An electric drive crawler type two-way driving unit bracket handling robot

Abstract

The present invention provides an electric drive crawler - type two - way driving unit support handling robot, belonging to the technical field of underground transportation equipment. It includes a handling mechanism, a main frame, a front cab, a rear cab, a hydraulic system, a motor assembly, a cable, an automatic cable coiling 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 coiling 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 and are used for two - way driving. The present invention solves the technical problems in the prior art that the handling of unit supports uses winch traction, with complex operation, low efficiency, and potential safety hazards, and can achieve two - way driving at the same time.

Description

Technical Field

[0001] The invention belongs to the technical field of underground transportation equipment, and specifically discloses an electric-driven crawler-type two-way driving unit support handling robot. Background Art

[0002] The gob-side entry retaining support scheme can maximize resource recovery and avoid coal body loss. It is a relatively advanced coal mining roadway layout method, which can reduce roadway excavation, ease the mining and excavation relationship, improve the recovery of coal resources, extend the mine life and improve the stress of roadway surrounding rock. In the gob-side entry retaining support scheme, the flexible formwork concrete gob-side entry retaining support technology is one of the currently widely used support methods, usually adopting the support form of "one beam and four columns", but there are problems such as single support form, low support strength of roadway surrounding rock and poor safety. The unit support has the advantages of high support strength and good stability, and can effectively protect the flexible formwork wall. However, at present, the unit support handling usually adopts the way of winch traction, with complex operation, low efficiency and potential safety hazards. Therefore, the problem of unit support handling has become the key factor restricting the popularization of unit support in the gob-side entry retaining technology.

[0003] At the same time, when carrying out transportation operations in narrow roadways or coal mine gate roads, one-way transportation equipment cannot turn around or requires a large turning area to turn around, with poor operability, low safety and low transportation efficiency. Summary of the Invention

[0004] The invention provides an electric-driven crawler-type two-way driving unit support handling robot to solve the following technical problems:

[0005] 1. The unit support handling adopts winch traction, with complex operation, low efficiency and potential safety hazards;

[0006] 2. When carrying out transportation operations in narrow roadways or coal mine gate roads, one-way transportation equipment cannot turn around or requires a large turning area to turn around, with poor operability, low safety and low transportation efficiency.

[0007] The above-mentioned electric drive crawler type two-way driving unit support handling robot includes a handling mechanism, a main frame, a front cab, a rear cab, a hydraulic system, a motor assembly, a cable, an automatic cable rewinding 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 rewinding 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 rewinding device includes a cable rewinding box body and a reel, a cable rewinding driving part, a cable rack, and a full cable protector arranged in the cable rewinding box body; the cable is wound around the reel, passes through the cable rack, and is connected to the motor assembly and an external power supply; the reel is driven to rotate by the cable rewinding driving part; the full cable protector is used to lock the reel when the cable is wound too much; the hydraulic system is powered by the motor assembly; the handling mechanism and the crawler chassis assembly are powered by the hydraulic system; the handling mechanism includes a bracket, a vertical lifting frame, a vertical driving part, a transverse moving platform, a transverse driving part, a support shovel plate, a rotating shaft, and a flipping driving part; the bracket is installed at the front end of the main frame; the vertical lifting frame is driven by the vertical driving part to slide up and down along the bracket; the transverse moving platform is driven by the transverse driving part to slide left and right along the vertical lifting frame; the two support shovel plates are connected by a rotating shaft, and the rotating shaft is rotatably installed on the transverse moving platform, and the flipping driving part drives the rotating shaft to rotate to make the support shovel plates flip left and right; limiting grooves are respectively arranged on the upper and lower sides of the support shovel plate.

[0008] Further, the handling mechanism further includes telescopic legs and leg flipping parts; the telescopic legs are rotatably installed on both sides of the bracket and are driven by the leg flipping parts to flip downwards to support on the ground or flip upwards to retract on both sides of the bracket.

[0009] Further, two vertically arranged grooves with opposite openings are provided on the bracket; the vertical lifting frame includes a front frame and a rear frame fixed behind the front frame; limiting wheels I and limiting wheels II are arranged on both the left and right sides of the rear frame, the axle of the limiting wheel I is arranged in the left-right direction, the axle of the limiting wheel II is arranged in the front-rear direction, the rear frame is slidably fitted in the bracket, and the limiting wheels I and II are located in the vertical grooves.

[0010] Further, the vertical driving part is a lifting oil cylinder, and the leg flipping part is a leg oil cylinder; the bracket includes two left and right side plates, as well as a top plate, a bottom plate, and a rear plate connecting the two side plates. The vertical groove is arranged inside the two side plates. On the outer side of the side plates, there are upper connecting ears of the leg oil cylinder and connecting ears of the telescopic leg. The rear plate is connected to the main frame, and on the bottom plate, there is a lower connecting ear of the lifting oil cylinder; the rear frame of the vertical lifting frame includes two side plates and a top plate connecting the side plates. The limiting wheel I and the limiting wheel II are arranged on the outer sides of the two side plates, and on the top plate, there is an upper connecting ear of the lifting oil cylinder; both ends of the lifting oil cylinder are rotatably connected to the lower connecting ear of the lifting oil cylinder and the upper connecting ear of the lifting oil cylinder respectively; the telescopic leg is rotatably connected to the connecting ear of the telescopic leg, and on the telescopic leg, there is a lower connecting ear of the leg oil cylinder; both ends of the leg oil cylinder are rotatably connected to the upper connecting ear of the leg oil cylinder and the lower connecting ear of the leg oil cylinder respectively.

[0011] Further, transverse grooves are provided on the top surface, the front surface, and the bottom surface of the front frame; the transverse movement platform includes a transverse movement connecting frame and a flipping table; the transverse movement connecting frame includes a top plate, a bottom plate, and a flipping table mounting plate connecting the top plate and the bottom plate. On the bottom surface of the top plate and the top surface of the bottom plate, there are limiting wheels III, and on the rear surface of the flipping table mounting plate, there is a limiting wheel IV. The axle of the limiting wheel III is arranged in the vertical direction, and the axle of the limiting wheel IV is arranged in the front-rear direction. The limiting wheel III on the top plate is slidably fitted into the transverse groove on the top surface of the front frame, the limiting wheel III on the bottom plate is slidably fitted into the transverse groove on the bottom surface of the front frame, and the limiting wheel IV is slidably fitted into the transverse groove on the front surface of the front frame; the flipping table is arranged in front of the flipping table mounting plate; on the flipping table, there are a rack and a rotating shaft mounting seat. The rack is slidably arranged, and the rotating shaft mounting seats are symmetrically arranged on both sides of the rack; the rotating shaft is rotatably connected to the rotating shaft mounting seat, and a gear is arranged on the rotating shaft, and the gear meshes with the rack; the flipping driving part is a flipping oil cylinder, which drives the rack to slide left and right through telescoping.

[0012] Further, the transverse driving part is a double-rod oil cylinder transversely arranged inside the front frame. The piston rods on both sides are connected to both sides of the front frame respectively. On the upper and lower sides of the cylinder block, there are two sprockets respectively. The axle of the sprocket is arranged in the vertical direction. The sprockets on the upper side are connected by an upper chain, and the sprockets on the lower side are connected by a lower chain. The front of the upper chain and the lower chain is connected to the rear surface of the flipping table mounting plate through a front connecting block, and the rear of the upper chain and the lower chain is connected to the rear frame through a rear connecting block.

[0013] Further, the above-mentioned electric drive crawler-type two-way driving unit support handling robot further includes an emulsion system, which is used to replenish the unit support with emulsion and receive the returned emulsion of the unit support, and includes an emulsion tank, an emulsion pump station, and an operation 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. The emulsion pump station is driven by a motor assembly; the operation valve is used to control the emulsion pump station.

[0014] Further, 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 conducts oil inlet and outlet commutation through the pilot operating handle and sends the hydraulic oil to the tipping cylinder, the lifting cylinder, the double-rod cylinder, the outrigger cylinder, and the hydraulic motor respectively.

[0015] Further, an electric control system for one-key start-stop and automatic switching between manual remote control is also provided on the main frame. The electric control system includes an electric control box, an instrument display, and an alarm. The alarm has a function of warning when people approach; seats are provided in both the front cab and the rear cab, and pilot operating handles and instrument displays are arranged in both the front cab and the rear cab.

[0016] Further, 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 below the rear main frame; the crawler chassis assembly, the emulsion liquid system, the front cab, the hydraulic oil tank, the multi-way valve, the electric control box, and the alarm are arranged on the front main frame, and the rear cab, the hydraulic pump, the motor assembly, and the automatic cable coiling device are arranged on the rear main frame. The motor assembly adopts a three-phase asynchronous motor.

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

[0018] The above-mentioned electric drive crawler-type two-way driving unit support handling robot has functions such as left and right flipping, left and right lateral movement, up and down movement of the support shovel plate, supplementing emulsion liquid for the unit support, manual remote control switching, and warning when people approach. It can effectively improve the handling efficiency of the unit support, reduce the labor intensity, ensure the safety of the unit support handling process, achieve the purpose of automating and reducing staff and increasing efficiency, solve the technical problems in the prior art that the unit support handling uses a winch for traction, with complex operation, low efficiency and potential safety hazards. At the same time, it can travel in both directions, does not need to turn around in a narrow roadway or a coal mine gateway, does not need to build an additional turning site, is easy to operate, has strong operability, high vehicle safety, and high transportation efficiency, and has good social benefits for promoting the application of unit supports in coal mines. Description of the Drawings

[0019] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 It is the front view of the electric drive crawler-type two-way driving unit support handling robot;

[0021] Figure 2 is Figure 1 the axial view of;

[0022] Figure 3 is the structural schematic diagram of the handling mechanism;

[0023] Figure 4 is the structural schematic diagram of the bracket;

[0024] Figure 5 is the structural schematic diagram of the vertical lifting frame;

[0025] Figure 6 is Figure 5 the view in another direction;

[0026] Figure 7 is the layout diagram of the upper sprocket, chain and connecting block of the double-rod cylinder;

[0027] Figure 8 is the structural schematic diagram of the transverse moving platform;

[0028] Figure 9 is the structural schematic diagram of the main frame;

[0029] Figure 10 is the structural schematic diagram of the automatic cable coiling device;

[0030] Figure 11 is the hydraulic schematic diagram;

[0031] Figure 12 is the schematic diagram when the handling mechanism transports the unit support;

[0032] Figure 13 is the schematic diagram of the bilateral layout of the unit support in the roadway;

[0033] Figure 14 is the schematic diagram of the unilateral layout of the unit support in the roadway.

[0034] In the figure: 101 - handling mechanism; 101.1 - bracket; 101.2 - vertical lifting frame; 101.3 - transverse moving platform; 101.4 - support shovel plate; 101.5 - rotating shaft; 101.6 - rack; 101.7 - rotating shaft mounting seat; 101.8 - gear; 101.9 - tilting oil 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 oil cylinder; 101.16 - lower connecting ear of lifting oil cylinder; 101.17 - upper connecting ear of lifting oil cylinder; 101.18 - transverse groove; 101.19 - transverse moving connecting frame; 101.20 - tilting table; 101.21 - limit wheel III; 101.22 - limit wheel IV; 101.23 - double-rod oil 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 support leg; 101.30 - support leg oil cylinder; 101.30a - left support leg oil cylinder; 101.30b - right support leg oil cylinder; 101.31 - upper connecting ear of support leg oil cylinder; 101.32 - connecting ear of telescopic support leg; 101.33 - limit groove; 101.34 - tilting oil cylinder

[0035] 102 - main frame; 102.1 - front main frame; 102.2 - rear main frame; 102.3 - counterweight

[0036] 103a - front cab; 103b - rear cab; 103.1 - seat; 103.2 - seat baffle

[0037] 104.1 - electric control box; 104.2 - instrument display; 104.3 - alarm

[0038] 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 operation handle; 105.4a - pilot operation handle I; 105.4b - pilot operation handle II; 105.4c - pilot operation handle III; 105.4d - pilot operation handle IV; 105.4e - pilot operation handle V; 105.5 - pilot oil source valve group

[0039] 106.1 - emulsion tank; 106.2 - emulsion pump station; 106.3 - operation valve

[0040] 107 - motor assembly; 107.1 - three-phase asynchronous motor

[0041] 108 - crawler chassis assembly; 108.1 - hydraulic motor; 108.1a - left hydraulic motor; 108.1b - right hydraulic motor

[0042] 109 - Cable;

[0043] 110 - Automatic cable coiling device; 110.1 - Cable coiling box; 110.2 - Reel; 110.3 - Cable coiling motor; 110.4 - Cable rack; 110.5 - Full cable protector;

[0044] 200 - Unit support; 201 - Quick - connect valve; 202 - Scraper plate hole;

[0045] 300 - Roadway; 400 - Flexible mold wall; 500 - Coal wall. Detailed implementation mode

[0046] The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. In the embodiments, the left and right of the support handling robot are horizontal, the front and back are longitudinal, and the up and down are vertical.

[0047] Embodiment 1

[0048] This embodiment provides an electric - drive tracked two - way driving unit support handling robot, which includes a handling mechanism 101, a main frame 102, a front cab 103a, a rear cab 103b, an electric control system, a hydraulic system, an emulsion liquid system, a motor assembly 107, a crawler chassis assembly 108, a cable 109 and an automatic cable coiling device 110.

[0049] The handling mechanism 101 includes a bracket 101.1, a vertical lifting frame 101.2, a vertical driving part, a transverse moving platform 101.3, a transverse driving part, a support scraper plate 101.4, a rotating shaft 101.5 and a flipping driving part; 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 driving part to slide up and down along the bracket 101.1; the transverse moving platform 101.3 is driven by the transverse driving part to slide left and right along the vertical lifting frame 101.2; two support scraper plates 101.4 are connected by the rotating shaft 101.5, the rotating shaft 101.5 is rotatably installed on the transverse moving platform 101.3, and the flipping driving part drives the rotating shaft 101.5 to rotate to make the support scraper plate 101.4 flip left and right, which can ensure that the handling mechanism 101 quickly moves the unit supports 200 on both sides.

[0050] Preferably, a rack 101.6 and a rotary shaft mounting seat 101.7 are arranged on the transverse movement platform 101.3. The rack 101.6 is slidably arranged, and the rotary shaft mounting seats 101.7 are symmetrically arranged on both sides of the rack 101.6. The rotary shaft 101.5 is rotatably connected to the rotary shaft mounting seat 101.7, and a gear 101.8 is arranged on the rotary shaft 101.5. The gear 101.8 meshes with the rack 101.6. The turning drive part is a turning oil cylinder 101.9, which drives the rack 101.6 to slide left and right through telescoping, so as to rotate the gear 101.8 and enable the support shovel plate 101.4 to rotate by 0-180°.

[0051] Preferably, two vertical grooves 101.10 with opposite openings are arranged on the bracket 101.1. 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. Limiting wheels Ⅰ101.13 and limiting wheels Ⅱ101.14 are arranged on both the left and right sides of the rear frame 101.12. The axle of the limiting wheel Ⅰ101.13 is arranged in the left-right direction, and the axle of the limiting wheel Ⅱ101.14 is arranged in the front-rear direction. The rear frame 101.12 is slidably fitted in the bracket 101.1, and the limiting wheels Ⅰ101.13 and the limiting wheels Ⅱ101.14 are located in the vertical groove 101.11. The limiting wheel Ⅰ101.13 is used to limit the front-back swing of the vertical lifting frame 101.2, and the limiting wheel Ⅱ101.14 is used to limit the left-right swing of the vertical lifting frame 101.2.

[0052] Preferably, the vertical drive part is a lifting oil cylinder 101.15. The bracket 101.1 includes two left and right side plates, as well as a top plate, a bottom plate and a rear plate connecting the two side plates. The vertical grooves 101.10 are arranged on the inner sides of the two side plates. The rear plate is connected to the main frame 102, and a lifting oil cylinder lower connecting ear 101.16 is arranged on the bottom plate. The rear frame 101.12 of the vertical lifting frame 101.2 includes two side plates and a top plate connecting the side plates. The limiting wheels Ⅰ101.13 and the limiting wheels Ⅱ101.14 are arranged on the outer sides of the two side plates, and a lifting oil cylinder upper connecting ear 101.17 is arranged on the top plate. The two ends of the lifting oil cylinder 101.15 are respectively rotatably connected to the lifting oil cylinder lower connecting ear 101.16 and the lifting oil cylinder upper connecting ear 101.17, and the vertical lifting of the vertical lifting frame 101.2 is realized by the telescoping of the lifting oil cylinder 101.15.

[0053] Preferably, transverse grooves 101.18 are provided on the top surface, front surface and bottom surface of the front frame 101.11; the transverse movement platform 101.3 includes a transverse connection frame 101.19 and a turning platform 101.20; the transverse connection frame 101.19 includes a top plate, a bottom plate and a turning platform mounting plate connecting the top plate and the bottom plate. Limiting wheels III 101.21 are provided on the bottom surface of the top plate and the top surface of the bottom plate, and a limiting wheel IV 101.22 is provided on the rear surface of the turning platform mounting plate. The axle of the limiting wheel III 101.21 is arranged in the vertical direction, and the axle of the limiting wheel IV 101.22 is arranged in the front-rear direction. The limiting wheel III 101.21 on the top plate is slidably fitted into the transverse groove 101.18 on the top surface of the front frame 101.11, the limiting wheel III 101.21 on the bottom 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 on the front surface of the front frame 101.11. The limiting wheel III 101.21 is used to limit the front-rear swing of the transverse movement platform 101.3, and the limiting wheel IV 101.22 is used to limit the up-down swing of the transverse movement platform 101.3; the turning platform 101.20 is arranged in front of the turning platform mounting plate; the support shovel plate 101.4, the rotating shaft 101.5, the rack 101.6, the rotating shaft mounting seat 101.7 and the turning oil cylinder 101.9 are all arranged on the turning platform 101.20.

[0054] Preferably, the transverse driving part is a double-rod cylinder 101.23 transversely arranged in the front frame 101.11. The piston rods on both sides are connected to both sides of the front frame 101.11. Two sprockets 101.24 are respectively provided on the upper and lower sides of the cylinder block. The axle of the sprocket 101.24 is arranged in the vertical direction. The sprockets 101.24 on the upper side are connected by an upper chain 101.25, and the sprockets on the lower side are connected by a lower chain 101.26. The front of the upper chain 101.25 and the lower chain 101.26 is connected to the rear surface of the turning platform mounting plate through a front connection block 101.27, and the rear of the upper chain 101.25 and the lower chain 101.26 is connected to the rear frame 101.12 through a rear connection block 101.28. When the cylinder block moves transversely, the rear connection block 101.28 is fixed, and the front connection block 101.27 drives the transverse connection frame 101.19 to achieve transverse multiplication.

[0055] Preferably, the handling mechanism further includes telescopic support legs 101.29 and a support leg turning part; the telescopic support legs 101.29 are rotatably installed on both sides of the bracket 101.1 and are driven by the support leg turning part to turn downward to support on the ground or turn upward to retract on both sides of the bracket 101.1.

[0056] Preferably, the outrigger turning part is the outrigger oil cylinder 101.30; an upper connecting ear 101.31 of the outrigger oil cylinder and a telescopic outrigger connecting ear 101.32 are arranged on the outer side of the bracket side plate; the telescopic outrigger 101.29 is rotatably connected with the telescopic outrigger connecting ear 101.32, and a lower connecting ear of the outrigger oil cylinder is arranged on the telescopic outrigger 101.30; two ends of the outrigger oil cylinder 101.30 are respectively rotatably connected with the upper connecting ear 101.31 of the outrigger oil cylinder and the lower connecting ear of the outrigger oil cylinder. When carrying the unit support, ensure that the telescopic outrigger 101.29 is in contact with the ground, and contract the telescopic outrigger 101.29 after the unit support is lifted to ensure the smooth operation of the unit support during the transportation process. The swing angle range of the telescopic outrigger 101.29 is 0-100°.

[0057] Preferably, limit grooves 101.33 are respectively arranged on the upper and lower sides of the support shovel plate 101.4.

[0058] The emulsion liquid system is used for replenishing the unit support 200 with emulsion liquid and receiving the returned emulsion liquid of the unit support 200, and includes an emulsion liquid tank 106.1, an emulsion liquid pumping station 106.2 and an operation valve 106.3; both the emulsion liquid tank 106.1 and the emulsion liquid pumping station 106.2 are arranged on the main frame 102, the emulsion liquid tank 106.1 and the emulsion liquid pumping station 106.2 are connected through an emulsion liquid pipe, and the emulsion liquid pumping station 106.2 is driven by a motor assembly 107; the operation valve 106.3 is used for controlling the emulsion liquid pumping station 106.2.

[0059] The hydraulic system provides power for the movement of the handling mechanism 101 and the walking of the crawler chassis assembly 107, and includes a hydraulic oil tank 105.1, a hydraulic pump 105.2, a multi-way valve 105.3 and a pilot operation handle 105.4; the driving part in the crawler chassis assembly 108 is a hydraulic motor 108.1; the hydraulic pump 105.2 is connected with the motor assembly 107 and is used for sending the hydraulic oil in the hydraulic oil tank 105.1 to the multi-way valve 105.3; the multi-way valve 105.3 performs oil inlet and outlet commutation through the pilot operation handle 105.4 and sends the hydraulic oil to the turning oil cylinder 101.9, the lifting oil cylinder 101.15, the double-rod oil cylinder 101.23, the outrigger oil cylinder 101.30 and the hydraulic motor 108.1 respectively.

[0060] The hydraulic system further includes a pilot oil source valve group 105.5. The multi-way valve 105.3 includes a proportional multi-way valve I 105.3a and a proportional multi-way valve II 105.3b. The four sets of valve plates in the proportional multi-way valve I 105.3a respectively control the left hydraulic motor 108.1a, the lifting oil cylinder 101.15, the transverse movement oil cylinder (i.e., the double-rod oil cylinder 101.23), and the left outrigger oil cylinder 101.30a. The four sets of valve plates in the proportional multi-way valve II 105.3b respectively control the right hydraulic motor 108.1b, the tipping oil cylinder 101.9, the tilting oil cylinder 101.34, and the right outrigger oil cylinder 101.30b. Among them, the tilting oil cylinder 101.34 is used to achieve the front and rear tilting of the handling mechanism 101 by 10°, with stronger adaptability. The specific installation method is that the bracket 101.1 is hinged to the main frame 102, and the two ends of the tilting oil cylinder 101.34 are respectively hinged to the bracket 101.1 and the main frame 102. The pilot operation handle 105.4 includes a pilot operation handle I 105.4a, a pilot operation handle II 105.4b, a pilot operation handle III 105.4c, a pilot operation handle IV 105.4d, and a pilot operation handle V 105.4e.

[0061] The motor assembly 107 uses a three-phase asynchronous motor 107.1, which is rigidly connected to the hydraulic pump 105.2 (a piston pump is used in this embodiment) through a coupling. 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 operation handle I 105.4a, and the pilot oil source valve group 105.5 provides power for the pilot circuit of the hydraulic system. The outlet of the pilot operation handle I 105.4a is divided into two paths: the first path is directly connected to the inlets of the left hydraulic motor 108.1a and the right hydraulic motor 108.1b (not shown in the figure), controlling the speed regulation of the hydraulic motor 108.1. When the hydraulic system is unloaded, the hydraulic motor 108.1 can be in the high-speed and low-torque working condition. When the system load is large, the hydraulic motor 108.1 can be in the low-speed and high-torque working condition, enabling the crawler chassis assembly 108 to have better environmental adaptability for complex underground working conditions; the second path is divided into two paths, namely the remote control operation oil circuit and the manual operation oil circuit, and the remote control operation oil circuit and the manual operation oil circuit can be interlocked to improve the safety of system operation; the remote control operation oil circuit is respectively connected to the pilot ports of the proportional multi-way valve I 105.3a and the proportional multi-way valve II 105.3b and is controlled by a remote controller; the manual operation oil circuit is respectively connected to the inlets of the pilot operation handle II 105.4b, the pilot operation handle III 105.4c, the pilot operation handle IV 105.4d, and the pilot operation handle V 105.4e. The two outlets of the pilot operation handle II 105.4b are respectively connected to the valve plates in the proportional multi-way valve I 105.3a that control the lifting cylinder 101.15 and the valve plate that controls the transverse movement cylinder (i.e., the double-rod cylinder 101.23) (not shown in the figure), for controlling the telescopic movement of the lifting cylinder 101.15 and the transverse movement cylinder (i.e., the double-rod cylinder 101.23). The two outlets of the pilot operation handle III 105.4c are respectively connected to the valve plates in the proportional multi-way valve II 105.3b that control the tilt cylinder 101.34 and the valve plate that controls the tipping cylinder 101.9 (not shown in the figure), for controlling the telescopic movement of the tilt cylinder 101.34 and the tipping cylinder 101.9. The two outlets of the pilot operation handle IV 105.4d are respectively connected to the valve plates in the proportional multi-way valve I 105.3a that control the left outrigger cylinder 101.30a and the valve plates in the proportional multi-way valve II 105.3b that control the right outrigger cylinder 101.30b (not shown in the figure), for controlling the telescopic movement of the outrigger cylinder 101.30.The two oil outlets of the pilot operating handle V105.4e are respectively connected to the valve plate in the proportional multi-way valve I105.3a that controls the left hydraulic motor 108.1a and the valve plate in the proportional multi-way valve II105.3b that controls the right hydraulic motor 108.1b (not shown in the figure), and are used to control the rotation of the hydraulic motor 108.1.

[0062] The four groups of valve plates in the proportional multi-way valve can be controlled by the pilot port of the proportional multi-way valve, or can be controlled by the pilot operating handle II105.4b, the pilot operating handle III105.4c, the pilot operating handle IV105.4d and the pilot operating handle V105.4e.

[0063] The electric control system can realize one-key start and stop and automatic switching between manual remote control, improving the automation of the electric drive crawler type two-way driving unit bracket handling robot and ensuring the overall safety. The electric control system includes an electric control box 104.1, an instrument display 104.2 and an alarm 104.3. The instrument display 104.2 has a data uploading function and can monitor the overall operation status of the electric drive crawler type two-way driving unit bracket handling robot in real time. The alarm 104.3 has a function of alarming when a person approaches.

[0064] The front cab 103a is arranged on the front side of the main frame 102 and includes a seat 103.1 and a seat baffle 103.2 hinged on the top of the seat 103.1. The seat baffle 103.2 has the functions of height adaptability and adjustability. The pilot operating handle 105.4 and the instrument display 104.2 are arranged on the same side or both sides of the seat 103.1. The rear cab 103b is arranged on the rear side of the main frame 102. A seat 103.1, a pilot operating handle 105.4 and an instrument display 104.2 are arranged in the rear cab 103b. The pilot operating handle 105.4 is located directly in front of the seat 103.1, and the instrument display 104.2 is located on one side of the seat 103.1.

[0065] 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 is connected to the rear main frame 102.2 by bolts; 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 electric drive crawler type two-way driving unit bracket handling robot and improve the stability of the electric drive crawler type two-way driving unit bracket handling robot during travel.

[0066] The automatic cable coiling device 110 includes a cable coiling box body 110.1, a cable drum 110.2, a cable coiling drive unit (a cable coiling motor 110.3 is adopted in this embodiment), a cable rack 110.4, and a full cable protector 110.5 arranged inside the cable coiling box body 110.1; the cable 109 is wound around the cable drum 110.2, passes through the cable rack 110.4, and is connected to the motor assembly 107 and an external power supply; the cable drum 110.2 is driven by the cable coiling motor 110.3 to rotate to realize the retraction and extension of the cable 109; the full cable protector 110.5 is used to lock the cable drum 110.2 when the cable 109 is coiled too much to prevent the cable 109 from being further coiled.

[0067] The crawler chassis assembly 108, the emulsion system, the front cab 103a, the hydraulic oil tank 105.1, the multi-way valve 105.3, the electric control box 104.1, and the alarm 104.3 are arranged on the front main frame 102.1, and the rear cab 103b, the hydraulic pump 105.2, the motor assembly 107, and the automatic cable coiling device 110 are arranged in the installation grooves of the rear main frame 102.2.

[0068] Embodiment 2

[0069] This embodiment provides a method for leaving a roadway along the goaf with unit supports based on the above-mentioned electric drive crawler type two-way driving unit support handling robot, including the following steps:

[0070] S1, pouring a flexible mold wall 400 in the roadway 300, and the flexible mold wall 400 has the characteristic of rapid roadway formation;

[0071] S2, arranging the unit supports 200 in sequence forward according to the setting time of the flexible mold wall 400 to play a supporting role before the flexible mold wall 400 is set. A quick plug valve 201 for connecting with the emulsion system and a spade plate hole 202 for the support spade plate 101.4 to pass through are arranged on the unit support 200. The unit support 200 can be arranged on one side of the roadway 300 (i.e., close to the flexible mold wall 400), or can be arranged on both sides of the roadway 300 (i.e., one side is close to the flexible mold wall 400 and the other side is arranged in front of the coal wall 500). The step distance between adjacent unit supports 200 is two meters, and it is arranged 100 - 120 meters ahead according to the setting time of the flexible mold wall 400;

[0072] S3, arranging the above-mentioned electric drive crawler type two-way driving unit support handling robot in the middle of the roadway 300, and moving the unit supports 200 in sequence from back to front along the pouring direction of the flexible mold wall 400 according to the setting speed of the flexible mold wall 400.

[0073] Among them, step S3 includes the following steps:

[0074] T1. Before the electric drive crawler type two-way driving unit support handling robot travels to the unit support 200 to be handled, the leg cylinder 101.30 extends, causing the telescopic leg 101.29 to open until the telescopic leg 101.29 contacts the ground to ensure the stability of the electric drive crawler type two-way driving unit support handling robot during the handling process. Connect the emulsion system to the quick plug valve 201 on the unit support 200, operate the emulsion system to contract the unit support 200, complete the preliminary handling preparation of the unit support 200, and separate the emulsion system from the unit support 200;

[0075] T2. The support plow 101.4 flips to the side where the unit support 200 is located, and the vertical lifting frame 101.2 slides up and down until the heights of the two support plows 101.4 are aligned with the height of the plow hole 202. Then, the transverse moving platform 101.3 moves closer to the side where the unit support 200 is located, inserts the two support plows 101.4 into the plow hole 202, and then the vertical lifting frame 101.2 lifts upward, driving the unit support 200 to move upward away from the ground. The transverse moving platform 101.3 moves in the opposite direction to move the unit support 200 to the middle position of the handling mechanism 101;

[0076] T3. The leg cylinder 101.30 contracts, causing the telescopic leg 101.29 to contract to its original state. The electric drive crawler type two-way driving unit support handling robot moves forward until the unit support 200 is transported to the designated position in the front. The transverse moving platform 101.3 moves closer to the side where the flexible mold wall 400 is located, and then the vertical lifting frame 101.2 moves downward to place the unit support 200 on the ground. The transverse moving platform 101.3 moves in the opposite direction to withdraw the two support plows 101.4 from the plow hole 202;

[0077] T4. Connect the emulsion system to the quick plug valve 201 on the unit support 200 for liquid supplement. The unit support 200 rises until it contacts the roadway roof beam, separate the emulsion system from the unit support 200, and complete one handling operation of the unit support 200;

[0078] T5. Repeat steps T1 - T4.

[0079] The operator can achieve remote control / manual switching through the pilot operation handle I 105.4a and remotely control the above support handling actions.

[0080] 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 them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and 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 various embodiments of the present invention.

Claims

1. An electric drive crawler-type two-way driving unit bracket handling robot, characterized in that, It includes a handling mechanism, a main frame, a front cab, a rear cab, a hydraulic system, a motor assembly, a cable, an automatic cable coiling 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 coiling 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 coiling device includes a cable coiling box body and a reel, a cable coiling driving part, a cable rack, and a full cable protector arranged in the cable coiling box body; The cable is wound around the reel, passes through the cable rack, and is connected to the motor assembly and an external power supply; The reel is driven to rotate by the cable coiling driving part; The full cable protector is used to lock the reel when the cable is coiled too much; The hydraulic system is powered by the motor assembly; The handling mechanism and the crawler chassis assembly are powered by the hydraulic system; The handling mechanism includes a bracket, a vertical lifting frame, a vertical driving part, a transverse moving platform, a transverse driving part, a support shovel plate, a rotating shaft, and a flipping driving part; The bracket is installed at the front end of the main frame; The vertical lifting frame is driven by the vertical driving part to slide up and down along the bracket; The transverse moving platform is driven by the transverse driving part to slide left and right along the vertical lifting frame; The two support shovel plates are connected by a rotating shaft, the rotating shaft is rotatably installed on the transverse moving platform, and the flipping driving part drives the rotating shaft to rotate to make the support shovel plates flip left and right; Limit grooves are respectively arranged on the upper and lower sides of the support shovel plate; Two vertical grooves with opposite openings are arranged on the bracket; The vertical lifting frame includes a front frame and a rear frame fixed behind the front frame; Limit wheels Ⅰ and limit wheels Ⅱ are arranged on both the left and right sides of the rear frame. The axle of limit wheel Ⅰ is arranged in the left-right direction, the axle of limit wheel Ⅱ is arranged in the front-rear direction. The rear frame is slidably fitted in the bracket, and limit wheels Ⅰ and limit wheels Ⅱ are located in the vertical grooves; Transverse grooves are arranged on the top surface, front surface, and bottom surface of the front frame; The transverse moving platform includes a transverse moving connecting frame and a flipping table; The transverse moving connecting frame includes a top plate, a bottom plate, and a flipping table mounting plate connecting the top plate and the bottom plate. Limit wheels Ⅲ are arranged on the bottom surface of the top plate and the top surface of the bottom plate, and a limit wheel Ⅳ is arranged behind the flipping table mounting plate. The axle of limit wheel Ⅲ is arranged in the up-down direction, the axle of limit wheel Ⅳ is arranged in the front-rear direction. The limit wheels Ⅲ on the top plate are slidably fitted in the transverse grooves on the top surface of the front frame, the limit wheels Ⅲ on the bottom plate are slidably fitted in the transverse grooves on the bottom surface of the front frame, and the limit wheel Ⅳ is slidably fitted in the transverse grooves on the front surface of the front frame; The flipping table is arranged in front of the flipping table mounting plate; A rack and a rotating shaft mounting seat are arranged on the flipping table. The rack is slidably arranged, and the rotating shaft mounting seats are symmetrically arranged on both sides of the rack; The rotating shaft is rotatably connected to the rotating shaft mounting seat, a gear is arranged on the rotating shaft, and the gear meshes with the rack; The flipping driving part is a flipping oil cylinder, which drives the rack to slide left and right by telescoping; 2. The electric drive crawler type two-way driving unit bracket handling robot according to claim 1, wherein The handling mechanism further includes telescopic legs and leg flipping parts; The telescopic legs are rotatably installed on both sides of the bracket, and are driven by the leg flipping parts to flip downwards to support on the ground or flip upwards to retract on both sides of the bracket.

3. The electric drive crawler type two-way driving unit bracket handling robot according to claim 1, characterized in that, The vertical driving part is a lifting oil cylinder, and the outrigger turning part is an outrigger oil cylinder; The bracket includes two left and right side plates, as well as a top plate, a bottom plate and a rear plate connecting the two side plates. The vertical groove is arranged inside the two side plates. On the outside of the side plates, there are upper connecting ears of the outrigger oil cylinder and connecting ears of the telescopic outrigger. The rear plate is connected to the main frame, and there are lower connecting ears of the lifting oil cylinder on the bottom plate; The rear frame of the vertical lifting frame includes two side plates and a top plate connecting the side plates. The limit wheel I and the limit wheel II are arranged on the outside of the two side plates, and there are upper connecting ears of the lifting oil cylinder on the top plate; Both ends of the lifting oil cylinder are rotatably connected to the lower connecting ear of the lifting oil cylinder and the upper connecting ear of the lifting oil cylinder respectively; The telescopic outrigger is rotatably connected to the connecting ear of the telescopic outrigger, and there is a lower connecting ear of the outrigger oil cylinder on the telescopic outrigger; Both ends of the outrigger oil cylinder are rotatably connected to the upper connecting ear of the outrigger oil cylinder and the lower connecting ear of the outrigger oil cylinder respectively.

4. The electric drive crawler type two-way driving unit bracket handling robot according to claim 1, wherein, The horizontal driving part is a double-rod oil cylinder horizontally arranged in the front frame. The piston rods on both sides are connected to both sides of the front frame. There are two sprockets respectively arranged on the upper and lower sides of the cylinder block. The axle of the sprocket is arranged in the up and down direction. The sprockets on the upper side are connected by an upper chain, and the sprockets on the lower side are connected by a lower chain. The front of the upper chain and the lower chain is connected to the rear of the tilting table mounting plate through a front connecting block, and the rear of the upper chain and the lower chain is connected to the rear frame through a rear connecting block.

5. The electric drive crawler type two-way driving unit support handling robot according to claim 4, wherein, It also includes an emulsion liquid system, which is used to supplement the unit support with emulsion liquid and receive the return liquid of the unit support, and includes an emulsion liquid tank, an emulsion liquid pumping station and an operation valve; Both the emulsion liquid tank and the emulsion liquid pumping station are arranged on the main frame. The emulsion liquid tank and the emulsion liquid pumping station are connected by an emulsion liquid pipe, and the emulsion liquid pumping station is driven by a motor assembly; The operation valve is used to control the emulsion liquid pumping station.

6. The electric drive crawler type two-way driving unit bracket handling robot according to claim 5, characterized in that, The hydraulic system includes a hydraulic oil tank, a hydraulic pump, a multi-way valve and a pilot operation handle; The driving part 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 changes the direction of oil inlet and outlet through the pilot operation handle, and sends the hydraulic oil to the tilting oil cylinder, the lifting oil cylinder, the double-rod oil cylinder, the outrigger oil cylinder and the hydraulic motor respectively.

7. The electric drive crawler type two-way driving unit bracket handling robot according to claim 6, wherein There is also an electric control system for one-key start-stop and automatic switching between manual remote control on the main frame. The electric control system includes an electric control box, an instrument display and an alarm. The alarm has a function of warning when people approach; There are seats in both the front cab and the rear cab, and there are pilot operation handles and instrument displays arranged in both the front cab and the rear cab.

8. The electric drive crawler type two-way driving unit bracket handling robot according to claim 7, 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 below the rear main frame; The crawler chassis assembly, the emulsion liquid system, the front cab, the hydraulic oil tank, the multi-way valve, the electric control box and the alarm are arranged on the front main frame. The rear cab, the hydraulic pump, the motor assembly and the automatic cable coiling device are arranged on the rear main frame. The motor assembly uses a three-phase asynchronous motor.

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