Double cab motor driven crawler unit support handling robot for mining

Abstract

The present invention provides a double-cab motor-driven crawler-type unit support handling robot for mining, which belongs to the technical field of underground transportation equipment, and includes a handling mechanism, a main frame, a front cab, a rear cab, a hydraulic system, a motor assembly, a cable, an automatic cable winding device and a crawler chassis assembly; in the handling mechanism, the rear frame is installed at the front end of the main frame; two groups of vertically opposite hinge points are arranged on the middle frame, and the two groups of hinge points are respectively hinged to the rear frame and the front frame; the middle frame is driven by the middle frame flipping driving unit to flip left and right around the hinge point between the middle frame and the rear frame; the front frame is driven by the front frame flipping driving unit to flip left and right around the hinge point between the middle frame and the front frame; the support shovel is hinged on the front side of the front frame, and is driven to flip up and down by the shovel flipping driving unit. The present invention solves the technical problems of complex unit support handling operation, low efficiency and potential safety hazards in the prior art, and can realize two-way driving.

Description

Technical Field

[0001] The invention belongs to the technical field of underground transportation equipment, and specifically discloses a mine-used double-cab motor-driven crawler-type unit bracket handling robot. Background Art

[0002] The flexible formwork concrete gob-side lane support technology is to follow the mining of the working face. Before the support effect of the end of the working face disappears, the adjustable cohesion and strength self-compacting concrete is pumped into the disposable flexible formwork under the protection and support of the bracket or single pillar, and a closed concrete continuous wall is built between the gob area and the transport chute to reconstruct the missing wall of the lane caused by mining, and form a whole with the support in the original lane to carry the load together and form a closed air duct for the next working face mining. This technology can ensure the safety of the mine and improve the coal recovery rate. However, there are problems such as single support form, low support strength of the surrounding rock of the lane, and poor safety.

[0003] The unit support has the advantages of high support strength and good stability, and can effectively protect the flexible formwork wall. When the unit support is used for support, it needs to be moved from both sides of the tunnel to the center line of the tunnel, then moved along the center line of the tunnel, and then moved from the center of the tunnel to the designated support position again, forming a cycle without repeated support. Therefore, in the application of unit supports along empty tunnels, ensuring the rapid movement of unit supports is the key point. However, at present, the unit support is usually transported by winch traction, which is complicated to operate, inefficient and has safety hazards.

[0004] At the same time, when carrying out transportation operations in narrow tunnels or coal mine drifts, one-way transportation equipment cannot turn around or requires a large turning area to turn around, resulting in poor operability, low safety and low transportation efficiency. Summary of the invention

[0005] The present invention provides a mining dual-cab motor-driven crawler unit bracket handling robot to solve the following technical problems:

[0006] 1. The unit bracket is transported by winch, which is complicated to operate, inefficient and has potential safety hazards;

[0007] 2. When transporting in narrow tunnels or coal mine drifts, one-way transport equipment cannot turn around or requires a large turning area to turn around, resulting in poor operability, low safety and low transport efficiency.

[0008] The above-mentioned double-cab motor-driven crawler unit support handling robot for mining comprises a handling mechanism, a main frame, a front cab, a rear cab, a hydraulic system, a motor assembly, a cable, an automatic cable winding device and a crawler chassis assembly; the handling mechanism, the front cab, the rear cab, the hydraulic system, the motor assembly and the automatic cable winding device are all arranged on the main frame, and the crawler chassis assembly is arranged on both sides of the main frame; the front cab and the rear cab are respectively located on the front and rear sides of the main frame for two-way driving; the automatic cable winding device comprises a cable winding box and a drum, a cable winding drive unit, a cable rack and a full cable protector arranged in the cable winding box; the cable is wound on the drum, passes through the cable rack, and is connected to the motor assembly and the external power supply; the drum is driven to rotate by the cable winding drive unit; the full cable protector is used to lock the drum when the cable is wound too much; the hydraulic system The power is provided by the motor assembly; the power is provided by the hydraulic system for the transport mechanism and the crawler chassis assembly; the transport mechanism comprises a rear frame, an intermediate frame, an intermediate frame flipping drive unit, a front frame, a front frame flipping drive unit, a support shovel plate and a shovel plate flipping drive unit; the rear frame is installed at the front end of the main frame; two groups of vertically opposite hinge points are arranged on the intermediate frame, and the two groups of hinge points are respectively hinged to the rear frame and the front frame; the intermediate frame is driven by the intermediate frame flipping drive unit, and flips left and right around the hinge point between the intermediate frame and the rear frame, with a minimum flip angle of 0 and a maximum flip angle of 90°; the front frame is driven by the front frame flipping drive unit, and flips left and right around the hinge point between the intermediate frame and the front frame, with a minimum flip angle of 0 and a maximum flip angle of 90°; the support shovel plate is hinged to the front side of the front frame, and is driven by the shovel plate flipping drive unit to flip up and down, with a minimum flip angle of 0 and a maximum flip angle of 90°.

[0009] Furthermore, a telescopic leg is provided at the bottom of the rear frame, and the telescopic leg is driven by the leg telescopic part to extend downward to be supported on the ground or to retract upward to be in a suspended state.

[0010] Furthermore, the middle frame is connected to the rear frame through a hinge ear and a hinge shaft, the front frame is connected to the middle frame through a hinge ear and a hinge shaft, and the bracket shovel is connected to the front frame through a hinge ear and a hinge shaft.

[0011] Furthermore, the middle frame flipping driving unit, the front frame flipping driving unit, the shovel plate flipping driving unit and the leg telescopic unit are all oil cylinders.

[0012] Furthermore, avoidance grooves are provided at the tops of the middle frame and the rear frame, and cylinder mounting ears I are installed on the avoidance grooves, and both ends of the middle frame flipping cylinder are respectively hinged to the two cylinder mounting ears I; an avoidance hole is provided in the middle of the front frame, and cylinder mounting ears II are provided at the top of the avoidance hole and the front side of the middle frame, and both ends of the front frame flipping cylinder are respectively hinged to the two cylinder mounting ears II; cylinder mounting ears III are provided at the bottom of the avoidance hole and the bracket shovel plate, and both ends of the shovel plate flipping cylinder are respectively hinged to the two cylinder mounting ears III.

[0013] Furthermore, the above-mentioned mining dual-cab motor-driven crawler unit bracket handling robot also includes an emulsion system, which is used to replenish the unit bracket with fluid and receive the return fluid from the unit bracket, and includes an emulsion tank, an emulsion pump station and an operating valve; the emulsion tank and the emulsion pump station are both arranged on the main frame, the emulsion tank and the emulsion pump station are connected by an emulsion pipe, and the emulsion pump station is driven by a motor assembly; the operating valve is used to control the emulsion pump station.

[0014] Furthermore, the hydraulic system includes a hydraulic oil tank, a hydraulic pump, a multi-way valve and a pilot operating handle; the driving component in the crawler chassis assembly is a hydraulic motor; the hydraulic pump is connected to the motor assembly and is used to pump the hydraulic oil in the hydraulic oil tank to the multi-way valve; the multi-way valve switches the inlet and outlet oil through the pilot operating handle and sends the hydraulic oil to the intermediate frame flip cylinder, the front frame flip cylinder, the shovel flip cylinder, the leg telescopic cylinder and the hydraulic motor respectively.

[0015] Furthermore, the main frame is also equipped with an electronic control system for one-button start and stop and manual remote control automatic switching. The electronic control system includes an electronic control box, an instrument display and an alarm. The alarm has a personnel approach alarm function; seats are provided in the front cab and the rear cab, and pilot operating handles and instrument displays are arranged in the front cab and the rear cab.

[0016] Furthermore, the main frame includes a front main frame, a rear main frame and a counterweight; the front main frame and the rear main frame are connected by bolts, and the counterweight is arranged under the rear main frame; the track chassis assembly, emulsion system, front cab, hydraulic oil tank, multi-way valve, electric control box, and alarm are arranged on the front main frame, and the rear cab, hydraulic pump, motor assembly and automatic cable winding device are arranged on the rear main frame.

[0017] The present invention has the following beneficial effects:

[0018] 1. The above-mentioned double-cab motor-driven crawler unit support handling robot for mining has the functions of flipping the middle frame and the front frame left and right, and flipping the support shovel up and down, and can quickly fork-load the unit support, solving the technical problems of the prior art that the unit support handling is carried out by winch traction, which is complicated to operate, inefficient and has potential safety hazards;

[0019] 2. The overall structure of the transport mechanism is simple, and the volume is small when the bracket shovel, front frame and middle frame are fully folded;

[0020] 3. It can realize two-way driving, and does not need to turn around in narrow lanes or coal mine chute, and does not need to build a turning site. It is easy to operate, highly maneuverable, highly safe and has high transportation efficiency.

[0021] 4. Outriggers are set at the bottom of the rear frame. When the unit bracket is fork-mounted, the outriggers are extended to support the ground to ensure the stability of the fork-mounting process. When driving, the outriggers can be folded away from the ground;

[0022] 5. It can replenish emulsion for the unit bracket, and has functions such as manual remote control switching and personnel approach alarm, which can effectively improve the handling efficiency of the unit bracket, reduce labor intensity, and achieve the purpose of automation to reduce staff and increase efficiency. It has good social benefits for promoting the application of unit brackets in coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 This is the front view of the double-cab motor-driven crawler unit support handling robot for mining;

[0025] Figure 2 for Figure 1 Axis view of

[0026] Figure 3 It is a schematic diagram of the transport mechanism turning over to the right;

[0027] Figure 4 It is a schematic diagram of the transport mechanism flipping to the left;

[0028] Figure 5 It is a structural diagram of the main frame;

[0029] Figure 6 It is a structural schematic diagram of an automatic cable winding device.

[0030] In the figure: 1-transport mechanism; 1.1-rear frame; 1.2-middle frame; 1.3-front frame; 1.4-bracket shovel; 1.5-middle frame turning cylinder; 1.6-front frame turning cylinder; 1.7-shovel turning cylinder; 1.8-telescopic legs;

[0031] 2-Main frame; 2.1-Front main frame; 2.2-Rear main frame; 2.3-Counterweight;

[0032] 3a-front cab; 3b-rear cab; 3.1-seat; 3.2-seat baffle;

[0033] 4.1-Electric control box; 4.2-Instrument display; 4.3-Alarm;

[0034] 5.1-Hydraulic oil tank; 5.2-Hydraulic pump; 5.3-Multi-way valve; 5.4-Pilot operating handle;

[0035] 6.1-emulsion tank; 6.2-emulsion pump station; 6.3-operating valve;

[0036] 7-Motor assembly;

[0037] 8- crawler chassis assembly; 8.1- hydraulic motor;

[0038] 9- Cable;

[0039] 10-Automatic cable winding device; 10.1-Cable winding box; 10.2-Drum; 10.3-Cable winding motor; 10.4-Cable rack; 10.5-Full cable protector. DETAILED DESCRIPTION

[0040] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] Example 1

[0042] The present embodiment provides a mining double-cab motor-driven crawler unit support handling robot, including a handling mechanism 1, a main frame 2, a front cab 3a, a rear cab 3b, an electronic control system, a hydraulic system, an emulsion system, a motor assembly 7, a crawler chassis assembly 8, a cable 9 and an automatic cable winding device 10.

[0043] The transport mechanism 1 comprises a rear frame 1.1, an intermediate frame 1.2, an intermediate frame flipping drive unit, a front frame 1.3, a front frame flipping drive unit, a support shovel plate 1.4 and a shovel plate flipping drive unit; the rear frame 1.1 is mounted at the front end of the main frame 2; two groups of vertically opposite hinge points are arranged on the intermediate frame 1.2, and the two groups of hinge points are hinged to the rear frame 1.1 and the front frame 1.3 respectively; the intermediate frame 1.2 is driven by the intermediate frame flipping drive unit to flip left and right around the hinge point between the intermediate frame 1.2 and the rear frame 1.1; the front frame 1.3 is driven by the front frame flipping drive unit to flip left and right around the hinge point between the intermediate frame 1.2 and the front frame 1.3; the support shovel plate 1.4 is hinged to the front side of the front frame 1.3, and is driven by the shovel plate flipping drive unit to flip up and down. The flip angles of the middle frame 1.2, the front frame 1.3 and the support shovel 1.4 are all 0-90 degrees. When the flip angles are all 0, the middle frame 1.2 is stacked on the front side of the rear frame 1.1, the front frame 1.3 is stacked on the front side of the middle frame 1.2, and the support shovel 1.4 is stacked on the front side of the front frame 1.3.

[0044] Furthermore, the middle frame 1.2 is connected to the rear frame 1.1 through a hinge ear and a hinge shaft, the front frame 1.3 is connected to the middle frame 1.2 through a hinge ear and a hinge shaft, and the bracket shovel 1.4 is connected to the front frame 1.3 through a hinge ear and a hinge shaft.

[0045] Furthermore, the middle frame turning driving unit, the front frame turning driving unit and the shovel turning driving unit are all oil cylinders. The turning of the middle frame 1.2, the front frame 1.3 and the support shovel 1.4 is achieved by contraction of the oil cylinders.

[0046] Furthermore, avoidance grooves are provided at the tops of the middle frame 1.2 and the rear frame 1.1, and cylinder mounting ears Ⅰ are installed on the avoidance grooves, and both ends of the middle frame flipping cylinder 1.5 are respectively hinged to the two cylinder mounting ears Ⅰ; an avoidance hole is provided in the middle of the front frame 1.3, and cylinder mounting ears Ⅱ are provided at the top of the avoidance hole and the front side of the middle frame 1.2, and both ends of the front frame flipping cylinder 1.6 are respectively hinged to the two cylinder mounting ears Ⅱ; cylinder mounting ears Ⅲ are provided at the bottom of the avoidance hole and the bracket shovel plate 1.4, and both ends of the shovel plate flipping cylinder 1.7 are respectively hinged to the two cylinder mounting ears Ⅲ.

[0047] Further, a telescopic leg 1.8 is provided at the bottom of the rear frame 1.1, and the telescopic leg 1.8 is driven by a leg telescopic part to extend downward and support on the ground or to retract upward and be suspended. The leg telescopic part is a leg telescopic oil cylinder.

[0048] The electric control system can realize one-button start and stop and automatic switching of manual remote control, improve the automation of the mine-used double-cab motor-driven crawler unit support handling robot, and ensure overall safety. The electric control system includes an electric control box 4.1, an instrument display 4.2, and an alarm 4.3. The instrument display 4.2 has a data upload function to monitor the overall operating status of the mine-used double-cab motor-driven crawler unit support handling robot in real time. The alarm 4.3 has a personnel approach alarm function.

[0049] The hydraulic system provides power for the movement of the transport mechanism 1 and the travel of the crawler chassis assembly 7, and includes a hydraulic oil tank 5.1, a hydraulic pump 5.2, a multi-way valve 5.3 and a pilot operating handle 5.4; the driving member in the crawler chassis assembly 8 is a hydraulic motor 8.1; the hydraulic pump 5.2 is connected to the motor assembly 7, and is used to pump the hydraulic oil in the hydraulic oil tank 5.1 to the multi-way valve 5.3; the multi-way valve 5.3 performs inlet and outlet oil switching through the pilot operating handle 5.4, and sends the hydraulic oil to the intermediate frame tilting cylinder 1.5, the front frame tilting cylinder 1.6, the shovel plate tilting cylinder 1.7, the outrigger telescopic cylinder and the hydraulic motor 8.1 respectively.

[0050] The emulsion system is used to replenish the unit support with liquid and receive the return liquid of the unit support to achieve rapid support and contraction of the unit support, including an emulsion tank 6.1, an emulsion pump station 6.2 and an operating valve 6.3; the emulsion tank 6.1 and the emulsion pump station 6.2 are both arranged on the main frame 2, the emulsion tank 6.1 and the emulsion pump station 6.2 are connected by an emulsion pipe, and the emulsion pump station 6.2 is driven by a motor assembly 7; the operating valve 6.3 is used to control the emulsion pump station 6.2.

[0051] The automatic cable winding device 10 includes a cable winding box 10.1 and a winding drum 10.2 arranged in the cable winding box 10.1, a cable winding drive unit (the present embodiment uses a cable winding motor 10.3), a cable rack 10.4 and a full cable protector 10.5; the cable 9 is wound on the winding drum 10.2, passes through the cable rack 10.4, and is connected to the motor assembly 7 and the external power supply; the winding drum 10.2 is driven to rotate by the cable winding motor 10.3 to realize the reeling and releasing of the cable 9; the full cable protector 10.5 is used to lock the winding drum 10.2 when the cable 9 is wound too much to prevent the cable 9 from further winding.

[0052] The front cab 3a is arranged at the front side of the main frame 2, including a seat 3.1 and a seat baffle 3.2 hinged on the top of the seat 3.1, and the seat baffle 3.2 has a highly adaptive and adjustable function. The pilot operating handle 5.4 and the instrument display 4.2 are arranged on the same side or both sides of the seat 3.1. The rear cab 3b is arranged at the rear side of the main frame 2, and the seat 3.1, the pilot operating handle 5.4 and the instrument display 4.2 are arranged in the rear cab 3b. The pilot operating handle 5.4 is located in front of the seat 3.1, and the instrument display 4.2 is located on one side of the seat 3.1.

[0053] The main frame 2 includes a front main frame 2.1, a rear main frame 2.2 and a counterweight 2.3; the front main frame 2.1 is connected to the rear main frame 2.2 by bolts; the counterweight 2.3 is arranged below the rear main frame 2.2, and its main function is to balance the center of gravity of the mine-use double-cab motor-driven crawler unit bracket handling robot and improve the stability of the mine-use double-cab motor-driven crawler unit bracket handling robot during movement.

[0054] The crawler chassis assembly 8, the emulsion system, the front cab 3a, the hydraulic oil tank 5.1, the multi-way valve 5.3, the electric control box 4.1, and the alarm 4.3 are arranged on the front main frame 2.1, and the rear cab 3b, the hydraulic pump 5.2, the motor assembly 7 and the automatic cable winding device 10 are arranged in the installation groove of the rear main frame 2.2.

[0055] The motor assembly 7 adopts a three-phase asynchronous motor, which is connected to the hydraulic pump 5.2 through a coupling.

[0056] Example 2

[0057] Figure 1-Figure 4In the figure, the middle frame 1.2 is a left flip frame, and the front frame 1.3 is a right flip frame. Two single hinged ears are arranged on the left side of the middle frame 1.2, and two sets of upper and lower double hinged ears are arranged on the left side of the rear frame 1.1. The single hinged ear on the left side of the middle frame 1.2 is embedded in the middle of the double hinged ears on the left side of the rear frame 1.1, and they are connected by a hinge shaft. Two sets of upper and lower double hinged ears are arranged on the right side of the middle frame 1.2, and two single hinged ears are arranged on the right side of the front frame 1.3. The single hinged ear on the right side of the front frame 1.3 is embedded in the middle of the double hinged ears on the right side of the middle frame 1.2, and they are connected by a hinge shaft. Figure 1-Figure 4 Taking the position relationship in the figure as an example, the working process of the above-mentioned engine-driven crawler-type double-cab unit bracket handling robot is explained.

[0058] When the unit support to be transported is on the right side of the unit support transport robot, the unit support transport robot moves to the front of the unit support to be transported, operates the hydraulic system to drive the support legs 1.8 to extend until they are in full contact with the ground, completes the support action, and ensures the stability of the unit support transport process. Figure 1 and Figure 2 As shown, the bracket shovel plate 1.4, the front frame 1.3, and the middle frame 1.2 are completely retracted, and the front frame flip cylinder 1.6 is stretched outward to push the front frame 1.3 to swing to the right front until the front frame 1.3 is parallel to the unit bracket; then the shovel plate flip cylinder 1.7 is stretched to make the bracket shovel plate 1.4 extend between the unit bracket top beam and the unit bracket base and flip upward at the same time until it is 90° with the initial position, as shown in FIG. Figure 3 As shown; the emulsion system is operated to connect with the quick-insert valve on the unit bracket, so that the unit bracket column is retracted, the unit bracket top beam first contacts the bracket shovel plate 1.4, and the unit bracket column continues to retract until the unit bracket base is suspended; finally, the front frame flip cylinder 1.6 retracts inwards, driving the front frame 1.3 back to the initial position, and the unit bracket is swung to the front of the transport mechanism 1, completing a complete right-side unit bracket transport action.

[0059] When the unit support to be transported is in front of the left side of the unit support transport robot, the unit support transport robot moves to the front of the unit support to be transported, operates the hydraulic system to drive the support leg 1.8 to extend until it is in full contact with the ground, completes the support action, and ensures the stability of the unit support transport process. The initial state of the transport mechanism remains the same as Figure 1 and Figure 2 As shown, at this time, the intermediate frame flip cylinder 1.5 is stretched outward, pushing the intermediate frame 1.2 to swing to the left front until the intermediate frame 1.2 is parallel to the unit support; then the shovel plate flip cylinder 1.7 is stretched to make the support shovel plate 1.4 extend into between the unit support top beam and the unit support base and flip upward at the same time until it is 90° with the initial position, as shown in FIG. Figure 4As shown; the emulsion system is operated to connect with the quick-insert valve on the unit bracket, so that the unit bracket column is retracted, the unit bracket top beam first contacts the bracket shovel plate 1.4, and the unit bracket column continues to retract until the unit bracket base is suspended; finally, the middle frame flip cylinder 1.5 retracts inwards, driving the middle frame 1.2 back to the initial position, and the unit bracket is swung to the front of the transport mechanism 1, completing a complete left-side unit bracket transport action.

[0060] The operator can operate the above-mentioned bracket transporting action by operating the remote control / manual switching valve.

[0061] 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 double-cab motor-driven crawler unit support handling robot for mining, It is characterized in that It includes a handling mechanism, a main frame, a front cab, a rear cab, a hydraulic system, a motor assembly, cables, an automatic cable reeling device and a crawler chassis assembly; The transport mechanism, the front cab, the rear cab, the hydraulic system, the motor assembly and the automatic cable winding device are all arranged on the main frame, and the crawler chassis assembly is arranged on both sides of the main frame; The front cab and the rear cab are respectively located at the front and rear sides of the main frame for bidirectional driving; The automatic cable winding device comprises a cable winding box, a winding drum, a cable winding driving unit, a cable rack and a full cable protector arranged in the cable winding box; The cable is wound on a reel, passes through a cable rack, and is connected to the motor assembly and an external power source; The reel is driven to rotate by a cable winding drive unit; The full cable protector is used to lock the reel when the cable is coiled too much; The hydraulic system is powered by a motor assembly; The transport mechanism and crawler chassis assembly are powered by a hydraulic system; The transport mechanism includes a rear frame, an intermediate frame, an intermediate frame flipping driving unit, a front frame, a front frame flipping driving unit, a support shovel and a shovel flipping driving unit; The rear frame is installed at the front end of the main frame; The intermediate frame is provided with two sets of vertically opposite hinge points, which are respectively hinged to the rear frame and the front frame; The intermediate frame is driven by the intermediate frame flipping driving unit to flip left and right around the hinge point between the intermediate frame and the rear frame, with a minimum flipping angle of 0 and a maximum flipping angle of 90°; The front frame is driven by the front frame flipping driving unit to flip left and right around the hinge point between the intermediate frame and the front frame, with a minimum flip angle of 0 and a maximum flip angle of 90°; The support shovel plate is hinged on the front side of the front frame and is driven by the shovel plate flipping driving unit to flip up and down. The minimum flipping angle is 0 and the maximum flipping angle is 90°.

2. The mining dual-cab motor-driven crawler unit support handling robot according to claim 1, It is characterized in that The bottom of the rear frame is provided with telescopic legs, which are driven by the telescopic parts of the legs to extend downwards and be supported on the ground or to retract upwards and be in a suspended state.

3. The mining dual-cab motor-driven crawler unit support handling robot according to claim 2, It is characterized in that The middle frame is connected to the rear frame through a hinge ear and a hinge shaft, the front frame is connected to the middle frame through a hinge ear and a hinge shaft, and the bracket shovel is connected to the front frame through a hinge ear and a hinge shaft.

4. The mining dual-cab motor-driven crawler unit support handling robot according to claim 3, It is characterized in that The middle frame turning drive unit, the front frame turning drive unit, the shovel plate turning drive unit and the outrigger telescopic unit are all oil cylinders.

5. The mining dual-cab motor-driven crawler unit support handling robot according to claim 4, It is characterized in that The tops of the middle frame and the rear frame are provided with avoidance grooves, on which oil cylinder mounting ears Ⅰ are installed, and both ends of the middle frame turning oil cylinder are respectively hinged to the two oil cylinder mounting ears Ⅰ; The middle part of the front frame is provided with an avoidance hole, the top of the avoidance hole and the front side of the middle frame are provided with a cylinder mounting ear II, and both ends of the front frame turning cylinder are respectively hinged with the two cylinder mounting ears II; The bottom of the avoidance hole and the bracket shovel plate are provided with oil cylinder mounting ears III, and the two ends of the shovel plate turning oil cylinder are respectively hinged with the two oil cylinder mounting ears III.

6. The mining dual-cab motor-driven crawler unit support handling robot according to claim 5, It is characterized in that Also included is an emulsion system, which is used to replenish the unit support with liquid and receive the return liquid of the unit support, including an emulsion tank, an emulsion pump station and an operating valve; The emulsion tank and the emulsion pump station are both arranged on the main frame, the emulsion tank and the emulsion pump station are connected through an emulsion pipe, and the emulsion pump station is driven by a motor assembly; The operating valve is used to control the emulsion pumping station.

7. The mining dual-cab motor-driven crawler unit support handling robot according to claim 6, It is characterized in that The hydraulic system includes a hydraulic oil tank, a hydraulic pump, a multi-way valve and a pilot operating handle; The driving element in the crawler chassis assembly is a hydraulic motor; The hydraulic pump is connected to the motor assembly and is used to pump the hydraulic oil in the hydraulic oil tank to the multi-way valve; The multi-way valve switches the inlet and outlet oil directions through the pilot operating handle, and sends the hydraulic oil to the intermediate frame tilting cylinder, front frame tilting cylinder, shovel plate tilting cylinder, outrigger telescopic cylinder and hydraulic motor respectively.

8. The mining dual-cab motor-driven crawler unit support handling robot according to claim 7, It is characterized in that The main frame is also equipped with an electronic control system for one-button start and stop and manual remote control automatic switching. The electronic control system includes an electronic control box, an instrument display and an alarm. The alarm has a personnel approach alarm function. Seats are provided in the front cab and the rear cab, and pilot operating handles and instrument displays are arranged in the front cab and the rear cab.

9. The mining dual-cab motor-driven crawler unit support handling robot according to claim 8, It is characterized in that The main frame includes a front main frame, a rear main frame and a counterweight; The front main frame is connected to the rear main frame by bolts, and the counterweight is arranged under the rear main frame; The crawler chassis assembly, emulsion system, front cab, hydraulic oil tank, multi-way valve, electric control box and alarm are arranged on the front main frame, and the rear cab, hydraulic pump, motor assembly and automatic cable winding device are arranged on the rear main frame.

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