Mine motor-driven rubber-tyred double-cab unit support handling robot

Abstract

The present invention provides a mine-used motor-driven rubber-tyred double-cab unit support handling robot, belonging to the technical field of underground transportation equipment, which 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 rubber-tyred walking mechanism; the handling mechanism is arranged in the middle of the main frame; in the handling mechanism, a rear frame is installed on the main frame; there are two sets of vertically opposite hinge points on the middle frame, and the two sets of hinge points are respectively hinged to the rear frame and the front frame; the middle frame is driven by a middle frame turning drive part to turn left and right around the hinge point between the middle frame and the rear frame; the front frame is driven by a front frame turning drive part to turn left and right around the hinge point between the middle frame and the front frame; a support shovel plate is hinged to the front side of the front frame and is driven by a shovel plate turning drive part to turn up and down. The present invention solves the technical problems of complex operation, low efficiency and potential safety hazards in the handling of unit supports in the prior art, and can achieve two-way driving.

Description

Technical Field

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

[0002] The technology of soft-mould concrete gob-side entry retaining is to closely follow the coal face mining. Before the support effect at the face end disappears, under the cover and support of supports or single props, the adjustable-setting and high-strength self-compacting concrete is pumped into the disposable flexible formwork, and a closed concrete continuous wall is built between the gob and the transportation gateway, reconstructing the missing side of the roadway caused by mining, forming an integral body with the support in the original roadway to jointly bear the load, and forming a closed air duct for the next coal face mining. This technology can ensure the safety of the mine and improve the coal recovery rate. However, there are problems such as single support form, low support strength of roadway surrounding rock, and poor safety.

[0003] The unit support has advantages such as high support strength and good stability, and can effectively protect the soft-mould wall. In the application of the unit support in the gob-side entry, the most crucial technology is to ensure the rapid support shifting of the unit support. At present, the unit support handling usually adopts the way of winch traction, which has complex operation, low efficiency and potential safety hazards. Therefore, the problem of unit support handling has become the key factor restricting the popularization of the unit support in the gob-side entry retaining technology.

[0004] Meanwhile, when carrying out transportation operations in narrow roadways or coal mine gateways, one-way transportation equipment cannot turn around or requires a large turning area to turn around, resulting in poor operability, blind spots in vision, low safety and low transportation efficiency. Summary of the Invention

[0005] The present invention provides a mine-used motor-driven rubber-tyred double-cab unit support handling robot to solve the following technical problems:

[0006] 1. The unit support handling adopts winch traction, which has complex operation, low efficiency and potential safety hazards;

[0007] 2. When carrying out transportation operations in narrow roadways or coal mine gateways, one-way transportation equipment cannot turn around or requires a large turning area to turn around, resulting in poor operability, low safety and low transportation efficiency.

[0008] The above-mentioned mine-used motor-driven rubber-tyred double-cab 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 coiling device, and a rubber-tyred walking mechanism; 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 rubber-tyred walking mechanism 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 coiled 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 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 rubber-tyred walking mechanism are powered by the hydraulic system; the handling mechanism is arranged in the middle of the main frame and includes a rear frame, an intermediate frame, an intermediate frame turning driving part, a front frame, a front frame turning driving part, a support shovel plate, and a shovel plate turning driving part; the rear frame is installed on the main frame; there are two sets of vertically opposite hinge points on the intermediate frame, and the two sets of hinge points are respectively hinged to the rear frame and the front frame; the intermediate frame is driven by the intermediate frame turning driving part to turn left and right around the hinge point between the intermediate frame and the rear frame, with a minimum turning angle of 0 and a maximum turning angle of 90°; the front frame is driven by the front frame turning driving part to turn left and right around the hinge point between the intermediate frame and the front frame, with a minimum turning angle of 0 and a maximum turning angle of 90°; the support shovel plate is hinged to the front side of the front frame and is driven by the shovel plate turning driving part to turn up and down, with a minimum turning angle of 0 and a maximum turning angle of 90°.

[0009] Further, a telescopic support leg I is provided at the bottom of the rear frame, and the telescopic support leg I is driven by a support leg telescopic part I to extend downward to support on the ground or contract upward to be in a suspended state;

[0010] Or telescopic support legs II and support leg telescopic parts II are provided on both sides of the main frame, and the telescopic support legs II are driven by the support leg telescopic parts II to extend downward to support on the ground or contract upward to be in a suspended state.

[0011] Further, the intermediate frame and the rear frame are connected by a hinge ear and a hinge shaft, the front frame and the intermediate frame are connected by a hinge ear and a hinge shaft, and the support shovel plate and the front frame are connected by a hinge ear and a hinge shaft.

[0012] Further, the intermediate frame turning driving part, the front frame turning driving part, the shovel plate turning driving part, the support leg telescopic part I, and the support leg telescopic part II are all oil cylinders.

[0013] Further, a relief groove is provided at the top of the middle frame and the rear frame. An oil cylinder mounting ear Ⅰ is installed on the relief groove, and both ends of the middle frame turning oil cylinder are hinged to the two oil cylinder mounting ears Ⅰ respectively; a relief hole is provided in the middle of the front frame. Oil cylinder mounting ears Ⅱ are provided at the top of the relief hole and the front side of the middle frame, and both ends of the front frame turning oil cylinder are hinged to the two oil cylinder mounting ears Ⅱ respectively; oil cylinder mounting ears Ⅲ are provided at the bottom of the relief hole and on the support shovel plate, and both ends of the shovel plate turning oil cylinder are hinged to the two oil cylinder mounting ears Ⅲ respectively.

[0014] Further, the above-mentioned mine motor-driven rubber-tyred double-cab unit support handling robot further includes an emulsion liquid system for replenishing the unit support with emulsion liquid and receiving the return liquid of the unit support, including an emulsion liquid tank, an emulsion liquid pumping station and an operation valve; the emulsion liquid tank and the emulsion liquid pumping station are both 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.

[0015] Further, 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 rubber-tyred walking mechanism 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 oil inlet and outlet directions through the pilot operation handle and sends the hydraulic oil to the middle frame turning oil cylinder, the front frame turning oil cylinder, the shovel plate turning oil cylinder, the leg telescopic oil cylinder Ⅰ, the leg telescopic oil cylinder Ⅱ and the hydraulic motor respectively.

[0016] 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 operation handles and instrument displays are arranged in both the front cab and the rear cab.

[0017] Further, the main frame includes a front main frame, a middle bearing frame and a rear main frame; the front main frame is connected to the middle bearing frame by bolts, and the middle bearing frame is connected to the rear main frame by bolts; the front and rear groups of rubber tyres in the rubber-tyred walking mechanism are respectively installed on the front main frame and the rear main frame; the emulsion liquid system, the front cab, the electric control box and the alarm are arranged on the front main frame; the rear cab, the hydraulic oil tank, the hydraulic pump, the multi-way valve, the motor assembly and the automatic cable coiling device are arranged on the rear main frame; the handling mechanism is arranged on the middle bearing frame.

[0018] The present invention has the following beneficial effects:

[0019] 1. The above-mentioned mine motor-driven rubber-tyred double-cab unit support handling robot has the functions of left and right flipping of the middle frame and the front frame, and up and down flipping of the support scraper plate, which can quickly fork-load the unit support, solving the technical problems of complex operation, low efficiency and potential safety hazards in the existing technology of using a winch to tow the unit support;

[0020] 2. The overall structure of the handling mechanism is simple and the operation is convenient;

[0021] 3. The designed middle bearing frame effectively improves the stress intensity of the handling mechanism and ensures the safety during the handling process of the unit support;

[0022] 4. It can travel in both directions, does not need to turn around in narrow roadways or coal mine gate roads, does not need to build an additional turning site, has simple operation, strong operability, high vehicle safety and high transportation efficiency;

[0023] 5. Legs are arranged at the bottom of the rear frame or on both sides of the main frame. When forking and loading the unit support, the legs extend and support on the ground to ensure the stability during the forking process. When driving, the legs can be retracted away from the ground;

[0024] 6. It can supplement emulsion for the unit support and has functions such as manual-remote control switching and personnel approach alarm, which can effectively improve the handling efficiency of the unit support, reduce the labor intensity, achieve the purpose of automation and reducing staff and increasing efficiency, and has good social benefits for promoting the application of the unit support in coal mines underground. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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 drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0026] Figure 1 is the front view of the mine motor-driven rubber-tyred double-cab unit support handling robot;

[0027] Figure 2 is Figure 1 the axonometric view of;

[0028] Figure 3 is Figure 1 the front view of;

[0029] Figure 4 is the schematic diagram of the handling mechanism flipping to the right;

[0030] Figure 5 is the schematic diagram of the handling mechanism flipping to the left;

[0031] Figure 6 It is a schematic structural diagram of an automatic cable coiling device.

[0032] In the figure: 1 - handling mechanism; 1.1 - rear frame; 1.2 - intermediate frame; 1.3 - front frame; 1.4 - support shovel plate; 1.5 - intermediate frame tilting oil cylinder; 1.6 - front frame tilting oil cylinder; 1.7 - shovel plate tilting oil cylinder; 1.8 - telescopic support leg I;

[0033] 2.1 - front main frame; 2.2 - middle bearing frame; 2.3 - rear main frame;

[0034] 3a - front cab; 3b - rear cab; 3.1 - seat;

[0035] 4.1 - electric control box; 4.2 - instrument display; 4.3 - alarm;

[0036] 5.1 - hydraulic oil tank; 5.2 - hydraulic pump; 5.3 - multi-way valve; 5.4 - pilot operation handle;

[0037] 6.1 - emulsion tank; 6.2 - emulsion pump station; 6.3 - operation valve;

[0038] 7 - motor assembly;

[0039] 8 - rubber-tyred walking mechanism; 8.1 - hydraulic motor;

[0040] 9 - cable;

[0041] 10 - automatic cable coiling device; 10.1 - cable coiling box body; 10.2 - drum; 10.3 - cable coiling motor; 10.4 - cable rack; 10.5 - full cable protector;

[0042] 11 - telescopic support leg II. Specific implementation manner

[0043] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0044] Embodiment 1

[0045] This embodiment provides a mine-used motor-driven rubber-tyred double-cab unit support handling robot, which includes a handling mechanism 1, a main frame, a front cab 3a, a rear cab 3b, an electric control system, a hydraulic system, an emulsion system, a motor assembly 7, a rubber-tyred walking mechanism 8, a cable 9, and an automatic cable coiling device 10.

[0046] The handling mechanism 1 includes a rear frame 1.1, an intermediate frame 1.2, an intermediate frame flipping drive unit, a front frame 1.3, a front frame flipping drive unit, a support shovel plate 1.4, and a shovel plate flipping drive unit; the rear frame 1.1 is installed in the middle of the main frame; there are two sets of vertically opposite hinge points on the intermediate frame 1.2, and the two sets of hinge points are respectively hinged to the rear frame 1.1 and the front frame 1.3; the intermediate frame 1.2 is driven by the intermediate frame flipping drive unit to flip left and right around the hinge point between the intermediate frame 1.2 and the rear frame 1.1; the front frame 1.3 is driven by the front frame flipping drive unit to flip left and right around the hinge point between the intermediate frame 1.2 and the front frame 1.3; the support shovel plate 1.4 is hinged to the front side of the front frame 1.3 and is driven by the shovel plate flipping drive unit to flip up and down. The flipping angles of the intermediate frame 1.2, the front frame 1.3, and the support shovel plate 1.4 are all 0 - 90°. When the flipping angles are all 0, the intermediate frame 1.2 is stacked on the front side of the rear frame 1.1, the front frame 1.3 is stacked on the front side of the intermediate frame 1.2, and the support shovel plate 1.4 is stacked on the front side of the front frame 1.3.

[0047] Further, the intermediate frame 1.2 is connected to the rear frame 1.1 through hinge ears and hinge shafts, the front frame 1.3 is connected to the intermediate frame 1.2 through hinge ears and hinge shafts, and the support shovel plate 1.4 is connected to the front frame 1.3 through hinge ears and hinge shafts.

[0048] Further, the intermediate frame flipping drive unit, the front frame flipping drive unit, and the shovel plate flipping drive unit are all oil cylinders. The flipping of the intermediate frame 1.2, the front frame 1.3, and the support shovel plate 1.4 is achieved by the contraction of the oil cylinders.

[0049] Further, avoidance grooves are provided at the top of the intermediate frame 1.2 and the rear frame 1.1, and oil cylinder mounting ears Ⅰ are installed on the avoidance grooves. The two ends of the intermediate frame flipping oil cylinder 1.5 are respectively hinged to the two oil cylinder mounting ears Ⅰ; an avoidance hole is provided in the middle of the front frame 1.3, and oil cylinder mounting ears Ⅱ are provided at the top of the avoidance hole and the front side of the intermediate frame 1.2. The two ends of the front frame flipping oil cylinder 1.6 are respectively hinged to the two oil cylinder mounting ears Ⅱ; oil cylinder mounting ears Ⅲ are provided at the bottom of the avoidance hole and on the support shovel plate 1.4. The two ends of the shovel plate flipping oil cylinder 1.7 are respectively hinged to the two oil cylinder mounting ears Ⅲ.

[0050] Further, telescopic legs Ⅰ 1.8 are provided at the bottom of the rear frame 1.1. The telescopic legs Ⅰ 1.8 are driven by a leg telescopic part Ⅰ to extend downward to support on the ground or retract upward to be in a suspended state. In addition to setting telescopic legs on the rear frame 1.1, telescopic legs Ⅱ 11 and a leg telescopic part Ⅱ can also be provided on both sides of the main frame to ensure the smooth operation of the unit support during handling. The telescopic legs Ⅱ 11 are driven by the leg telescopic part Ⅱ to extend downward to support on the ground or retract upward to be in a suspended state. The leg telescopic parts are all oil cylinders.

[0051] The electric control system can achieve one-key start and stop and automatic switching between manual remote control, improving the automation of the mine motor-driven rubber-tired double-cab unit support handling robot and ensuring overall safety. The electric control system includes an electric control box 4.1, an instrument display 4.2, and an alarm 4.3. The instrument display 4.2 has a data upload function to monitor the overall operating status of the mine motor-driven rubber-tired double-cab unit support handling robot in real time. The alarm 4.3 has a function of alarming when people approach.

[0052] The hydraulic system provides power for the movement of the handling mechanism 1 and the walking of the rubber-tired walking mechanism 7, including a hydraulic oil tank 5.1, a hydraulic pump 5.2, a multi-way valve 5.3, and a pilot operation handle 5.4; the driving part in the rubber-tired walking mechanism 8 is a hydraulic motor 8.1; the hydraulic pump 5.2 is connected to the motor assembly 7 and is used to send the hydraulic oil in the hydraulic oil tank 5.1 to the multi-way valve 5.3; the multi-way valve 5.3 changes the oil inlet and outlet directions through the pilot operation handle 5.4 and sends the hydraulic oil to the intermediate frame tilting cylinder 1.5, the front frame tilting cylinder 1.6, the shovel plate tilting cylinder 1.7, the leg telescopic cylinder I, the leg telescopic cylinder II, and the hydraulic motor 8.1 respectively.

[0053] The emulsion liquid system is used to supplement the unit support with emulsion liquid and receive the return liquid of the unit support, including an emulsion liquid tank 6.1, an emulsion liquid pump station 6.2, and an operation valve 6.3; both the emulsion liquid tank 6.1 and the emulsion liquid pump station 6.2 are arranged on the main frame 2, the emulsion liquid tank 6.1 and the emulsion liquid pump station 6.2 are connected by an emulsion liquid pipe, and the emulsion liquid pump station 6.2 is driven by the motor assembly 7; the operation valve 6.3 is used to control the emulsion liquid pump station 6.2.

[0054] The front cab 3a is arranged on the front side of the main frame, and the rear cab 3b is arranged on the rear side of the main frame. Seats 3.1, pilot operation handles 5.4, and instrument displays 4.2 are arranged in the cabs. The pilot operation handles 5.4 are located directly in front of the seats 3.1, and the instrument displays 4.2 are located on one side of the seats 3.1.

[0055] The automatic cable coiling device 10 includes a cable coiling box body 10.1, a cable drum 10.2, a cable coiling driving part (in this embodiment, a cable coiling motor 10.3), a cable rack 10.4, and a full cable protector 10.5 arranged in the cable coiling box body 10.1; the cable 9 is coiled around the cable drum 10.2, passes through the cable rack 10.4, and is connected to the motor assembly 7 and an external power supply; the cable drum 10.2 is driven by the cable coiling motor 10.3 to rotate to realize the winding and unwinding of the cable 9; the full cable protector 10.5 is used to lock the cable drum 10.2 when the cable 9 is coiled too much to prevent the cable 9 from being further coiled.

[0056] The main frame includes a front main frame 2.1, a middle bearing frame 2.2, and a rear main frame 2.3; the front main frame 2.1 is bolted to the middle bearing frame 2.2, and the middle bearing frame 2.2 is bolted to the rear main frame 2.3.

[0057] The front and rear groups of rubber wheels in the rubber wheel traveling mechanism 8 are respectively installed on the front main frame 2.1 and the rear main frame 2.3; the emulsion liquid system, the front cab 3a, the electric control box 4.1, and the alarm 4.3 are arranged on the front main frame 2.1; the rear cab 3b, the hydraulic oil tank 5.1, the hydraulic pump 5.2, the multi-way valve 5.3, the motor assembly 7, and the automatic cable coiling device 10 are arranged on the rear main frame 2.3; the handling mechanism 1 is arranged on the middle bearing frame 2.2.

[0058] The motor assembly 7 uses a three-phase asynchronous motor and is connected to the hydraulic pump 5.2 through a coupling.

[0059] Embodiment 2

[0060] Figures 1-5 In it, the middle frame 1.2 is a left flipping frame, and the front frame 1.3 is a right flipping frame. Two single hinge ears are arranged on the left side of the middle frame 1.2, and upper and lower groups of double hinge ears are arranged on the left side of the rear frame 1.1. The single hinge ear on the left side of the middle frame 1.2 is embedded between the double hinge ears on the left side of the rear frame 1.1 and is connected by a hinge shaft. Upper and lower groups of double hinge ears are arranged on the right side of the middle frame 1.2, and two single hinge ears are arranged on the right side of the front frame 1.3. The single hinge ear on the right side of the front frame 1.3 is embedded between the double hinge ears on the right side of the middle frame 1.2 and is connected by a hinge shaft. Taking Figures 1-5 the position relationship as an example, the working process of the above-mentioned engine-driven crawler double-cab unit support handling robot is described.

[0061] When the unit support to be handled is on the right side of the unit support handling robot, the unit support handling robot travels in front of the unit support to be handled, and operates the hydraulic system to drive the support leg I 1.8 or the telescopic support leg II 9 to extend until it is in full contact with the ground to complete the support action and ensure the stability of the unit support handling process. The initial state of the handling mechanism 1 is as Figure 1 and Figure 2 shown. The support shovel plate 1.4, the front frame 1.3, and the middle frame 1.2 are completely retracted. The front frame flipping oil cylinder 1.6 stretches outwards, pushing the front frame 1.3 to swing forward and right until the front frame 1.3 is parallel to the unit support; then the shovel plate flipping oil cylinder 1.7 stretches, so that the support shovel plate 1.4 extends between the top beam of the unit support and the base of the unit support and flips upwards at the same time until it forms a 90° angle with the initial position, as Figure 4As shown; operate the emulsion liquid system to connect with the quick-connect valve on the unit support, so that the columns of the unit support contract. First, the roof beam of the unit support contacts the support scraper plate 1.4. The columns of the unit support continue to contract until the base of the unit support is suspended. Finally, the front frame turning oil cylinder 1.6 contracts inward, driving the front frame 1.3 back to the initial position. The unit support swings to the front of the handling mechanism 1, completing a complete handling operation of the right-side unit support.

[0062] When the unit support to be handled is at the front left of the unit support handling robot, the unit support handling robot drives to the front of the unit support to be handled, and operates the hydraulic system to drive the support leg I 1.8 or the telescopic support leg II 9 to extend until it fully contacts the ground, completing the support action to ensure the stability of the unit support handling process. The initial state of the handling mechanism is still as Figure 1 and Figure 2 shown. At this time, the middle frame turning oil cylinder 1.5 stretches outward, pushing the middle frame 1.2 to swing forward to the left until the middle frame 1.2 is parallel to the unit support. Then the scraper plate turning oil cylinder 1.7 stretches, so that the support scraper plate 1.4 extends between the roof beam and the base of the unit support and turns upward at the same time until it forms a 90° angle with the initial position, as Figure 5 shown; operate the emulsion liquid system to connect with the quick-connect valve on the unit support, so that the columns of the unit support contract. First, the roof beam of the unit support contacts the support scraper plate 1.4. The columns of the unit support continue to contract until the base of the unit support is suspended. Finally, the middle frame turning oil cylinder 1.5 contracts inward, driving the middle frame 1.2 back to the initial position. The unit support swings to the front of the handling mechanism 1, completing a complete handling operation of the left-side unit support.

[0063] The operator can operate the above-mentioned support handling actions by operating the remote control / manual switching valve.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it; 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 recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mine-used motor-driven rubber-tyred double-cab unit support 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 rubber-tired walking mechanism; 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 rubber-tired walking mechanism 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 rubber-tired walking mechanism are powered by the hydraulic system; The handling mechanism is arranged in the middle of the main frame and includes a rear frame, an intermediate frame, an intermediate frame turning driving part, a front frame, a front frame turning driving part, a support shovel plate, and a shovel plate turning driving part; The rear frame is installed on the main frame; Two sets of vertically opposite hinge points are arranged on the intermediate frame, and the two sets of hinge points are respectively hinged to the rear frame and the front frame; The intermediate frame is driven by the intermediate frame turning driving part to turn left and right around the hinge point between the intermediate frame and the rear frame, with the minimum turning angle being 0 and the maximum turning angle being 90°; The front frame is driven by the front frame turning driving part to turn left and right around the hinge point between the intermediate frame and the front frame, with the minimum turning angle being 0 and the maximum turning angle being 90°; The support shovel plate is hinged to the front side of the front frame and is driven by the shovel plate turning driving part to turn up and down, with the minimum turning angle being 0 and the maximum turning angle being 90°; Two telescopic legs II and leg telescoping parts II are arranged on both sides of the main frame. The telescopic legs II are driven by the leg telescoping parts II to extend downward to support on the ground or contract upward to be in a suspended state; The intermediate frame turning driving part, the front frame turning driving part, the shovel plate turning driving part, and the leg telescoping part II are all oil cylinders.

2. The rubber-tyred double-cab unit support handling robot for mine use driven by an electric motor according to claim 1, characterized in that, The intermediate frame is connected to the rear frame through hinge ears and hinge shafts, the front frame is connected to the intermediate frame through hinge ears and hinge shafts, and the support shovel plate is connected to the front frame through hinge ears and hinge shafts.

3. The mine-used motor-driven rubber-tyred double-cab unit support handling robot according to claim 1, characterized in that, Avoidance grooves are arranged at the tops of the intermediate frame and the rear frame, and oil cylinder mounting ears I are installed on the avoidance grooves. The two ends of the intermediate frame turning oil cylinder are respectively hinged to the two oil cylinder mounting ears I; An avoidance hole is arranged in the middle of the front frame, and oil cylinder mounting ears II are arranged at the top of the avoidance hole and on the front side of the intermediate frame. The two ends of the front frame turning oil cylinder are respectively hinged to the two oil cylinder mounting ears II; Oil cylinder mounting ears III are arranged at the bottom of the avoidance hole and on the support shovel plate. The two ends of the shovel plate turning oil cylinder are respectively hinged to the two oil cylinder mounting ears III.

4. The mine-used motor-driven rubber-tyred double-cab unit support handling robot according to claim 3, wherein, It also includes an emulsion system, which is used to supplement liquid to the unit support and receive the return liquid 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, and the emulsion pump station is driven by the motor assembly; The operation valve is used to control the emulsion pump station.

5. The mine-used motor-driven rubber-tyred double-cab unit support handling robot according to claim 4, 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 component in the rubber-tired walking mechanism 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 oil inlet and outlet directions through the pilot operation handle, and sends the hydraulic oil to the intermediate frame tilting cylinder, the front frame tilting cylinder, the scraper plate tilting cylinder, the outrigger telescopic cylinder II and the hydraulic motor respectively.

6. The mine motor-driven rubber-tyred double-cab unit support handling robot according to claim 5, wherein, 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 operation handles and instrument displays are arranged in both the front cab and the rear cab.

7. The mine-used motor-driven rubber-tyred double-cab unit support handling robot according to claim 6, wherein The main frame includes a front main frame, a middle bearing frame and a rear main frame; The front main frame is connected to the middle bearing frame by bolts, and the middle bearing frame is connected to the rear main frame by bolts; The front and rear groups of rubber tires in the rubber-tired walking mechanism are respectively installed on the front main frame and the rear main frame; The emulsion system, the front cab, the electric control box and the alarm are arranged on the front main frame; The rear cab, the hydraulic oil tank, the hydraulic pump, the multi-way valve, the motor assembly and the automatic cable coiling device are arranged on the rear main frame; The handling mechanism is arranged on the middle bearing frame.

Images