Electric-driven handling robot for auxiliary operation in coal mines

Abstract

The present invention provides an electric-driven handling robot for assisting underground operations in coal mines, which belongs to the technical field of underground transportation equipment, and includes a handling mechanism, a main frame, a hydraulic system, a motor assembly, a cable, an automatic cable winding device, and a crawler chassis assembly; the handling mechanism, the hydraulic system, the motor assembly, and the automatic cable winding device are all arranged on the main frame, and the crawler chassis assembly is arranged on both sides of the main frame; the handling mechanism includes a bracket, a vertical lifting frame, a vertical driving unit, a lateral moving platform, a lateral driving unit, a support shovel, a rotating shaft, a flip driving unit, a telescopic support leg, and a support leg flipping unit. The present invention solves the technical problem that the unit support handling in the prior art adopts winch traction, which is complicated to operate, inefficient, and has potential safety hazards.

Description

Technical Field

[0001] The invention belongs to the technical field of underground transportation equipment, and specifically discloses an electric-driven transport robot for auxiliary operations in underground coal mines. Background Art

[0002] At present, the goaf-retaining technology used in underground mining, especially in coal mining, refers to the use of effective side-and-in-the-goaf support technology to retain the goaf-retaining roadway of the working face as a goaf-retaining roadway adjacent to the working face during the mining process. Among the goaf-retaining technology, the goaf-retaining roadway support technology of flexible formwork concrete is currently a widely used support method. That is, when retaining the goaf-retaining roadway, a flexible formwork wall with good sealing and stability is formed on one side of the goaf area of ​​the roadway using flexible formwork support technology to prevent gas from entering the goaf area, thereby ensuring the ventilation requirements of the mine and the stability of the surrounding rock of the retained roadway, thereby ensuring the safety of the mine and improving the coal recovery rate.

[0003] The unit support has the advantages of high support strength and good stability, and can effectively protect the flexible formwork wall. However, the unit support is usually transported by winch traction, which is complicated to operate, inefficient and has safety hazards. Therefore, the problem of unit support transportation has become a key factor restricting the promotion of unit support in gob-side tunnel retention technology. Summary of the invention

[0004] The present invention provides an electric-driven handling robot for auxiliary operations in coal mines, which solves the technical problems in the prior art of using winch traction to transport unit brackets, which is complex to operate, inefficient and has potential safety hazards. At the same time, the handling robot can also complete the fork-mounted handling of other underground equipment with the same working conditions, thereby improving the overall efficiency of underground equipment moving.

[0005] The above-mentioned electric-driven handling robot for auxiliary operation in underground coal mines includes a handling mechanism, a main frame, a hydraulic system, a motor assembly, a cable, an automatic cable winding device and a crawler chassis assembly; the handling mechanism, the hydraulic system, the motor assembly and the automatic cable winding device are all arranged on the main frame, and the crawler chassis assembly is arranged on both sides of the main frame; the automatic cable winding device includes a cable winding box and a reel arranged in the cable winding box, a cable winding drive unit, a cable rack and a full cable protector; the cable is wound on 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 winding drive unit; the full cable protector is used to rotate the cable The reel is locked when it is wound for too long; the hydraulic system is powered by the motor assembly; the transport mechanism and the crawler 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 transverse drive unit, a bracket shovel, a rotating shaft and a flipping drive unit; 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 transverse drive unit to slide left and right along the vertical lifting frame; the two bracket shovels are connected by a rotating shaft, the rotating shaft is rotatably installed on the transverse platform, and the flipping drive unit drives the rotating shaft to rotate to flip the bracket shovel left and right.

[0006] Furthermore, the electric-driven handling robot for auxiliary operations underground in coal mines also includes an emulsion system, which is used to replenish fluid for the unit bracket and receive return fluid from the unit bracket, and includes an emulsion tank, an emulsion pump station and an operating valve; the emulsion tank and the emulsion pump station are both arranged on the main frame, the emulsion tank and the emulsion pump station are connected by an emulsion pipe, and the emulsion pump station is driven by a motor assembly; the operating valve is used to control the emulsion pump station.

[0007] Furthermore, the transport mechanism also includes telescopic legs and a leg flipping part; the telescopic legs are rotatably installed on both sides of the bracket, and are driven by the leg flipping part to flip downward and support on the ground or flip upward and folded on both sides of the bracket.

[0008] Furthermore, a rack and a rotating shaft mounting seat are provided on the transverse movement platform, the rack is slidably arranged, and the rotating shaft mounting seat is symmetrically arranged on both sides of the rack; the rotating shaft is rotatably connected with the rotating shaft mounting seat, a gear is arranged on the rotating shaft, and the gear is meshed with the rack; the flipping drive part is a flipping cylinder, which drives the rack to slide left and right through telescopic movement; limit grooves are respectively arranged on the upper and lower sides of the bracket shovel plate.

[0009] Furthermore, the vertical driving part is a lifting cylinder, and the leg flipping part is a leg cylinder; the bracket includes two left and right side panels and a top panel, a bottom panel and a rear panel connected to the two side panels, the inner sides of the two side panels are provided with vertical grooves, the outer sides of the side panels are provided with upper connecting ears of the leg cylinder and connecting ears of telescopic legs, the rear panel is connected to the main frame, and the bottom panel is provided with lower connecting ears of the lifting cylinder; the vertical lifting frame includes a front frame and a rear frame fixed behind the front frame; the rear frame of the vertical lifting frame includes two side panels and a top panel connected to the side panels, and the outer sides of the two side panels are provided with limit wheels Ⅰ and limiting wheels Ⅱ, and an upper connecting ear of a lifting cylinder is arranged on the top plate; the axle of limiting wheel Ⅰ is arranged in the left-right direction, and the axle of limiting wheel Ⅱ is arranged in the front-back direction, the rear frame is slidably embedded in the bracket, and limiting wheels Ⅰ and limiting wheels Ⅱ are located in the vertical groove; the two ends of the lifting cylinder are rotatably connected with the lower connecting ear of the lifting cylinder and the upper connecting ear of the lifting cylinder respectively; the telescopic leg is rotatably connected with the telescopic leg connecting ear, and a lower connecting ear of the leg cylinder is arranged on the telescopic leg; the two ends of the leg cylinder are rotatably connected with the upper connecting ear of the leg cylinder and the lower connecting ear of the leg cylinder respectively.

[0010] Furthermore, the top surface, front surface and bottom surface of the front frame are all provided with transverse grooves; the transverse movement platform includes a transverse movement connecting frame and a turning table; the transverse movement connecting frame includes a top plate, a bottom plate and a turning 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 a limiting wheel III, and the rear of the turning table mounting plate is provided with a limiting wheel IV, the wheel axle of the limiting wheel III is arranged in the up-down direction, and the wheel axle of the limiting wheel IV is arranged in the front-back direction, the limiting wheel III on the top plate is slidably engaged in the transverse groove on the top surface of the front frame, the limiting wheel III on the bottom plate is slidably engaged in the transverse groove on the bottom surface of the front frame, and the limiting wheel IV is slidably engaged in the transverse groove on the front of the front frame The sprocket wheel is connected to the front frame by a gear train connected to the gear train of the front frame and the gear train connected to the gear train via a gear train connected to the gear train.

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

[0012] Furthermore, the main frame is also provided with an electronic control system for one-button start and stop and manual remote control automatic switching, the electronic control system includes an electronic control box, an instrument display and an alarm, and the alarm has a personnel approach alarm function; the main frame is also provided with a cab, the cab includes a seat and a seat baffle hinged to the top of the seat, and the pilot operating handle and the instrument display are arranged 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, the crawler chassis assembly, the emulsion system, the electronic control system and the cab are arranged on the front main frame, the motor assembly and the automatic cable winding device are arranged in the installation groove of the rear main frame; the counterweight is arranged under the rear main frame.

[0014] Furthermore, the motor in the motor assembly adopts a three-phase asynchronous motor; the swing angle range of the telescopic legs is 0-100°.

[0015] The present invention has the following beneficial effects:

[0016] The above-mentioned electric-driven handling robot for auxiliary operations in underground coal mines has the functions of flipping the bracket shovel left and right, moving left and right, and moving up and down, replenishing emulsion for unit brackets, manual remote control switching, and personnel approach alarm. It can effectively improve the unit bracket handling efficiency, reduce labor intensity, and ensure the safety of the unit bracket handling process, and achieve the purpose of automation to reduce manpower and increase efficiency. It solves the technical problems in the existing technology that the unit bracket handling uses winch traction, which is complicated to operate, inefficient and has safety hazards. It has good social benefits for promoting the application of unit brackets in underground coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 This is the front view of the electric-driven handling robot for auxiliary work in underground coal mines;

[0019] Figure 2 for Figure 1 Axis view of

[0020] Figure 3 It is a structural schematic diagram of the transport mechanism;

[0021] Figure 4 is a schematic diagram of the structure of the bracket;

[0022] Figure 5 It is a structural schematic diagram of a vertical lifting frame;

[0023] Figure 6 for Figure 5 A view in the other direction;

[0024] Figure 7 The layout diagram of the sprocket, chain and connecting block on the double-rod cylinder;

[0025] Figure 8 It is a structural schematic diagram of the transverse platform;

[0026] Fig. 9 It is a structural diagram of the main frame;

[0027] Fig.10 It is a structural schematic diagram of an automatic cable winding device;

[0028] Fig.11 It is the hydraulic principle diagram;

[0029] Fig.12 It is a schematic diagram of the transport mechanism transporting the unit bracket;

[0030] Fig.13 This is a schematic diagram of the arrangement of unit supports on both sides of the tunnel;

[0031] Fig.14 This is a schematic diagram of the arrangement of unit supports on one side of the tunnel.

[0032] In the figure: 100 - Electric-driven handling robot for auxiliary operation in coal mines;

[0033] 101-transport mechanism; 101.1-bracket; 101.2-vertical lifting frame; 101.3-transverse platform; 101.4-bracket shovel; 101.5-rotating axis; 101.6-rack; 101.7-rotating axis mounting seat; 101.8-gear; 101.9-turning cylinder; 101.10-vertical groove; 101.11-front frame; 101.12-rear frame; 101.13-limiting wheel I; 101.14-limiting wheel II; 101.15-lifting cylinder; 101.16-lower connecting ear of lifting cylinder; 101.17-upper connecting ear of lifting cylinder; 101.18-transverse groove; 101 .19-transverse connecting frame; 101.20-turning table; 101.21-limiting wheel III; 101.22-limiting 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-outrigger cylinder upper connecting ear; 101.32-telescopic outrigger connecting ear; 101.33-limiting slot; 101.34-tilt cylinder;

[0034] 102-main frame; 102.1-front main frame; 102.2-rear main frame; 102.3-counterweight;

[0035] 103.1-seat; 103.2-seat baffle;

[0036] 104.1-Electric control box; 104.2-Instrument display; 104.3-Alarm;

[0037] 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 group;

[0038] 106.1-emulsion tank; 106.2-emulsion pump station; 106.3-operating valve;

[0039] 107-motor assembly; 107.1-three-phase asynchronous motor;

[0040] 108- crawler chassis assembly; 108.1- hydraulic motor; 108.1a- left hydraulic motor; 108.1b- right hydraulic motor;

[0041] 109-cable;

[0042] 110-automatic cable winding device; 110.1-cable winding box; 110.2-reel; 110.3-cable winding motor; 110.4-cable rack; 110.5-full cable protector;

[0043] 200-unit bracket; 201-quick-insert valve; 202-shovel plate hole;

[0044] 300-tunnel; 400-flexible wall; 500-coal wall. DETAILED DESCRIPTION

[0045] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In the embodiment, the left and right of the electric-driven handling robot for auxiliary operations in coal mines are horizontal, the front and back are longitudinal, and the top and bottom are vertical.

[0046] Example 1

[0047] The present embodiment provides an electric-driven transport robot 100 for assisting operations underground in coal mines, comprising a transport mechanism 101, a main frame 102, a cab, an electronic control system, a hydraulic system, an emulsion system, a motor assembly 107, a crawler chassis assembly 108, a cable 109 and an automatic cable winding device 110.

[0048] The transport mechanism 101 includes a bracket 101.1, a vertical lifting frame 101.2, a vertical driving unit, a lateral movement platform 101.3, a lateral driving unit, a bracket shovel 101.4, a rotating shaft 101.5, a flip driving unit, a telescopic support leg 101.29 and a support leg flipping unit; 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 unit to slide up and down along the bracket 101.1; the lateral movement platform 101.3 is driven by the lateral driving unit to move left and right along the vertical lifting frame 101.2 Sliding; the two bracket shovels 101.4 are connected by a rotating shaft 101.5, and the rotating shaft 101.5 is rotatably installed on the transverse platform 101.3. The flipping drive unit drives the rotating shaft 101.5 to rotate to make the bracket shovel 101.4 flip left and right, which can ensure that the conveying mechanism 101 can quickly move the unit brackets 200 on both sides; the telescopic legs 101.29 are rotatably installed on both sides of the bracket 101.1, and are driven by the leg flipping unit to flip downward and support on the ground or flip upward and fold on both sides of the bracket 101.1.

[0049] Preferably, a rack 101.6 and a rotating shaft mounting seat 101.7 are provided on the transverse moving platform 101.3, the rack 101.6 is slidably arranged, and the rotating shaft mounting seat 101.7 is symmetrically arranged on both sides of the rack 101.6; the rotating shaft 101.5 is rotatably connected with the rotating shaft mounting seat 101.7, and a gear 101.8 is provided on the rotating shaft 101.5, and the gear 101.8 is meshed with the rack 101.6; the flipping driving part is a flipping cylinder 101.9, which drives the rack 101.6 to slide left and right by telescopic driving, thereby rotating the gear 101.8, so that the bracket shovel plate 101.4 can realize a rotation of 0-180°.

[0050] Preferably, two vertical grooves 101.10 with openings facing each other are provided 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; limit wheels I 101.13 and limit wheels II 101.14 are provided on the left and right sides of the rear frame 101.12, the axle of the limit wheel I 101.13 is arranged along the left and right direction, and the axle of the limit wheel II 101.14 is arranged along the front and back direction, the rear frame 101.12 is slidably engaged in the bracket 101.1, the limit wheels I 101.13 and the limit wheels 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.

[0051] Preferably, the vertical driving part is a lifting cylinder 101.15; the bracket 101.1 includes two left and right side plates and a top plate, a bottom plate and a rear plate connecting the two side plates, the vertical groove 101.10 is arranged on the inner sides of the two side plates, the rear plate is connected to the main frame 102, and a lower connecting ear 101.16 of the lifting cylinder 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 I 101.13 and the limiting wheels II 101.14 are arranged on the outer sides of the two side plates, and an upper connecting ear 101.17 of the lifting cylinder is arranged on the top plate; the two ends of the lifting cylinder 101.15 are rotatably connected to the lower connecting ear 101.16 of the lifting cylinder and the upper connecting ear 101.17 of the lifting cylinder, respectively, and the vertical lifting frame 101.2 is slidable up and down by the extension and retraction of the lifting cylinder 101.15.

[0052] Preferably, the top surface, front surface and bottom surface 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 turning table 101.20; the transverse connecting frame 101.19 includes a top plate, a bottom plate and a turning table mounting plate connecting the top plate and the bottom plate, and a limiting wheel III 101.21 is 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 back of the turning table mounting plate, the wheel axle of the limiting wheel III 101.21 is arranged in the up-down direction, and the wheel axle of the limiting wheel IV 101.22 is arranged in the front-back direction, and the limiting wheel III 101.21 on the top plate is slidably engaged in the transverse groove on the top surface of the front frame 101.11 101.18, the limiting wheel III 101.21 on the bottom plate is slidably engaged in the transverse groove 101.18 on the bottom surface of the front frame 101.11, and the limiting wheel IV 101.22 is slidably engaged in the transverse groove 101.18 in front of the front frame 101.11. The limiting wheel III 101.21 is used to limit the front and rear swing of the transverse moving platform 101.3, and the limiting wheel IV 101.22 is used to limit the up and down swing of the transverse moving platform 101.3; the turning table 101.20 is arranged in front of the turning table mounting plate; the bracket shovel plate 101.4, the rotating shaft 101.5, the rack 101.6, the rotating shaft mounting seat 101.7 and the turning cylinder 101.9 are all arranged on the turning table 101.20.

[0053] Preferably, the transverse driving part is a double-rod cylinder 101.23 arranged transversely in the front frame 101.11, and the piston rods on both sides are connected to the two sides of the front frame 101.11, and two sprockets 101.24 are respectively arranged on the upper and lower sides of the cylinder body, and the wheel axles of the sprockets 101.24 are arranged in the up and down directions. The sprocket 101.24 on the upper side is connected through an upper chain 101.25, and the sprocket on the lower side is connected through a lower chain 101.26. The front of the upper chain 101.25 and the lower chain 101.26 are connected to the back of the turning table mounting plate through a front connecting block 101.27, and the back 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 body moves laterally, the rear connecting block 101.28 is fixed, and the front connecting block 101.27 drives the transverse movement connecting frame 101.19 to realize transverse movement multiplication.

[0054] Preferably, the leg flipping part is a leg cylinder 101.30; the outer side of the bracket side plate is provided with a leg cylinder upper connecting ear 101.31 and a telescopic leg connecting ear 101.32; the telescopic leg 101.29 is rotatably connected to the telescopic leg connecting ear 101.32, and the telescopic leg 101.30 is provided with a leg cylinder lower connecting ear; the two ends of the leg cylinder 101.30 are rotatably connected to the leg cylinder upper connecting ear 101.31 and the leg cylinder lower connecting ear respectively. When carrying the unit bracket, ensure that the telescopic leg 101.29 is in contact with the ground, and retract the telescopic leg 101.29 after the unit bracket is lifted, so as to ensure the smooth operation of the unit bracket during transportation. The swing angle range of the telescopic leg 101.29 is 0-100°.

[0055] Preferably, limiting grooves 101.33 are respectively provided on the upper and lower sides of the bracket shovel plate 101.4.

[0056] The emulsion system is used to replenish the unit support 200 with liquid and receive the return liquid from the unit support 200, including 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, and the emulsion pump station 106.2 is driven by a motor assembly 107; the operating valve 106.3 is used to control the emulsion pump station 106.2.

[0057] The hydraulic system provides power for the movement of the transport 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 operating handle 105.4; the driving member in the crawler chassis assembly 108 is a hydraulic motor 108.1; the hydraulic pump 105.2 is connected to the motor 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 performs inlet and outlet oil switching 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-rod cylinder 101.23, the outrigger cylinder 101.30 and the hydraulic motor 108.1 respectively.

[0058] The hydraulic system also 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 valve plates in the proportional multi-way valve I 105.3a respectively control the left hydraulic motor 108.1a, the lifting cylinder 101.15, the traverse cylinder (i.e., the double-rod cylinder 101.23) and the left outrigger cylinder 101.30a, and the four valve plates in the proportional multi-way valve II 105.3b respectively control the right hydraulic motor 108.1b, the tilt cylinder 101.9, the tilt cylinder 101.34 and the right outrigger cylinder 101.30b. The tilting cylinder 101.34 is used to realize the front and rear tilting of the transport mechanism 101 by 10 degrees, and has 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 cylinder 101.34 are respectively hinged to the bracket 101.1 and the main frame 102. The pilot operating handle 105.4 includes a pilot operating handle I 105.4a, a pilot operating handle II 105.4b, a pilot operating handle III 105.4c, a pilot operating handle IV 105.4d and a pilot operating handle V 105.4e.

[0059] The motor assembly 107 uses a three-phase asynchronous motor 107.1, which is rigidly connected to the hydraulic pump 105.2 (a plunger pump is used in this embodiment) through a coupling. The oil inlet of the hydraulic pump 105.2 is connected to the hydraulic oil tank 105.1, and the oil outlet is divided into three paths. The first path is connected to the oil inlet of the pilot oil source valve group 105.5, the second path is connected to the oil inlet of the proportional multi-way valve I 105.3a, and the third path is connected to the oil inlet of the proportional multi-way valve II 105.3b. The oil outlet of the pilot oil source valve group 105.5 is connected to the oil inlet of the pilot operating handle I 105.4a, and the pilot oil source valve group 105.5 provides power for the pilot circuit of the hydraulic system. The oil outlet of the pilot operating handle Ⅰ105.4a is divided into two routes: the first route is directly connected to the oil inlet of the left hydraulic motor 108.1a and the right hydraulic motor 108.1b (not shown in the figure) to control the speed of the hydraulic motor 108.1. When the hydraulic system is unloaded, the hydraulic motor 108.1 can be in a high-speed and low-torque working condition. When the system load is large, the hydraulic motor 108.1 can be in a low-speed and high-torque working condition, so that the crawler chassis assembly 108 has better environmental adaptability to complex working conditions underground; the second route It is divided into two circuits, namely the remote control oil circuit and the manual oil circuit. The remote control oil circuit and the manual oil circuit can be interlocked to improve the safety of system operation; the remote control oil circuit is respectively connected to the pilot ports of the proportional multi-way valve Ⅰ105.3a and the proportional multi-way valve Ⅱ105.3b, and is controlled by the remote controller; the manual oil circuit is respectively connected to the oil inlet ports of 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. The two oil outlets of the pilot operating handle Ⅱ105.4b are respectively connected to the valve plate of the control lifting cylinder 101.15 and the valve plate of the control lateral movement cylinder (i.e. the double-rod cylinder 101.23) in the proportional multi-way valve Ⅰ105.3a (not shown in the figure), which is used to control the extension and retraction of the lifting cylinder 101.15 and the control lateral movement cylinder (i.e. the double-rod cylinder 101.23). The two oil outlets of the pilot operating handle III 105.4c are respectively connected to the valve plate controlling the tilting oil cylinder 101.34 and the valve plate controlling the turning oil cylinder 101.9 in the proportional multi-way valve II 105.3b (not shown in the figure), and are used to control the extension and retraction of the tilting oil cylinder 101.34 and the turning oil cylinder 101.9. The two oil outlets of the pilot operating handle IV 105.4d are respectively connected to the valve plate controlling the left outrigger oil cylinder 101.30a in the proportional multi-way valve I 105.3a and the valve plate controlling the right outrigger oil cylinder 101.30b in the proportional multi-way valve II 105.3b (not shown in the figure), and are used to control the extension and retraction of the outrigger oil 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) to control the rotation of the hydraulic motor 108.1.

[0060] 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, and can also be controlled by the pilot operating handle II 105.4b, the pilot operating handle III 105.4c, the pilot operating handle IV 105.4d and the pilot operating handle V 105.4e.

[0061] The electric control system can realize one-button start and stop and manual remote control automatic switching, improve the automation of the electric-driven handling robot 100 for auxiliary operation in coal mines, and ensure 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 upload function and monitors the overall operating status of the electric-driven handling robot 100 for auxiliary operation in coal mines in real time. The alarm 104.3 has a personnel approach alarm function.

[0062] The cab comprises a seat 103.1 and a seat baffle 103.2 hinged on the top of the seat 103.1, wherein the seat baffle 103.2 has a highly adaptive and adjustable function. A pilot operating handle 105.4 and an instrument display 104.2 are arranged on the same side or both sides of the seat 103.1.

[0063] 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 hydraulic system, the crawler chassis assembly 108, the emulsion system, the electronic control system and the cab are arranged on the front main frame 102.1, the motor assembly 107 is arranged in the mounting groove of the rear main frame 102.2, and the counterweight 102.3 is arranged below the rear main frame 102.2. The main function is to balance the center of gravity of the electric-driven transport robot 100 for auxiliary operations in underground coal mines and improve the stability of the electric-driven transport robot 100 for auxiliary operations in underground coal mines during movement.

[0064] The automatic cable winding device 110 includes a cable winding box 110.1 and a reel 110.2 arranged in the cable winding box 110.1, a cable winding drive unit (the present embodiment uses a cable winding motor 110.3), a cable rack 110.4 and a full cable protector 110.5; the cable 109 is wound on the reel 110.2, passes through the cable rack 110.4, and is connected to the motor assembly 107 and the external power supply; the reel 110.2 is driven to rotate by the cable winding motor 110.3 to realize the reeling and releasing of the cable 109; the full cable protector 110.5 is used to lock the reel 110.2 when the cable 109 is wound too much to prevent the cable 109 from further winding.

[0065] Example 2

[0066] This embodiment provides a method for retaining lanes along the goaf of a unit support based on the above-mentioned electric-driven handling robot 100 for assisting underground coal mine operations, comprising the following steps:

[0067] S1, pouring a flexible formwork wall 400 in the tunnel 300, the flexible formwork wall 400 has the characteristic of rapid tunnel formation;

[0068] S2, the unit supports 200 are sequentially extended forward and arranged according to the solidification time of the flexible mold wall 400, and play a supporting role before the flexible mold wall 400 solidifies. The unit supports 200 are provided with a quick-insert valve 201 for connecting with the emulsion system and a shovel hole 202 for the support shovel plate 101.4 to pass through. The unit 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 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 they are arranged 100-120 meters ahead according to the solidification time of the flexible mold wall 400;

[0069] S3, the above-mentioned coal mine underground auxiliary operation electric drive transport robot 100 is arranged in the middle of the tunnel 300, and the unit brackets 200 are transported in sequence from back to front along the pouring direction of the flexible formwork wall 400 according to the solidification speed of the flexible formwork wall 400.

[0070] Wherein, step S3 includes the following steps:

[0071] T1, the electric-driven handling robot 100 for auxiliary operation in coal mines moves to the unit support 200 to be transported, the leg cylinder 101.30 extends, and the telescopic legs 101.29 are opened until the telescopic legs 101.29 are in contact with the ground to ensure the stability of the handling process of the electric-driven handling robot 100 for auxiliary operation in coal mines, the emulsion system is connected to the quick-insert valve 201 on the unit support 200, the emulsion system is operated to shrink the unit support 200, the preliminary handling preparation of the unit support 200 is completed, and the emulsion system and the unit support 200 are separated;

[0072] T2, the support shovel plate 101.4 is turned over to the side where the unit support 200 is located, and the vertical lifting frame 101.2 slides up and down until the height of the two support shovel plates 101.4 is aligned with the height of the shovel plate hole 202, and the transverse platform 101.3 approaches the side where the unit support 200 is located, and the two support shovel plates 101.4 are inserted into the shovel plate hole 202, and then the vertical lifting frame 101.2 is lifted upward, driving the unit support 200 to move upward and leave the ground, and the transverse platform 101.3 moves in the opposite direction to move the unit support 200 to the middle position of the transport mechanism 101;

[0073] T3, the outrigger oil cylinder 101.30 contracts, causing the telescopic outrigger 101.29 to contract to its original state, and the coal mine underground auxiliary operation electric drive handling robot 100 moves forward until the unit bracket 200 is transported to the designated position in front, and the transverse platform 101.3 approaches the side where the flexible mold wall 400 is located, and then the vertical lifting frame 101.2 moves downward to place the unit bracket 200 on the ground, and the transverse platform 101.3 moves in the opposite direction to pull the two bracket shovel plates 101.4 out of the shovel plate holes 202;

[0074] T4, connect the emulsion system 105 with the quick-insert valve 201 on the unit support 200 to replenish the liquid, lift the unit support 200 until it contacts the top beam of the tunnel, separate the emulsion system and the unit support 200, and complete the unit support 200 transportation action once;

[0075] T5, repeat steps T1-T4.

[0076] The operator can realize remote control / manual switching through the pilot operating handle Ⅰ105.4a and remotely control the above-mentioned bracket carrying action.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An electric-driven handling robot for auxiliary operations in coal mines. It is characterized in that It includes a handling mechanism, a main frame, a hydraulic system, a motor assembly, cables, an automatic cable reeling device and a crawler chassis assembly; The transport mechanism, hydraulic system, motor assembly and automatic cable winding device are all arranged on the main frame, and the crawler chassis assembly is arranged on both sides of the main frame; The automatic cable winding device comprises a cable winding box, a winding drum, a cable winding driving unit, a cable rack and a full cable protector arranged in the cable winding box; The cable is wound on a reel, passes through a cable rack, and is connected to the motor assembly and an external power source; The reel is driven to rotate by a cable drive unit; The full cable protector is used to lock the reel when the cable is coiled too much; The hydraulic system is powered by a motor assembly; The transport mechanism and crawler chassis assembly are powered by a hydraulic system; The transport mechanism includes a bracket, a vertical lifting frame, a vertical driving unit, a lateral moving platform, a lateral driving unit, a bracket shovel, a rotating shaft and a flip driving unit; The bracket is installed at the front end of the main frame; The vertical lifting frame is driven by the vertical driving unit 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 through a rotating shaft, the rotating shaft is rotatably installed on the transverse moving platform, and the turning driving part drives the rotating shaft to rotate so that the support shovel plate turns left and right.

2. The electric-driven handling robot for assisting underground coal mine operations according to claim 1, It is characterized in that Also included is an emulsion system, which is used to replenish the unit support with liquid and receive the return liquid of the unit support, including an emulsion tank, an emulsion pump station and an operating valve; The emulsion tank and the emulsion pump station are both arranged on the main frame, the emulsion tank and the emulsion pump station are connected through an emulsion pipe, and the emulsion pump station is driven by a motor assembly; The operating valve is used to control the emulsion pumping station.

3. The electric-driven handling robot for assisting underground coal mine operations according to claim 1 or 2, It is characterized in that The transport mechanism also includes telescopic legs and a leg turning part; The telescopic legs are rotatably mounted on both sides of the bracket, and are driven by the leg turning parts to turn downwards and be supported on the ground, or to turn upwards and be folded at both sides of the bracket.

4. The electric-driven handling robot for assisting underground coal mine operations according to claim 3, It is characterized in that The transverse platform is provided with a rack and a rotating shaft mounting seat, the rack is slidably arranged, and the rotating shaft mounting seat is 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 is meshed with the rack; The turning drive part is a turning oil cylinder, which drives the rack to slide left and right through telescopic movement; Limiting grooves are respectively arranged on the upper and lower sides of the bracket shovel plate.

5. The electric-driven handling robot for assisting underground coal mine operations according to claim 4, It is characterized in that The vertical driving part is a lifting cylinder, and the outrigger flipping part is an outrigger cylinder; The bracket includes two left and right side plates and a top plate, a bottom plate and a rear plate connecting the two side plates. The inner sides of the two side plates are provided with vertical grooves. The outer sides of the side plates are provided with upper connecting ears of the outrigger oil cylinder and connecting ears of the telescopic outriggers. The rear plate is connected to the main frame, and the bottom plate is provided with lower connecting ears of the lifting oil cylinder. The vertical lifting frame includes a front frame and a rear frame fixed behind the front frame; The rear frame of the vertical lifting frame includes two side plates and a top plate connected to the side plates, the outer sides of the two side plates are provided with limit wheels I and limit wheels II, and the top plate is provided with a lifting cylinder upper connecting ear; The axle of the limiting wheel I is arranged in the left-right direction, and the axle of the limiting wheel II is arranged in the front-back direction. The rear frame is slidably embedded in the bracket, and the limiting wheel I and the limiting wheel II are located in the vertical groove; The two ends of the lifting cylinder are rotatably connected to the lower connecting ear of the lifting cylinder and the upper connecting ear of the lifting cylinder respectively; The telescopic outrigger is rotatably connected to the telescopic outrigger connecting ear, and the telescopic outrigger is provided with an outrigger oil cylinder lower connecting ear; The two ends of the outrigger oil cylinder are rotatably connected with the upper connecting ear of the outrigger oil cylinder and the lower connecting ear of the outrigger oil cylinder respectively.

6. The electric-driven handling robot for assisting underground coal mine operations according to claim 5, It is characterized in that The top, front and bottom surfaces of the front frame are provided with transverse grooves; The transverse moving platform includes a transverse moving connecting frame and a turning platform; The transverse connecting frame includes a top plate, a bottom plate and a turning 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 a limiting wheel III, the rear side of the turning table mounting plate is provided with a limiting wheel IV, the wheel axle of the limiting wheel III is arranged in the up-down direction, the wheel axle of the limiting wheel IV is arranged in the front-back direction, the limiting wheel III on the top plate is slidably engaged in the transverse groove on the top surface of the front frame, the limiting wheel III on the bottom plate is slidably engaged in the transverse groove on the bottom surface of the front frame, and the limiting wheel IV is slidably engaged in the transverse groove in front of the front frame; The turning table is arranged in front of the turning table mounting plate; the bracket shovel plate, rotating shaft, rack, rotating shaft mounting seat and turning cylinder are all arranged on the turning table; the transverse driving part is a double-rod cylinder transversely arranged in the front frame, the piston rods on both sides are connected to the two sides of the front frame, and two sprockets are respectively arranged on the upper and lower sides of the cylinder body, and the wheel axles of the sprockets are arranged in the up and down directions. The sprocket on the upper side is connected through an upper chain, and the sprocket on the lower side is connected through a lower chain. The front of the upper chain and the lower chain is connected to the rear of the turning 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.

7. The electric-driven handling robot for assisting underground coal mine operations according to claim 6, It is characterized in that The hydraulic system includes a hydraulic oil tank, a hydraulic pump, a multi-way valve and a pilot operating handle; The driving element in the crawler chassis assembly is a hydraulic motor; The hydraulic pump is connected to the motor assembly and is used to pump the hydraulic oil in the hydraulic oil tank to the multi-way valve; The multi-way valve switches the inlet and outlet oil directions through the pilot operating handle, and sends the hydraulic oil to the tilt cylinder, lifting cylinder, double-rod cylinder, outrigger cylinder and hydraulic motor respectively.

8. The electric-driven handling robot for assisting underground coal mine operations according to claim 7, It is characterized in that The main frame is also equipped with an electronic control system for one-button start and stop and manual remote control automatic switching. The electronic control system includes an electronic control box, an instrument display and an alarm. The alarm has a personnel approach alarm function. A cab is also arranged on the main frame. The cab includes a seat and a seat baffle hinged on the top of the seat. A pilot operating handle and an instrument display are arranged on the same side or both sides of the seat.

9. The electric-driven handling robot for assisting underground coal mine operations according to claim 8, It is characterized in that The main frame includes a front main frame, a rear main frame and a counterweight; The front main frame is connected to the rear main frame by bolts. The hydraulic system, crawler chassis assembly, emulsion system, electronic control system and cab are arranged on the front main frame, and the motor assembly and automatic cable winding device are arranged in the installation groove of the rear main frame. The counterweight is arranged under the rear main frame.

10. The electric-driven handling robot for assisting underground coal mine operations according to claim 9, It is characterized in that The motor in the motor assembly adopts a three-phase asynchronous motor; The swing angle range of the telescopic legs is 0-100°.

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