadway, due to the single-axis movement of the single-rail hoist, a chamber must be opened and a hydraulic lifting device must be set up in the roadway to complete the assembly of the hydraulic support. The single-rail hoist is used in cooperation with the 360° moving device to replace the hydraulic lifting device, eliminating the need to open a chamber, avoiding potential safety hazards during the chamber opening process, and also avoiding the difficulties and long time-consuming problems during the chamber opening process, improving the assembly and production efficiency.

[0021] 2. A 360° bracket disassembly and assembly manipulator according to the present invention is provided with a detection device. The detection device uses pressure sensors installed on two left and right baffles to detect the pressure on the baffles. During the installation process of the hydraulic support, when the transverse moving device drives the hydraulic support to move left and right, the center of gravity of the entire device will shift. The shift of the center of gravity causes the extrusion forces on the left and right baffles to change. The baffle on the side farther from the center of gravity will receive a greater extrusion force than the baffle on the side closer to the center of gravity. By setting a pressure value, when the pressure sensor detects that the pressure on the baffle reaches the set value, the second hydraulic rod stops moving, preventing the baffle installed on the guide rail from breaking and causing the hydraulic support to tip over, improving the safety of the equipment.

[0022] 3. A 360° bracket disassembly and assembly manipulator according to the present invention is provided with two different hydraulic support fixing methods, using pins and installation grooves to fix hydraulic supports in different situations, making it as convenient as possible while ensuring safety. The equipment is also provided with a lubrication device and a cleaning device, making the movement of the equipment smoother, reducing energy consumption during driving, and at the same time reducing wear between equipment and lowering the operation and maintenance costs of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a three-dimensional structure schematic diagram of the present invention;

[0024] Figure 2 is a top view of the present invention;

[0025] Figure 3 is a front view of the present invention;

[0026] Figure 4 for the present inventionFigure 3 A-A cross-sectional view in

[0027] Figure 5 This is for the present invention Figure 3 Partial enlarged view of B in

[0028] Figure 6 This is for the present invention Figure 4 Partial enlarged view of C in

[0029] Figure 7 Schematic diagram of the internal structure of the lubrication device of the present invention;

[0030] Figure 8 Schematic diagram of the three-dimensional structure of the cleaning device in the present invention;

[0031] Figure 9 Schematic diagram of the three-dimensional structure of the present invention without the upper platform installed;

[0032] Figure 10 Schematic diagram of the three-dimensional structure of the upper platform in the first embodiment of the present invention;

[0033] Figure 11 Schematic diagram of the three-dimensional structure of the upper platform in the second embodiment of the present invention.

[0034] In the figure: 1, base; 1001, backing plate; 1002, guide rail; 1003, baffle; 2, lower platform; 2001, plate one; 2002, plate two; 3, slider; 4, hydraulic rod one; 5, guide groove; 6, upper platform; 7, guide block; 8, limit groove; 9, hydraulic rod two; 10, pin hole; 11, installation groove; 12, partition; 13, pressure sensor; 14, lubrication groove; 15, lubrication hole; 16, groove; 17, housing; 18, cleaning block; 19, spring; 20, guiding slope; 21, lubricating square block. Specific embodiments

[0035] To better describe the working principle and technical key points of the present invention, the following will be described in conjunction with specific embodiments.

[0036] Embodiment 1:

[0037] Referring to Figures 1 to 10 , a 360° bracket disassembly and assembly manipulator includes: 1, base; 1001, backing plate; 1002, guide rail; 1003, baffle; 2, lower platform; 2001, plate one; 2002, plate two; 3, slider; 4, hydraulic rod one; 5, guide groove; 6, upper platform; 7, guide block; 8, limit groove; 9, hydraulic rod two; 10, pin hole; 11, installation groove; 12, partition; 13, pressure sensor; 14, lubrication groove; 15, lubrication hole; 16, groove; 17, housing; 18, cleaning block; 19, spring; 20, guiding slope; 21, lubricating square block.

[0038] The backing plate 1001 is laid on the ground and is located directly below the single-track crane. Three guide rails 1002, namely the left, middle, and right ones, are fixedly installed on the backing plate 1001 with bolts. On the outer sides of the left and right guide rails 1002, baffles 1003 are fixedly installed with bolts respectively. On each baffle 1003, a partition plate 12 is fixedly installed with bolts. Each partition plate 12 is located between the two baffles 1003. A pressure sensor 13 is installed between each partition plate 12 and the baffle 1003. The model of the pressure sensor 13 is GSS404. The direction of the backing plate 1001 is perpendicular to that of the guide rails 1002. The plate one 2001 and the plate two 2002 are bolted together to form the lower platform 2. A complete slider 3 is welded below both the plate one 2001 and the plate two 2002, and a half slider 3 with a width half of that of the complete slider 3 is welded at the connection of the plate one 2001 and the plate two 2002. After the plate one 2001 and the plate two 2002 are connected to form the lower platform 2, a total of three complete sliders 3 that cooperate with the three guide rails 1002 are formed. At the left and right ends of each complete slider 3, a housing 17 is installed with bolts. A cleaning block 18 is arranged inside each housing 17. The cleaning block 18 is made of high-temperature resistant foamed rubber. Each cleaning block 18 is connected to the top of the housing 17 by a spring 19. A guiding slope 20 is provided on the end face of each cleaning block 18 located at the outer end of the housing 17. A lubricating block 21 is installed between each cleaning block 18 at the guiding slope 20 and the slider 3. The lubricating block 21 is made of water-absorbing sponge. Lubricating oil is adsorbed on each lubricating block 21. The lengths of the three sliders 3 are equal to the length of the lower platform 2. The three sliders 3 are slidably installed on the three guide rails 1002. The side walls of the left and right sliders 3 also contact the partition plates 12. The surface roughness of the contact surfaces between the sliders 3, the guide rails 1002, and the partition plates 12 is Ra3.2. Two hydraulic cylinders one 4 are horizontally installed on the backing plate 1001 with mounting seats. The two hydraulic cylinders one 4 are located on the left and right sides of the middle guide rail 1002 and are symmetrically arranged with respect to the middle guide rail 1002. The two hydraulic cylinders one 4 are parallel to the guide rails 1002. The output ends of the two hydraulic cylinders one 4 are respectively connected to the bottom surfaces of the plate one 2001 and the plate two 2002 through connecting seats.On both the first plate 2001 and the second plate 2002, two guiding grooves 5 are welded. Each guiding groove 5 is perpendicular to the slider 3 in space. The four guiding grooves 5 on the first plate 2001 and the second plate 2002 are paired with each other in pairs. On the side wall of each guiding groove 5, a lubricating groove 14 is installed. In each lubricating groove 14, a lubricating hole 15 communicating with the inner wall of the guiding groove 5 is opened. The size of the lubricating hole 15 is 2 mm. At the mouth of the lubricating hole 15 on the inner side of each guiding groove 5, a semi-circular groove 16 is opened. The size of each groove 16 is 4 mm. Lubricating oil is provided inside each lubricating groove 14. Above the lower platform 2, an upper platform 6 is provided. Two guiding blocks 7 are welded to the bottom of the upper platform 6. The two guiding blocks 7 are slidably installed in the guiding grooves 5. The roughness of the contact surface between the guiding groove 5 and the guiding block 7 is Ra3.2. On both sides of the bottom of the upper platform 6, limiting grooves 8 are welded. The two limiting grooves 8 buckle the bottom of the lower platform 2. On the first plate 2001, two second hydraulic rods 9 are horizontally installed with mounting seats. The two second hydraulic rods 9 are located on both sides of the first plate 2001. The output ends of the two second hydraulic rods 9 are connected to the bottom surface of the upper platform 6 with connecting seats. The two second hydraulic rods 9 are perpendicular to the two first hydraulic rods 4 in space. On the upper platform 6, pin holes 10 paired with the hydraulic support are opened.

[0039] The specific working process is as follows:

[0040] Before work: Check whether the lubricating oil in the lubricating groove 14 and on the lubricating block 21 is sufficient. If it is insufficient, replenish it; Check whether there are foreign objects stuck to the slider 3 on the guide rail 1002. If there are foreign objects, clean them in time; After preparation is completed, start assembling the hydraulic support.

[0041] During operation: The single-rail crane hoists the hydraulic support base above the upper platform 6 directly. Then, the single-rail crane slowly lowers the hydraulic support base, and the worker adjusts the position of the hydraulic support base so that the holes on the hydraulic support base align with the pin holes 10. Then, pins are driven in one by one to fix the hydraulic support base to the upper platform 6. Subsequently, the single-rail crane hoists the right column, and the lower platform 2 is moved back and forth by the first hydraulic rod 4. The lower platform 2 drives the upper platform 6 and finally drives the hydraulic support base to move back and forth. The second hydraulic rod 9 drives the upper platform 6 to move left and right, realizing fine adjustment of the 360° movement of the hydraulic support in the horizontal single quadrant. The right column is aligned with the socket of the hydraulic support base, and then the single-rail crane lowers the right column and places it in the socket of the hydraulic support base to complete the assembly of the right column. By the same steps, the assembly of the left column and other parts is completed. When the guide block 7 moves along the guide groove 5, the lubricating oil inside the lubricating groove 14 lubricates the guide block 7 in the guide groove 5 through the lubricating hole 15. When the slider 3 moves along the guide rail 1002, the cleaning block 18 on the end face of the slider 3 will push the dust and gravel on the guide rail 1002 in the direction of the movement of the slider 3, ensuring the cleanliness of the guide rail 1002 within the moving range of the slider 3. If too much dust or gravel accumulates, it will be pushed under the guide rail 1002 along the guiding slope 20 on the cleaning block 18. At the same time, the lubricating square block 21 on the cleaning block 18 will apply the lubricating oil on it to the guide rail 1002 for lubrication during the movement of the slider 3. The lubricating square block 21 can also further clean the dust that the cleaning block 18 fails to completely remove, making the guide rail 1002 cleaner and preventing dust from accelerating the wear between the guide rail 1002 and the slider 3. During the process of the upper platform 6 driving the hydraulic support to move left and right, the baffle plates 1003 on both sides will be squeezed. The pressure sensors 13 on the baffle plates 1003 on both sides will monitor the pressure on the baffle plates 1003 in real time. When installing different types of hydraulic supports, when the center of gravity of the hydraulic support deviates greatly and the pressure on the two baffle plates 1003 reaches the specified value, the pressure sensor 13 will feedback the signal to the system, and the system controls the second hydraulic rod 9 not to continue to extend, ensuring that the baffle plates 1003 will not collapse due to excessive force and also preventing the hydraulic support from tipping over due to excessive deviation of the center of gravity.

[0042] After operation: After completing the assembly of the hydraulic support, the pins on the hydraulic support base are removed with a pneumatic hammer and a pin extractor. Then, the hydraulic support is transported to the designated position in the mine roadway for installation by the single-rail crane.

[0043] Embodiment 2:

[0044] As Figure 11, different from the first embodiment, the upper platform 6 is not provided with pin holes 10, but instead is provided with mounting grooves 11. The mounting grooves 11 are rectangular. The length and width of the mounting grooves 11 are both 15 mm greater than the maximum length and width of the hydraulic support base. The depth of the mounting grooves 11 is 70 mm. Workers use a single-track crane to hoist the hydraulic support base above the mounting grooves 11 and place the whole of it into the mounting grooves 11 by adjusting its posture. Subsequently, other parts are assembled.

[0045] The functions and implementation processes not described in this embodiment are the same as those in the first embodiment, so no further elaboration will be made.

[0046] The above two embodiments are merely examples selected from numerous embodiments of the present invention in order to better explain the working principle of the present invention. There can be various changes on the basis of not violating the principle of the present invention. Embodiments obtained by those skilled in the art by making changes to the present invention without creative labor also fall within the protection scope of the present invention.

Claims

1. A 360° bracket disassembly and assembly manipulator, comprising: a base (1), the base (1) is horizontally installed on the ground; characterized in that: a 360° moving device for cooperating with a single-rail crane to install and adjust a hydraulic support is further provided on the base (1); the 360° moving device includes a longitudinal moving device for controlling the horizontal and longitudinal movement of the hydraulic support, a transverse moving device for controlling the horizontal and transverse movement of the hydraulic support is installed on the longitudinal moving device, and a fixing device for fixing the hydraulic support is installed on the transverse moving device; the base (1) is composed of a backing plate (1001) and three left, middle and right guide rails (1002), the backing plate (1001) is fixedly installed on the ground, the three guide rails (1002) are all horizontally and fixedly installed on the backing plate (1001), and the three guide rails are all vertically spaced from the backing plate (1001), the three guide rails (1002) are parallel to the single-rail crane track direction, and baffles (1003) for limiting are further installed on the left and right guide rails (1002), the longitudinal moving device includes a lower platform (2) horizontally slidably installed on the base (1), the lower platform (2) is composed of a first plate (2001) and a second plate (2002), and three sliders (3) cooperating with the three guide rails (1002) on the base (1) are arranged at the bottom of the lower platform (2), the three sliders (3) are square long strips equal in length to the first plate (2001) and the second plate (2002), two hydraulic rods one (4) are installed on the backing plate (1001), the two hydraulic rods one (4) are both parallel to the three guide rails (1002), and the output ends of the two hydraulic rods one (4) are respectively connected to the first plate (2001) and the second plate (2002); cleaning devices for cleaning gravel and dust on the track are arranged at the front and rear ends of each slider (3), the cleaning devices include housing (17) fixedly installed at the front and rear ends of each slider (3), cleaning blocks (18) are arranged inside each housing (17), each cleaning block (18) is connected to the housing (17) by a spring (19), and guiding slopes (20) are formed on each cleaning block (18).

2. A 360° bracket disassembly and assembly manipulator according to claim 1, characterized in that: The lateral moving device includes four guiding grooves (5) which are horizontally and fixedly installed on the first plate (2001) and the second plate (2002) and cooperate with each other. The four guiding grooves (5) are all perpendicular to the three guide rails (1002) in space. An upper platform (6) is arranged above the lower platform (2). Two guiding blocks (7) are fixedly installed on the bottom surface of the upper platform (6). The two guiding blocks (7) are slidably installed in the four guiding grooves (5). Limiting grooves (8) are fixedly installed on both sides of the upper platform (6). The two limiting grooves (8) buckle the bottom surface of the lower platform (2). Two hydraulic rods II (9) are horizontally arranged between the upper platform (6) and the lower platform (2). Both ends of the two hydraulic rods are respectively installed on the bottom of the first plate (2001) and the upper platform (6). The two hydraulic rods II (9) are both located on the left and right outer sides of the lower platform (2). The two hydraulic rods II (9) and the two hydraulic rods I (4) are in a perpendicular state in space.

3. The 360° bracket disassembly and assembly manipulator according to claim 1, characterized in that: the fixing device is a pin hole (10) opened on the upper platform (6) and cooperating with the hydraulic support.

4. The 360° bracket disassembly and assembly manipulator according to claim 1, characterized in that: the fixing device is an installation groove (11) opened on the upper platform (6) and cooperating with the hydraulic support.

5. The 360° bracket disassembly and assembly manipulator according to claim 4, characterized in that: a detection device for detecting the balance state of the equipment is arranged on the guide rail (1002). The detection device includes partitions (12) fixedly installed on the left and right side baffles (1003). The two partitions (12) are both located between the two baffles (1003). A pressure sensor (13) is installed between each baffle (1003) and the partition (12).

6. The 360° bracket disassembly and assembly manipulator according to claim 2, characterized in that: a lubricating device is installed on the side wall of each guiding groove (5). The lubricating device includes a lubricating groove (14) fixed on each guiding groove (5). Lubricating holes (15) are opened between the lubricating groove (14) and the inner wall of the guiding groove (5). A semi-circular groove (16) is opened at the orifice of the lubricating hole (15) on the inner side of each guiding groove (5).

7. The 360° bracket disassembly and assembly manipulator according to claim 1, characterized in that: a lubricating square block (21) for adsorbing lubricating liquid to lubricate the guide rail (1002) is further installed on the cleaning block (18).

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