A coal mine underground unit support carrying robot

Abstract

The application provides a coal mine underground unit support carrying robot, and belongs to the technical field of underground transportation equipment, and comprises a carrying mechanism, a main frame, a hydraulic system, an engine assembly and a crawler chassis assembly; the carrying mechanism, the hydraulic system and the engine assembly are arranged on the main frame, and the crawler chassis assembly is arranged on both sides of the main frame; the carrying mechanism comprises a bracket, a vertical lifting frame, a vertical driving part, a horizontal moving platform, a horizontal driving part, a support shovel plate, a rotating shaft, a turnover driving part, a telescopic supporting leg and a supporting leg turnover part. The application solves the technical problems of the existing unit support carrying technology, such as winch traction, complex operation, low efficiency and hidden safety hazards.

Description

Technical Field

[0001] This invention belongs to the technical field of underground transportation equipment, and specifically discloses a coal mine underground unit-type support transport robot. Background Technology

[0002] In recent years, underground coal mining technology and equipment have made great strides, significantly improving mining efficiency. However, the imbalance between tunneling and mining remains a major factor restricting safe and efficient mining. To reduce the number of roadway excavations and alleviate the imbalance, flexible concrete technology can be used for roadway retention in fully mechanized mining faces. This technology is currently widely used in many modern mines. At present, flexible concrete roadway retention technology typically uses a "one beam, four columns" support structure, which suffers from a single support method, low strength of the surrounding rock support, and poor safety. Unitized supports offer advantages such as high support strength and good stability, effectively protecting flexible walls. However, currently, unitized supports are typically transported using winch traction, which is complex, inefficient, and poses safety hazards. Therefore, the problem of unitized support transportation has become a key factor limiting its widespread adoption in roadway retention technology. Summary of the Invention

[0003] This invention provides a unit-type support transport robot for underground coal mines, which solves the technical problems of existing unit-type support transport using winch traction, which is complex to operate, inefficient, and poses safety hazards.

[0004] The aforementioned coal mine underground unit-type support transport robot includes a transport mechanism, a main frame, a hydraulic system, an engine assembly, and a tracked chassis assembly. The transport mechanism, hydraulic system, and engine assembly are all arranged on the main frame, and the tracked chassis assembly is arranged on both sides of the main frame. The hydraulic system is powered by the engine assembly. The transport mechanism and tracked chassis assembly are powered by the hydraulic system. The transport mechanism includes a bracket, a vertical lifting frame, a vertical drive unit, a transverse platform, a lateral drive unit, support shovels, a rotating shaft, a tilting drive unit, telescopic outriggers, and outrigger tilting units. The bracket is installed at the front end of the main frame. The vertical lifting frame is driven by the vertical drive unit to slide up and down along the bracket. The transverse platform is driven by the lateral drive unit to slide left and right along the vertical lifting frame. The two support shovels are connected by a rotating shaft, which is rotatably mounted on the transverse platform. The tilting drive unit drives the rotating shaft to rotate, causing the support shovels to tilt left and right. The telescopic outriggers are rotatably mounted on both sides of the bracket and are driven by the outrigger tilting units to tilt downwards to support the ground or tilt upwards to retract to both sides of the bracket.

[0005] Furthermore, the transverse platform is equipped with a rack and a rotating shaft mounting base. The rack is slidably mounted, and the rotating shaft mounting base is symmetrically mounted on both sides of the rack. The rotating shaft is rotatably connected to the rotating shaft mounting base, and a gear is mounted on the rotating shaft. The gear meshes with the rack. The flipping drive unit is a flipping hydraulic cylinder, which drives the rack to slide left and right by telescopic movement. Limiting grooves are provided on the upper and lower sides of the support shovel plate.

[0006] Furthermore, the bracket is provided with two vertical grooves with opposite openings; the vertical lifting frame includes a front frame and a rear frame fixed behind the front frame; the left and right sides of the rear frame are provided with limit wheels I and limit wheels II, the axle of limit wheel I is arranged in the left and right direction, the axle of limit wheel II is arranged in the front and back direction, the rear frame is slidably fitted into the bracket, and limit wheels I and limit wheels II are located in the vertical grooves.

[0007] Furthermore, the vertical drive unit is a lifting cylinder, and the outrigger tilting unit is an outrigger cylinder; the bracket includes two side plates and a top plate, a bottom plate, and a rear plate connecting the two side plates. A vertical groove is provided on the inner side of the two side plates, and the outer side of the side plates is provided with an upper connecting lug for the outrigger cylinder and a connecting lug for the telescopic outrigger. The rear plate is connected to the main frame, and the bottom plate is provided with a lower connecting lug for the lifting cylinder; the rear frame of the vertical lifting frame includes two side plates and a top plate connecting the side plates. Limiting wheels I and II are provided on the outer side of the two side plates, and the top plate is provided with an upper connecting lug for the lifting cylinder; both ends of the lifting cylinder are rotatably connected to the lower connecting lug and the upper connecting lug, respectively; the telescopic outrigger is rotatably connected to the telescopic outrigger connecting lug, and the telescopic outrigger is provided with a lower connecting lug for the outrigger cylinder; both ends of the outrigger cylinder are rotatably connected to the upper connecting lug and the lower connecting lug, respectively.

[0008] Furthermore, the top, front, and bottom surfaces of the front frame are all provided with transverse grooves; the transverse platform includes a transverse connecting frame and a tilting platform; the transverse connecting frame includes a top plate, a bottom plate, and a tilting platform mounting plate connecting the top plate and the bottom plate. The bottom surface of the top plate and the top surface of the bottom plate are provided with limit wheels III, and the rear of the tilting platform mounting plate is provided with limit wheels IV. The axles of limit wheels III are arranged in the vertical direction, and the axles of limit wheels IV are arranged in the front-back direction. The limit wheels III on the top plate are slidably fitted into the transverse grooves on the top surface of the front frame, the limit wheels III on the bottom plate are slidably fitted into the transverse grooves on the bottom surface of the front frame, and the limit wheels IV are slidably fitted into the transverse grooves on the front of the front frame; the tilting platform is located in front of the tilting platform mounting plate; the support shovel plate, rotating shaft, rack, rotating shaft mounting seat, and tilting cylinder are all located on the tilting platform.

[0009] Furthermore, the lateral drive unit is a double-rod hydraulic cylinder that is laterally installed in the front frame. The piston rods on both sides are connected to the two sides of the front frame. Two sprockets are respectively installed on the upper and lower sides of the cylinder body. The axles of the sprockets are arranged in the vertical direction. The sprocket on the upper side is connected to the upper chain, and the sprocket on the lower side is connected to the lower chain. The front of the upper chain and the lower chain are connected to the rear of the tilting table mounting plate through the front connecting block, and the rear of the upper chain and the lower chain are connected to the rear frame through the rear connecting block.

[0010] Furthermore, an emulsion system is also installed on the main frame. The emulsion system is used to replenish the unit support and receive the return fluid from the unit support. It 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 and are connected by emulsion pipes. The emulsion pump station is driven by the engine assembly. The operating valve is used to control the emulsion pump station.

[0011] Furthermore, the hydraulic system includes a hydraulic oil tank, a hydraulic pump, a multi-way valve, and a pilot operating handle; the drive component in the tracked undercarriage assembly is a hydraulic motor; the hydraulic pump is connected to the engine assembly and is used to pump the hydraulic oil in the hydraulic oil tank to the multi-way valve; the multi-way valve reverses the oil inlet and outlet through the pilot operating handle, and sends the hydraulic oil to the tilting cylinder, lifting cylinder, double rod cylinder, outrigger cylinder, and hydraulic motor respectively.

[0012] Furthermore, the main frame is also equipped with an electronic control system for one-button start / stop and manual / remote automatic switching. The electronic control system includes an electronic control box, an instrument display, and an alarm. The alarm has a personnel proximity alarm function. The main frame is also equipped with a driver's cab, which includes a seat and a seat panel hinged to the top of the seat. The pilot control handle and the instrument display are located on the same side or both sides of the seat.

[0013] 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. The hydraulic system, tracked chassis assembly, emulsion system, electronic control system, and cab are arranged on the front main frame, and the engine assembly is arranged in the mounting slot of the rear main frame. The engine assembly is a diesel engine; the counterweight is arranged below the rear main frame.

[0014] The present invention has the following beneficial effects:

[0015] The aforementioned coal mine underground unit support transport robot has functions such as left and right flipping of the support shovel, left and right lateral movement, and up and down movement. It can replenish emulsion for unit supports, switch between manual and remote control, and provide personnel approach alarms. It can effectively improve the transport efficiency of unit supports, reduce labor intensity, and ensure the safety of the unit support transport process. It achieves the goal of automation, reducing manpower and increasing efficiency. It solves the technical problems of existing unit support transport using winch traction, which is complicated to operate, inefficient, and poses safety hazards. It has good social benefits for promoting the application of unit supports in underground coal mines. Attached Figure Description

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

[0017] Figure 1 The front view of a unit-type support transport robot in an underground coal mine.

[0018] Figure 2 for Figure 1 Axis view;

[0019] Figure 3 This is a schematic diagram of the handling mechanism;

[0020] Figure 4 This is a structural diagram of the bracket;

[0021] Figure 5 This is a structural schematic diagram of a vertical lifting frame;

[0022] Figure 6 for Figure 5 A view from another direction;

[0023] Figure 7 This is a layout diagram of the sprocket, chain, and connecting block for a double-rod hydraulic cylinder.

[0024] Figure 8 This is a schematic diagram of the transverse platform.

[0025] Figure 9 This is a schematic diagram of the mainframe structure;

[0026] Figure 10 This is a hydraulic schematic diagram;

[0027] Figure 11 A schematic diagram of a handling mechanism transporting a unit-type support;

[0028] Figure 12This is a schematic diagram of a unit-type support structure arranged on both sides of a roadway.

[0029] Figure 13 This is a schematic diagram of a unit-type support structure arranged on one side of a roadway.

[0030] In the picture: 100 - Coal mine underground unit-type support transport robot;

[0031] 101-Transporting mechanism; 101.1-Bracket; 101.2-Vertical lifting frame; 101.3-Horizontal moving platform; 101.4-Support shovel plate; 101.5-Rotating shaft; 101.6-Rack; 101.7-Rotating shaft mounting base; 101.8-Gear; 101.9-Tilting cylinder; 101.10-Vertical groove; 101.11-Front frame; 101.12-Rear frame; 101.13-Limit wheel I; 101.14-Limit wheel II; 101.15-Lifting cylinder; 101.16-Lower connecting lug of lifting cylinder; 101.17-Upper connecting lug of lifting cylinder; 101.18-Horizontal groove; 101 .19-Horizontal transfer connecting frame; 101.20-Tilting table; 101.21-Limit wheel III; 101.22-Limit wheel IV; 101.23-Double rod cylinder; 101.24-Sprocket; 101.25-Upper chain; 101.26-Lower chain; 101.27-Front connecting block; 101.28-Rear connecting block; 101.29-Telescopic outrigger; 101.30-Outrigger cylinder; 101.30a-Left outrigger cylinder; 101.30b-Right outrigger cylinder; 101.31-Upper connecting lug of outrigger cylinder; 101.32-Telescopic outrigger connecting lug; 101.33-Limiting groove; 101.34-Tilting cylinder;

[0032] 102-Main frame; 102.1-Front main frame; 102.2-Rear main frame; 102.3-Counterweight;

[0033] 103.1 - Seat; 103.2 - Seat panel;

[0034] 104.1 - Electrical control box; 104.2 - Instrument display; 104.3 - Alarm device;

[0035] 105.1 - Hydraulic oil tank; 105.2 - Hydraulic pump; 105.3 - Multi-way valve; 105.3a - Proportional multi-way valve I; 105.3b - Proportional multi-way valve II; 105.4 - Pilot operating handle; 105.4a - Pilot operating handle I; 105.4b - Pilot operating handle II; 105.4c - Pilot operating handle III; 105.4d - Pilot operating handle IV; 105.4e - Pilot operating handle V; 105.5 - Pilot oil source valve assembly;

[0036] 106.1 - Emulsion tank; 106.2 - Emulsion pump station; 106.3 - Operating valve;

[0037] 107 - Engine assembly; 107.1 - Diesel engine;

[0038] 108 - Tracked undercarriage assembly; 108.1 - Hydraulic motor; 108.1a - Left hydraulic motor; 108.1b - Right hydraulic motor;

[0039] 200 - Unit bracket; 201 - Quick-connect valve; 202 - Shovel plate hole;

[0040] 300 - Roadway; 400 - Flexible wall; 500 - Coal face. Detailed Implementation

[0041] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. In the embodiments, the left and right sides of the support transport robot are horizontal, the front and back are vertical, and the up and down are vertical.

[0042] Example 1

[0043] This embodiment provides a coal mine underground unit support transport robot 100, including a transport mechanism 101, a main frame 102, a driver's cab, an electrical control system, a hydraulic system, an emulsion system, an engine assembly 107, and a tracked chassis assembly 108.

[0044] The handling mechanism 101 includes a bracket 101.1, a vertical lifting frame 101.2, a vertical drive unit, a transverse platform 101.3, a horizontal drive unit, a support shovel 101.4, a rotating shaft 101.5, a tilting drive unit, telescopic outriggers 101.29, and outrigger tilting units. The bracket 101.1 is installed at the front end of the main frame 102. The vertical lifting frame 101.2 is driven by the vertical drive unit to slide up and down along the bracket 101.1. The transverse platform 101.3 is driven by the horizontal drive unit to slide left and right along the vertical lifting frame 101.2. The two support shovels 101.4 are connected by a rotating shaft 101.5, which is rotatably mounted on the transverse platform 101.3. The flipping drive unit drives the rotating shaft 101.5 to rotate, causing the support shovels 101.4 to flip left and right, which can ensure that the handling mechanism 101 can quickly move the unit-type supports 200 on both sides. The telescopic outriggers 101.29 are rotatably mounted on both sides of the bracket 101.1. Driven by the outrigger flipping unit, they flip downward to support on the ground or flip upward to retract on both sides of the bracket 101.1.

[0045] Preferably, the transverse platform 101.3 is provided with a rack 101.6 and a rotating shaft mounting seat 101.7. The rack 101.6 is slidably disposed, and the rotating shaft mounting seat 101.7 is symmetrically disposed on both sides of the rack 101.6. The rotating shaft 101.5 is rotatably connected to the rotating shaft mounting seat 101.7. A gear 101.8 is disposed on the rotating shaft 101.5, and the gear 101.8 meshes with the rack 101.6. The flipping drive unit is a flipping cylinder 101.9, which drives the rack 101.6 to slide left and right by telescopic drive, thereby rotating the gear 101.8 and enabling the support shovel plate 101.4 to rotate from 0 to 180°.

[0046] Preferably, the bracket 101.1 is provided with two vertical grooves 101.10 with opposite openings; the vertical lifting frame 101.2 includes a front frame 101.11 and a rear frame 101.12 fixed behind the front frame 101.11; the left and right sides of the rear frame 101.12 are provided with limit wheels I 101.13 and limit wheels II 101.14, the axles of the limit wheels I 101.13 are arranged in the left and right direction, and the axles of the limit wheels II 101.14 are arranged in the front and back direction. The rear frame 101.12 is slidably fitted into the bracket 101.1, and the limit wheels I 101.13 and II 101.14 are located in the vertical grooves 101.11. The limit wheels I 101.13 are used to limit the front and back swing of the vertical lifting frame 101.2, and the limit wheels II 101.14 are used to limit the left and right swing of the vertical lifting frame 101.2.

[0047] Preferably, the vertical drive unit is a lifting cylinder 101.15; the bracket 101.1 includes two side plates, a top plate, a bottom plate, and a rear plate connecting the two side plates, a vertical groove 101.10 is provided on the inner side of the two side plates, the rear plate is connected to the main frame 102, and the bottom plate is provided with a lower connecting lug 101.16 for the lifting cylinder; the rear frame 101.12 of the vertical lifting frame 101.2 includes two side plates and a top plate connecting the side plates, a limiting wheel I 101.13 and a limiting wheel II 101.14 are provided on the outer side of the two side plates, and the top plate is provided with an upper connecting lug 101.17 for the lifting cylinder; the two ends of the lifting cylinder 101.15 are rotatably connected to the lower connecting lug 101.16 and the upper connecting lug 101.17 respectively, and the vertical lifting frame 101.2 slides up and down by extending and retracting the lifting cylinder 101.15.

[0048] Preferably, the top, front, and bottom surfaces of the front frame 101.11 are all provided with transverse grooves 101.18; the transverse platform 101.3 includes a transverse connecting frame 101.19 and a tilting table 101.20; the transverse connecting frame 101.19 includes a top plate, a bottom plate, and a tilting table mounting plate connecting the top plate and the bottom plate, the bottom surface of the top plate and the top surface of the bottom plate are provided with limit wheels III 101.21, and the rear of the tilting table mounting plate is provided with limit wheels IV 101.22. The axles of the limit wheels III 101.21 are arranged in the vertical direction, and the axles of the limit wheels IV 101.22 are arranged in the front-rear direction. The limit wheels III 101.21 on the top plate are slidably fitted into the transverse grooves on the top surface of the front frame 101.11. Within 101.18, the limiting wheel Ⅲ 101.21 on the base plate is slidably fitted into the transverse groove 101.18 on the bottom surface of the front frame 101.11, and the limiting wheel Ⅳ 101.22 is slidably fitted into the transverse groove 101.18 in front of the front frame 101.11. The limiting wheel Ⅲ 101.21 is used to limit the forward and backward swing of the transverse platform 101.3, and the limiting wheel Ⅳ 101.22 is used to limit the up and down swing of the transverse platform 101.3. The tilting table 101.20 is set in front of the tilting table mounting plate. The bracket shovel 101.4, the rotating shaft 101.5, the rack 101.6, the rotating shaft mounting seat 101.7, and the tilting cylinder 101.9 are all set on the tilting table 101.20.

[0049] Preferably, the lateral drive unit is a double-rod hydraulic cylinder 101.23 laterally arranged inside the front frame 101.11. The piston rods on both sides are connected to the two sides of the front frame 101.11. Two sprockets 101.24 are respectively arranged on the upper and lower sides of the cylinder body. The axles of the sprockets 101.24 are arranged in the vertical direction. The upper sprocket 101.24 is connected by an upper chain 101.25, and the lower sprocket is connected by a lower chain 101.26. The front of the upper chain 101.25 and the lower chain 101.26 are connected to the rear of the tilting table mounting plate through a front connecting block 101.27, and the rear of the upper chain 101.25 and the lower chain 101.26 are connected to the rear frame 101.12 through a rear connecting block 101.28. When the cylinder block moves laterally, the rear connecting block 101.28 is fixed, and the front connecting block 101.27 drives the lateral connecting frame 101.19 to achieve a lateral movement multiplication.

[0050] Preferably, the outrigger flipping part is an outrigger cylinder 101.30; the outer side of the bracket side plate is provided with an upper connecting lug 101.31 for the outrigger cylinder and a telescopic outrigger connecting lug 101.32; the telescopic outrigger 101.29 is rotatably connected to the telescopic outrigger connecting lug 101.32, and the telescopic outrigger 101.30 is provided with a lower connecting lug for the outrigger cylinder; both ends of the outrigger cylinder 101.30 are rotatably connected to the upper connecting lug 101.31 and the lower connecting lug 101.31, respectively. When transporting the unit-type support, the telescopic outrigger 101.29 is kept in contact with the ground. After the unit-type support is lifted, the telescopic outrigger 101.29 is retracted to ensure stable operation during the transport of the unit-type support. The swing angle range of the telescopic outrigger 101.29 is 0-100°.

[0051] Preferably, limiting grooves 101.33 are provided on the upper and lower sides of the support shovel plate 101.4.

[0052] The emulsion system is used to replenish the unit support 200 with emulsion and to receive the return fluid from the unit support 200. It includes an emulsion tank 106.1, an emulsion pump station 106.2, and an operating valve 106.3. The emulsion tank 106.1 and the emulsion pump station 106.2 are both arranged on the main frame 102. The emulsion tank 106.1 and the emulsion pump station 106.2 are connected by an emulsion pipe. The emulsion pump station 106.2 is driven by the engine assembly 107. The operating valve 106.3 is used to control the emulsion pump station 106.2.

[0053] The hydraulic system provides power for the movement of the handling mechanism 101 and the travel of the tracked chassis assembly 107, including a hydraulic oil tank 105.1, a hydraulic pump 105.2, a multi-way valve 105.3, and a pilot operating handle 105.4; the drive component in the tracked chassis assembly 108 is a hydraulic motor 108.1; the hydraulic pump 105.2 is connected to the engine assembly 107 and is used to pump the hydraulic oil in the hydraulic oil tank 105.1 to the multi-way valve 105.3; the multi-way valve 105.3 reverses the oil inlet and outlet through the pilot operating handle 105.4, and sends the hydraulic oil to the tilting cylinder 101.9, the lifting cylinder 101.15, the double-outlet cylinder 101.23, the outrigger cylinder 101.30, and the hydraulic motor 108.1 respectively.

[0054] The hydraulic system also includes a pilot oil source valve assembly 105.5. The multi-way valve 105.3 includes proportional multi-way valve I 105.3a and proportional multi-way valve II 105.3b. The four valve plates in proportional multi-way valve I 105.3a control the left hydraulic motor 108.1a, lifting cylinder 101.15, lateral cylinder (i.e., double-rod cylinder 101.23), and left outrigger cylinder 101.30a, respectively. The four valve plates in proportional multi-way valve II 105.3b control the right hydraulic motor 108.1b, tilting cylinder 101.9, tilting cylinder 101.34, and right outrigger cylinder 101.30b, respectively. The tilting cylinder 101.34 is used to tilt the conveying mechanism 101 forward and backward by 10°, which is more adaptable. Specifically, the bracket 101.1 is hinged to the main frame 102, and the two ends of the tilting cylinder 101.34 are respectively hinged to the bracket 101.1 and the main frame 102. The pilot operating handle 105.4 includes pilot operating handle I 105.4a, pilot operating handle II 105.4b, pilot operating handle III 105.4c, pilot operating handle IV 105.4d, and pilot operating handle V 105.4e.

[0055] The diesel engine 107.1 in the engine assembly 107 is rigidly connected to the hydraulic pump 105.2 (a plunger pump is used in this embodiment). The inlet of the hydraulic pump 105.2 is connected to the hydraulic oil tank 105.1, and the outlet is divided into three paths: the first path is connected to the inlet of the pilot oil source valve group 105.5, the second path is connected to the inlet of the proportional multi-way valve I 105.3a, and the third path is connected to the inlet of the proportional multi-way valve II 105.3b. The outlet of the pilot oil source valve group 105.5 is connected to the inlet of the pilot operating handle I 105.4a. The pilot oil source valve group 105.5 provides power to the pilot circuit of the hydraulic system. The oil outlet of the pilot operating handle I 105.4a is divided into two paths: the first path is directly connected to the oil inlets of the left hydraulic motor 108.1a and the right hydraulic motor 108.1b (not shown in the figure), controlling the speed adjustment of the hydraulic motor 108.1. When the hydraulic system is unloaded, the hydraulic motor 108.1 can operate at high speed and low torque; when the system load is large, the hydraulic motor 108.1 can operate at low speed and high torque, giving the tracked chassis assembly 108 better environmental adaptability to complex downhole conditions; the second path... The system is divided into two circuits: a remote control circuit and a manual control circuit. These two circuits can be interlocked to improve system safety. The remote control circuit connects to the pilot ports of proportional multi-way valves I 105.3a and II 105.3b, respectively, and is controlled by a remote control. The manual control circuit connects to the inlets of pilot control handles II 105.4b, III 105.4c, IV 105.4d, and V 105.4e, respectively. The two outlet ports of pilot control handle II 105.4b are connected to the valve plates controlling the lifting cylinder 101.15 and the lateral cylinder (i.e., the double-rod cylinder 101.23) in proportional multi-way valve I 105.3a (not shown in the figure), respectively, to control the extension and retraction of the lifting cylinder 101.15 and the lateral cylinder (i.e., the double-rod cylinder 101.23). The two oil outlets of pilot operating handle III 105.4c are respectively connected to the valve plates controlling the tilting cylinder 101.34 and the tilting cylinder 101.9 in proportional multi-way valve II 105.3b (not shown in the figure), and are used to control the extension and retraction of the tilting cylinder 101.34 and the tilting cylinder 101.9. The two oil outlets of pilot operating handle IV 105.4d are respectively connected to the valve plates controlling the left outrigger cylinder 101.30a in proportional multi-way valve I 105.3a and the valve plates controlling the right outrigger cylinder 101.30b in proportional multi-way valve II 105.3b (not shown in the figure), and are used to control the extension and retraction of the outrigger cylinder 101.30. The two oil outlets of the pilot operating handle V105.4e are respectively connected to the valve plate controlling the left hydraulic motor 108.1a in the proportional multi-way valve I 105.3a and the valve plate controlling the right hydraulic motor 108.1b in the proportional multi-way valve II 105.3b (not shown in the figure) to control the rotation of the hydraulic motor 108.1.

[0056] The four sets of valve plates in the proportional multi-way valve can be controlled by the pilot port of the proportional multi-way valve, or by the pilot operating handles II 105.4b, III 105.4c, IV 105.4d and V 105.4e.

[0057] The electrical control system enables one-button start / stop and manual / remote switching, improving the automation of the underground unit-type support transport robot 100 and ensuring overall safety. The electrical control system includes an electrical control box 104.1, an instrument display 104.2, and an alarm 104.3. The instrument display 104.2 has a data upload function, monitoring the overall operating status of the underground unit-type support transport robot 100 in real time. The alarm 104.3 has a personnel proximity alarm function.

[0058] The cab includes a seat 103.1 and a seat partition 103.2 hinged to the top of the seat 103.1. The seat partition 103.2 has a height-adaptive and adjustable function. A pilot control handle 105.4 and an instrument display 104.2 are located on the same side or both sides of the seat 103.1.

[0059] The main frame 102 includes a front main frame 102.1, a rear main frame 102.2, and a counterweight 102.3. The front main frame 102.1 and the rear main frame 102.2 are connected by bolts. The hydraulic system, tracked chassis assembly 108, emulsion system, electronic control system, and cab are arranged on the front main frame 102.1, and the engine assembly 107 is arranged in the mounting slot of the rear main frame 102.2. The counterweight 102.3 is arranged below the rear main frame 102.2, and its main function is to balance the center of gravity of the coal mine underground unit support transport robot 100 and improve the stability of the coal mine underground unit support transport robot 100 during the movement.

[0060] Example 2

[0061] This embodiment provides a method for preserving roadways along a goaf using a unit-type support transport robot 100 in a coal mine, which includes the following steps:

[0062] S1, a flexible mold wall 400 is poured in the tunnel 300. The flexible mold wall 400 has the characteristic of rapid tunnel formation.

[0063] S2, the unit-type supports 200 are arranged forward sequentially according to the solidification time of the flexible mold wall 400, and provide support before the flexible mold wall 400 solidifies. The unit-type supports 200 are equipped with quick-connect valves 201 for connecting with the emulsion system and shovel holes 202 for the support shovels 101.4 to pass through. The unit-type supports 200 can be arranged on one side of the roadway 300 (i.e., close to the flexible mold wall 400) or on both sides of the roadway 300 (i.e., one side close to the flexible mold wall 400 and the other side in front of the coal wall 500). The step distance between adjacent unit-type supports 200 is two meters, and they are arranged 100-120 meters ahead of the solidification time of the flexible mold wall 400.

[0064] S3, the above-mentioned coal mine underground unit support transport robot 100 is arranged in the middle of the roadway 300, and the unit supports 200 are transported from back to front according to the solidification speed of the flexible mold wall 400 along the direction of casting of the flexible mold wall 400.

[0065] Step S3 includes the following steps:

[0066] T1, the coal mine underground unit support transport robot 100 travels to the unit support 200 that needs to be transported, the outrigger cylinder 101.30 extends, so that the telescopic outrigger 101.29 opens until the telescopic outrigger 101.29 contacts the ground to ensure the stability of the coal mine underground unit support transport robot 100 during the transport process, connect the emulsion system to the quick-connect valve 201 on the unit support 200, operate the emulsion system to retract the unit support 200, complete the preliminary transport preparation of the unit support 200, and separate the emulsion system from the unit support 200;

[0067] T2, the support shovel 101.4 is flipped to the side where the unit support 200 is located, the vertical lifting frame 101.2 slides up and down until the height of the two support shovels 101.4 is aligned with the height of the shovel hole 202, the horizontal moving platform 101.3 moves closer to the side where the unit support 200 is located, inserts the two support shovels 101.4 into the shovel hole 202, and then the vertical lifting frame 101.2 is lifted upward, causing the unit support 200 to move upward and leave the ground. The horizontal moving platform 101.3 moves in the opposite direction, moving the unit support 200 to the middle position of the conveying mechanism 101;

[0068] T3, the outrigger cylinder 101.30 retracts, causing the telescopic outrigger 101.29 to retract to its original state. The support transport robot 100 moves forward until it transports the unit support 200 to the designated position in front. The lateral platform 101.3 moves closer to the side where the flexible mold wall 400 is located. Then the vertical lifting frame 101.2 moves downward to place the unit support 200 on the ground. The lateral platform 101.3 moves in the opposite direction to pull the two support shovels 101.4 out of the shovel hole 202.

[0069] T4 connects the emulsion system to the quick-connect valve 201 on the unit support 200 to replenish the liquid. The unit support 200 is raised to contact the tunnel roof beam, separating the emulsion system from the unit support 200, thus completing one unit support 200 handling operation.

[0070] T5, repeat steps T1-T4.

[0071] Operators can switch between remote and manual operation via the pilot control handle I105.4a to remotely control the aforementioned support handling actions.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A unit-type support transport robot for underground coal mines, characterized in that, This includes the handling mechanism, main frame, hydraulic system, engine assembly, and tracked undercarriage assembly; The transport mechanism, hydraulic system and engine assembly are all arranged on the main frame, and the tracked chassis assembly is arranged on both sides of the main frame; The hydraulic system is powered by the engine assembly; The transport mechanism and tracked chassis assembly are powered by a hydraulic system; The conveying mechanism includes a bracket, a vertical lifting frame, a vertical drive unit, a horizontal moving platform, a horizontal drive unit, a support shovel, a rotating shaft, a tilting drive unit, telescopic outriggers, and an outrigger tilting unit. The bracket is installed at the front end of the main frame; The vertical lifting frame is driven by a vertical drive unit to slide up and down along the bracket; The lateral moving platform is driven by the lateral drive unit to slide left and right along the vertical lifting frame; The two support shovels are connected by a rotating shaft, which is rotatably mounted on a transverse platform. The flipping drive unit drives the rotating shaft to rotate, causing the support shovels to flip left and right. The telescopic outriggers are rotatably mounted on both sides of the bracket, and are driven by the outrigger flipping part to flip downwards to support on the ground or flip upwards to retract to both sides of the bracket. The transverse platform is provided with a rack and a rotating shaft mounting base. The rack is slidably disposed, and the rotating shaft mounting base is symmetrically disposed on both sides of the rack. The rotating shaft is rotatably connected to the rotating shaft mounting base, and a gear is provided on the rotating shaft, which meshes with a rack. The tilting drive unit is a tilting hydraulic cylinder that drives the rack to slide left and right by telescopic movement. Limiting grooves are provided on the upper and lower sides of the support shovel plate respectively; The bracket has two vertical grooves with opposite openings; The vertical lifting frame includes a front frame and a rear frame fixed behind the front frame; The rear frame is equipped with limit wheel I and limit wheel II on both the left and right sides. The axle of limit wheel I is arranged in the left and right direction, and the axle of limit wheel II is arranged in the front and back direction. The rear frame is slidably fitted into the bracket, and limit wheel I and limit wheel II are located in the vertical groove. The vertical drive unit is a lifting cylinder, and the outrigger tilting unit is an outrigger cylinder; The bracket includes two side plates, a top plate, a bottom plate, and a rear plate connecting the two side plates. Vertical grooves are provided on the inner side of the two side plates. The outer side of the side plates is provided with upper connecting lugs for the outrigger cylinders and connecting lugs for the telescopic outriggers. The rear plate is connected to the main frame. The bottom plate is provided with lower connecting lugs for the lifting cylinders. The rear frame of the vertical lifting frame includes two side plates and a top plate connecting the side plates. Limiting wheels I and II are provided on the outer side of the two side plates. The top plate is provided with upper connecting lugs for the lifting cylinders. The two ends of the lifting cylinder are rotatably connected to the lower connecting lug and the upper connecting lug of the lifting cylinder, respectively; The telescopic outrigger is rotatably connected to the telescopic outrigger connecting lug, and the telescopic outrigger is provided with a lower connecting lug for the outrigger hydraulic cylinder; The two ends of the outrigger cylinder are rotatably connected to the upper connecting lug and the lower connecting lug of the outrigger cylinder, respectively. The top, front, and bottom surfaces of the front frame are all provided with transverse grooves; The transverse platform includes a transverse connecting frame and a tilting table; The transverse connecting frame includes a top plate, a bottom plate, and a tilting table mounting plate connecting the top plate and the bottom plate. Limiting wheels III are provided on the bottom surface of the top plate and the top surface of the bottom plate. Limiting wheels IV are provided on the rear of the tilting table mounting plate. The axles of limiting wheels III are arranged in the vertical direction, and the axles of limiting wheels IV are arranged in the front-back direction. The limiting wheels III on the top plate are slidably fitted into the transverse groove on the top surface of the front frame, the limiting wheels III on the bottom plate are slidably fitted into the transverse groove on the bottom surface of the front frame, and the limiting wheels IV are slidably fitted into the transverse groove on the front of the front frame. The tilting table is located in front of the tilting table mounting plate; the support shovel, rotating shaft, rack, rotating shaft mounting base and tilting cylinder are all located on the tilting table.

2. The coal mine underground unit-type support transport robot according to claim 1, characterized in that, The lateral drive unit is a double-rod hydraulic cylinder that is laterally installed in the front frame. The piston rods on both sides are connected to the two sides of the front frame. Two sprockets are respectively installed on the upper and lower sides of the cylinder body. The axles of the sprockets are arranged in the vertical direction. The upper sprocket is connected to the upper chain, and the lower sprocket is connected to the lower chain. The front of the upper and lower chains is connected to the rear of the tilting table mounting plate through the front connecting block, and the rear of the upper and lower chains is connected to the rear frame through the rear connecting block.

3. The coal mine underground unit-type support transport robot according to claim 2, characterized in that, The main frame is also equipped with an emulsion system, which is used to replenish the unit support and receive the return liquid from the unit support. The system includes an emulsion tank, an emulsion pump station and operating valves. The emulsion tank and emulsion pump station are both arranged on the main frame. The emulsion tank and emulsion pump station are connected by emulsion pipes. The emulsion pump station is driven by the engine assembly. The operating valve is used to control the emulsion pump station.

4. The coal mine underground unit-type support transport robot according to claim 3, characterized in that, The hydraulic system includes a hydraulic oil tank, a hydraulic pump, a multi-way valve, and a pilot operating handle; The drive component in the tracked undercarriage assembly is a hydraulic motor; The hydraulic pump is connected to the engine assembly and is used to pump hydraulic oil from the hydraulic oil tank to the multi-way valve; The multi-way valve reverses the oil inlet and outlet directions via a pilot operating handle, sending hydraulic oil to the tilting cylinder, lifting cylinder, double rod cylinder, outrigger cylinder, and hydraulic motor respectively.

5. The coal mine underground unit-type support transport robot according to claim 4, characterized in that, The main unit is also equipped with an electrical control system for one-button start / stop and manual / remote automatic switching. The electrical control system includes an electrical control box, an instrument display and an alarm. The alarm has a personnel proximity alarm function. The main frame also includes a cab, which includes a seat and a seat cover hinged to the top of the seat. Pilot control handles and instrument displays are located on the same side or both sides of the seat.

6. The coal mine underground unit-type support transport robot according to claim 5, characterized in that, The main frame includes the front main frame, the rear main frame, and the counterweight. The front main frame and the rear main frame are connected by bolts. The hydraulic system, tracked chassis assembly, emulsion system, electronic control system and cab are arranged on the front main frame, and the engine assembly is arranged in the mounting slot of the rear main frame. The engine assembly uses a diesel engine. The counterweight is located below the rear main frame.

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