An electro-hydraulic controlled coal mine crawler pipeline installation system

Abstract

This invention provides an electro-hydraulic controlled crawler-type pipeline installation system for coal mines, belonging to the technical field of pipeline construction. The system comprises a frame, crawler assembly, and manipulator. The manipulator comprises a sliding platform, a rotating platform, a rotating platform motor, a lifting cylinder, a slewing shaft, a slewing cylinder, a slewing frame, a boom, a boom lifting cylinder, a mid-arm, a mid-arm telescopic cylinder, a short arm, a short arm lifting cylinder, and a gripper mechanism. This system effectively solves the problem of lifting materials and pipeline operations in confined coal mine lanes. The manipulator, using a quick-change mechanism, can switch between transport and pipeline lifting functions.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline construction, and particularly discloses an electro-hydraulic controlled coal mine crawler pipeline installation system. Background Art

[0002] With the expansion of coal mining, the demand for underground water supply and drainage, slurry drainage, ventilation, and gas drainage pipelines has increased. Furthermore, the types and specifications of these pipelines vary, making installation and laying difficult. Currently, the process for laying pipelines in coal mines mainly relies on manual handling. There are no mature engineering machinery companies that have developed complete sets of pipeline laying processes to address efficiency and safety issues. Some areas with better mining conditions can use trackless transport machinery to transport pipelines, but this does not solve the problem of rapid pipeline installation and still requires manual installation. Some older mines use rail-mounted mine cars to transport pipelines, and use temporary, simple gantry hoists built underground to lift the pipelines. Multiple people are required to manually secure the pipes before lifting, making alignment difficult during installation and posing a risk of injuries or falls during docking. Summary of the Invention

[0003] In response to the above problems, the applicant conducted research on the cross-sectional dimensions of mine tunnels and the laying and installation technology of underground pipelines, and provided an electro-hydraulic controlled coal mine crawler pipeline installation system to achieve safe and rapid installation of underground pipelines in coal mines, which is of great significance to improving the working methods and conditions of underground workers and achieving reduction in staff and increase in efficiency.

[0004] The present invention provides an electro-hydraulic controlled coal mine crawler pipeline installation system, comprising a frame, a crawler assembly, a manipulator, a hydraulic oil tank, a hydraulic pump I, a manual / electrically controlled proportional directional control valve I, a balancing valve I, a manual / electrically controlled proportional directional control valve II, a balancing valve II, a manual / electrically controlled proportional directional control valve III, a balancing valve III, a manual / electrically controlled proportional directional control valve IV, a balancing valve IV, a manual / electrically controlled proportional directional control valve V, a balancing valve V, a manual / electrically controlled proportional directional control valve VI, a balancing valve VI, a manual / electrically controlled proportional directional control valve VII, a double The manipulator consists of a safety valve, a duplex pump, a multi-way main control valve, a speed regulating valve I, a counterbalance valve block I, a pressure reducing valve I, a hydraulic pump II, an electromagnetic reversing valve, a manual pressure reducing pilot valve I, and an engine driving the duplex pump and hydraulic pump II; the manipulator includes a sliding platform, a rotating platform, a rotating platform motor, a lifting cylinder, a rotary shaft, a rotary cylinder, a rotary frame, a boom, a boom lifting cylinder, a middle arm, a middle arm telescopic cylinder, a short arm, a short arm lifting cylinder, and a claw mechanism; the crawler assembly is installed on the left and right sides of the frame and is driven by a travel motor;

[0005] The sliding platform includes a fixed seat and a sliding seat installed on the fixed seat. The fixed seat is installed on the frame through a quick-change mechanism, and the sliding seat can slide forward, backward, left and right on the fixed seat; the fixed seat of the rotating platform is installed on the sliding seat, and the rotating seat is connected to the piston of the lifting cylinder. The rotating seat is driven by the rotating platform motor to realize horizontal rotation; the rotating frame is connected to the cylinder barrel of the lifting cylinder through a rotating shaft; two rotating cylinders are installed on both sides of the rotating shaft, and the two ends of the rotating cylinder are respectively hinged to the cylinder barrel of the lifting cylinder and the rotating frame, and the rotating frame realizes vertical rotation through the extension and contraction of the two rotating cylinders; the boom is a hollow structure, and the rear end is hinged to the rotating frame through a pin shaft I; the two ends of the boom lifting cylinder are respectively hinged to the rotating frame and the boom, and the extension and contraction of the boom lifting cylinder causes the boom to swing up and down around the pin shaft I; The arm is inserted from the front end of the boom, and the front end is hinged to the top of the short arm through the pin shaft II; the two ends of the middle arm telescopic cylinder are hinged to the boom and the middle arm respectively, and the middle arm telescopic cylinder is extended and retracted to make the middle arm extend from the boom or retract into the boom; the two ends of the short arm lifting cylinder are hinged to the middle arm and the short arm respectively, and the short arm lifting cylinder is extended and retracted to make the short arm swing up and down around the pin shaft II; the gripper mechanism includes a gripper mounting frame, a gripper mounting vertical plate, a gripper clamping cylinder and a gripper; the top surface of the gripper mounting frame is fixedly connected to the bottom end of the short arm, and a gripper mounting vertical plate is vertically installed on the bottom surface; two gripper clamping cylinders and two groups of grippers are respectively installed on both sides of the gripper mounting vertical plate; each group of grippers includes a rotating shaft, a positioning shaft, a clamping assembly I and a clamping assembly II; the clamping assembly I includes two oppositely arranged gripper clamping plates I, a connecting rod A plurality of clamping roller shafts Ⅰ connected to the two hand gripping plates Ⅰ and a clamping roller Ⅰ installed on each clamping roller shaft Ⅰ, and the clamping roller Ⅰ is rotatable; the clamping assembly Ⅱ includes a clamping roller rotation motor, a transmission wheel, a transmission chain, two relatively arranged hand gripping plates Ⅱ, a plurality of clamping roller shafts Ⅱ connected to the two hand gripping plates Ⅱ and a clamping roller Ⅱ installed on each clamping roller shaft Ⅱ; the clamping roller shaft Ⅱ passes through the end of the hand gripping plate Ⅱ and is equipped with a transmission wheel, and the transmission wheels on the plurality of clamping roller shafts Ⅱ are connected through a transmission chain; the clamping roller rotation motor is installed on the hand gripping plate Ⅱ, and the output shaft is connected to the transmission wheel. The clamping roller rotation motor drives the plurality of clamping roller shafts Ⅱ and the clamping roller Ⅱ thereon to rotate synchronously through the transmission wheel and the transmission chain; the rotating shaft passes through The hand gripper is mounted on a vertical plate, the top of the hand gripper clamping plate I, and the top of the hand gripper clamping plate II; the positioning shaft passes through the middle of the hand gripper clamping plate I and the middle of the hand gripper clamping plate II, and is fixedly connected to the hand gripper clamping plate I and the hand gripper clamping plate II; the top of the hand gripper clamping cylinder is hinged to the hand gripper mounting frame, and the bottom end is hinged to the hand gripper clamping plate I or the hand gripper clamping plate II; the hand gripper clamping cylinder is extended and retracted to cause the positioning shaft, clamping assembly I, and clamping assembly II to swing up and down around the rotation axis; the hydraulic pump I pumps the hydraulic oil in the hydraulic oil tank to the P ports of the manual / electric proportional reversing valve I, the manual / electric proportional reversing valve II, the manual / electric proportional reversing valve III, the manual / electric proportional reversing valve IV, the manual / electric proportional reversing valve V, the manual / electric proportional reversing valve VI, and the manual / electric proportional reversing valve VII;The A port of the manual / electric proportional directional control valve Ⅰ is connected to the A1 port of the two groups of balancing valves Ⅰ, and the A2 ports of the two groups of balancing valves Ⅰ are respectively connected to the rodless chamber oil ports of the two hand claw clamping cylinders, and the rod chamber oil ports of the two hand claw clamping cylinders are respectively connected to the B port of the manual / electric proportional directional control valve Ⅰ. The oil circuit between the rod chamber oil port of the hand claw clamping cylinder and the B port of the manual / electric proportional directional control valve Ⅰ is used as the control oil circuit of the balancing valve Ⅰ, and the T port of the manual / electric proportional directional control valve Ⅰ is connected to the hydraulic oil tank; the A port of the manual / electric proportional directional control valve Ⅱ is connected to the A1 port of the balancing valve Ⅱ, and the A2 port of the balancing valve Ⅱ is connected to the rodless chamber oil port of the short arm lifting cylinder, and the rod chamber oil port of the short arm lifting cylinder is connected to the B port of the manual / electric proportional directional control valve Ⅱ. An oil circuit is led out between the rod chamber oil port of the arm lifting cylinder and the B port of the manual / electric proportional directional control valve II as the control oil circuit of the balance valve II, and the T port of the manual / electric proportional directional control valve II is connected to the hydraulic oil tank; the A port of the manual / electric proportional directional control valve III is connected to the A1 port of the balance valve III, and the A2 port of the balance valve III is connected to the rodless chamber oil port of the middle arm telescopic cylinder, and the rod chamber oil port of the middle arm telescopic cylinder is connected to the B port of the manual / electric proportional directional control valve III, and an oil circuit is led out between the rod chamber oil port of the middle arm telescopic cylinder and the B port of the manual / electric proportional directional control valve III as the control oil circuit of the balance valve III, and the T port of the manual / electric proportional directional control valve III is connected to the hydraulic oil tank; the A port of the manual / electric proportional directional control valve IV is connected to the A1 port of the balance valve IV, and the balance valve IV The A2 port is connected to the rodless chamber oil port of the boom lifting cylinder, the rod chamber oil port of the boom lifting cylinder is connected to the B port of the manual / electric proportional reversing valve IV, and an oil circuit is led out between the rod chamber oil port of the boom lifting cylinder and the B port of the manual / electric proportional reversing valve IV as the control oil circuit of the balance valve IV, and the T port of the manual / electric proportional reversing valve IV is connected to the hydraulic oil tank; the A port of the manual / electric proportional reversing valve V is connected to the A1 port of the two groups of balance valves V, and the A2 ports of the two groups of balance valves V are respectively connected to the rodless chamber oil port of the rotary cylinder I and the rod chamber oil port of the rotary cylinder II, the rod chamber oil port of the rotary cylinder I is connected to the B port of the manual / electric proportional reversing valve V, and the rodless chamber oil port of the rotary cylinder II is connected to the B port of the manual / electric proportional reversing valve V , oil circuits are respectively led out between the rod chamber oil port of the rotary cylinder I and the B port of the manual / electric proportional reversing valve V, and between the rodless chamber oil port of the rotary cylinder II and the B port of the manual / electric proportional reversing valve V as the control oil circuits of the two sets of balancing valves V, and the T port of the manual / electric proportional reversing valve V is connected to the hydraulic oil tank; the A port of the manual / electric proportional reversing valve VI is connected to the A1 port of the balancing valve VI, and the A2 port of the balancing valve VI is connected to the rodless chamber oil port of the lifting cylinder, the rod chamber oil port of the lifting cylinder is connected to the B port of the manual / electric proportional reversing valve VI, and an oil circuit is led out between the rod chamber oil port of the lifting cylinder and the B port of the manual / electric proportional reversing valve VI as the control oil circuit of the balancing valve VI, and the T port of the manual / electric proportional reversing valve VI is connected to the hydraulic oil tank;The A port of the manual / electric proportional reversing valve Ⅶ is connected to the A port of the clamping roller rotation motor, and the B port is connected to the B port of the clamping roller rotation motor. The T port of the manual / electric proportional reversing valve Ⅶ is connected to the hydraulic oil tank. A two-way safety valve is installed between the manual / electric proportional reversing valve Ⅶ and the two groups of clamping roller rotation motors. The rotating platform motor is a two-speed hydraulic motor. The duplex pump pumps the hydraulic oil in the hydraulic oil tank to the P port of the reversing valve group Ⅰ in the multi-way main control valve. The A port and B port of the reversing valve group Ⅰ are respectively connected to the A1 port and B1 port of the speed control valve Ⅰ. The A2 port and B2 port of the speed control valve Ⅰ are respectively connected to the A1 port and B1 port of the counterbalance valve block Ⅰ. Ports A2 and B2 of block I are connected to ports A and B of the rotary platform motor, respectively. Port C of the rotary platform motor is connected to the inlet of pressure reducing valve I. Port D of the rotary platform motor, the outlet of pressure reducing valve I, and port T of reversing valve block I are connected to the hydraulic oil tank. Hydraulic pump II pumps the hydraulic oil from the hydraulic oil tank to port P of the solenoid reversing valve. The first hydraulic oil line of port A of the solenoid reversing valve is connected to ports P1 and P2 of the manual pressure reducing pilot valve I, respectively. Ports A and B of the manual pressure reducing pilot valve I are connected to the control terminals of port A and port B of reversing valve block I, respectively. Ports T1 and T2 of the manual pressure reducing pilot valve I are connected to the hydraulic oil tank.

[0006] Furthermore, the electro-hydraulic controlled coal mine crawler pipeline installation system also includes a speed regulating valve II, a counterbalance valve block II, a pressure reducing valve II, a manual pressure reducing pilot valve II, a speed regulating valve III, a counterbalance valve block III, a pressure reducing valve III and a manual pressure reducing pilot valve III; the left travel motor and the right travel motor are two-speed hydraulic motors; the double pump pumps the hydraulic oil in the hydraulic oil tank to the P port of the reversing valve group II in the multi-way main control valve, and the A port and B port of the reversing valve group II are respectively connected to the A1 port and B1 port of the speed regulating valve II, and the speed regulating valve The A2 and B2 ports of the solenoid reversing valve are connected to the A1 and B1 ports of the counterbalance valve block II respectively, the A2 and B2 ports of the counterbalance valve block II are connected to the A and B ports of the left travel motor respectively, the C port of the left travel motor is connected to the inlet of the pressure reducing valve II, the D port of the left travel motor, the outlet of the pressure reducing valve II and the T port of the reversing valve group II are connected to the hydraulic oil tank; the second hydraulic oil of the A port of the solenoid reversing valve is connected to the P1 and P2 ports of the manual pressure reducing pilot valve II respectively, the A port and The B port is connected to the A port control end and the B port control end of the reversing valve group II respectively, and the T1 port and T2 port of the manual pressure reducing pilot valve II are connected to the hydraulic oil tank; the double pump pumps the hydraulic oil in the hydraulic oil tank to the P port of the reversing valve group III in the multi-way main control valve, and the A port and B port of the reversing valve group III are connected to the A1 port and B1 port of the speed regulating valve III respectively, and the A2 port and B2 port of the speed regulating valve III are connected to the A1 port and B1 port of the counterbalance valve block III respectively, and the A2 port and B2 port of the counterbalance valve block III are connected to the right walking horse respectively. The A port and B port of the right travel motor are connected, the C port of the right travel motor is connected to the inlet of the pressure reducing valve III, the D port of the right travel motor, the outlet of the pressure reducing valve III and the T port of the reversing valve group III are connected to the hydraulic oil tank; the third hydraulic oil of the A port of the solenoid reversing valve is connected to the P1 port and P2 port of the manual pressure reducing pilot valve III respectively, the A port and B port of the manual pressure reducing pilot valve III are connected to the A port control end and the B port control end of the reversing valve group III respectively, and the T1 port and T2 port of the manual pressure reducing pilot valve III are connected to the hydraulic oil tank.

[0007] Furthermore, the electro-hydraulic controlled coal mine crawler pipeline installation system further includes a pressure relief valve;

[0008] The first line of the hydraulic pump I outlet is pumped to the P port of manual / electric proportional reversing valve I, manual / electric proportional reversing valve II, manual / electric proportional reversing valve III, manual / electric proportional reversing valve IV, manual / electric proportional reversing valve V, manual / electric proportional reversing valve VI, and manual / electric proportional reversing valve VII: the second line of the hydraulic pump I outlet is connected to the P port of the pressure relief valve, the A port and the B port of the pressure relief valve are blocked, the T port of the pressure relief valve is connected to the hydraulic oil tank, and the P port and the T port of the pressure relief valve are connected under normal circumstances.

[0009] Furthermore, the above-mentioned electro-hydraulic controlled coal mine crawler pipeline installation system also includes a safety valve; the third line of the hydraulic pump I outlet is connected to the inlet of the safety valve, and the outlet of the safety valve is connected to the hydraulic oil tank.

[0010] Furthermore, the above-mentioned electro-hydraulic controlled coal mine crawler pipeline installation system also includes a cooling motor, a cooling fan installed on the cooling motor, and a radiator installed on the oil return pipeline; the inlet of the cooling motor is connected to the B port of the electromagnetic reversing valve, and the outlet is connected to the hydraulic oil tank, and the cooling motor drives the cooling fan to rotate to cool the radiator.

[0011] Furthermore, filters are installed on the oil return pipeline, between the hydraulic pump II and the electromagnetic reversing valve, and on the outlet of the hydraulic pump I; the hydraulic oil pumped by the hydraulic pump I is divided into three paths through the filter.

[0012] Furthermore, an oil line between the inlet of the hydraulic pump I and the hydraulic oil tank is connected to the inlet of the stop valve, and a pressure gauge is installed at the outlet of the stop valve.

[0013] Furthermore, the electro-hydraulic controlled coal mine crawler pipeline installation system further includes a manipulator control center; the boom lifting cylinder is equipped with a displacement sensor, which is used to transmit signals to the manipulator control center; the middle arm telescopic cylinder is equipped with a displacement sensor, which is used to transmit signals to the manipulator control center; the claw clamping cylinder is equipped with a pressure sensor, which is used to transmit signals to the manipulator control center; the rotary cylinder is equipped with an angle sensor, which is used to transmit signals to the manipulator control center; the clamping roller rotation motor is equipped with a speed sensor. The speed sensor is used to transmit signals to the manipulator control center; the manipulator control center controls the hand clamping cylinder, short arm lifting cylinder, middle arm telescopic cylinder, large arm lifting cylinder, rotary cylinder, lifting cylinder, and clamping roller rotation motor through manual / electric proportional reversing valve I, manual / electric proportional reversing valve II, manual / electric proportional reversing valve III, manual / electric proportional reversing valve IV, manual / electric proportional reversing valve V, manual / electric proportional reversing valve VI, and manual / electric proportional reversing valve VII respectively; the electromagnet of the pressure relief valve is controlled by the manipulator control center.

[0014] Furthermore, the above-mentioned electro-hydraulic controlled coal mine crawler pipeline installation system also includes a personnel approach system, a 360° line of sight remote control system, an alarm system and a vehicle control center; the manipulator control center determines based on the detection signals of the personnel approach system and the 360° line of sight remote control system that when personnel and / or obstacles are within a preset range, it controls the alarm system and issues a stop command to the vehicle control center; the travel motor is controlled by the vehicle control center.

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

[0016] 1) The electro-hydraulic controlled crawler-type pipeline installation system for coal mines utilizes an engine and dual pumps to form an independent onboard power source. Its crawler-type chassis allows for flexible entry and exit of tunnels, and its strong adaptability to road surfaces makes it suitable for lifting and installing pipe materials. This vehicle effectively addresses the challenges of lifting materials and installing pipelines in narrow coal mine tunnels. The manipulator, through a quick-change mechanism, can switch between transport and pipeline lifting functions.

[0017] 2) The manipulator adopts remote control and manual control compatible modes. In areas where the lane width changes suddenly or there are protrusions on the sidewall, the control mode can be switched to adjust the manipulator's posture to improve the lane passing performance. The remote control and manual control functions are interlocked with each other and operate independently. They can also serve as a backup in case one fails, improving controllability and safety.

[0018] 3) The manipulator can realize multi-dimensional adjustment, overall elevation, overall rotation, upper arm lifting, middle arm horizontal push, short arm lifting, space rotation, and claw clamping. It adopts the clamping roller rotation motor + transmission wheel + transmission chain drive. It can clamp the pipeline and then perform self-rotation installation and centering, solving the problems of difficult multi-section connection of aerial pipelines, low efficiency and poor safety. Pressure sensors, displacement sensors, angle sensors and other sensors are installed to automatically control the snatching process.

[0019] 4) Materials of different sizes can be grabbed by changing the outer diameter and number of the clamping rollers II;

[0020] 5) A personnel approach system is installed to prevent personnel from approaching during the rotation process. The distance of foreign objects in different blind spots of the manipulator is monitored and alarms are issued through the distribution of multiple measuring points. A 360° camera is installed in the gripper mechanism to achieve 360° remote control operation without blind spots. This solves the problem of position uncertainty before clamping the pipeline during single-person operation and improves the working efficiency of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 This is the front view of the electro-hydraulic control coal mine crawler pipeline installation system;

[0023] Figure 2 This is the right side view of the electro-hydraulic control coal mine crawler pipeline installation system;

[0024] Figure 3The control schematic diagram of the electro-hydraulic control coal mine crawler pipeline installation system;

[0025] Figure 4 It is a structural diagram of the robot;

[0026] Figure 5 Schematic diagram of the structure of the gripper mechanism;

[0027] Figure 6 This is the rotation principle diagram of clamping roller II;

[0028] Figure 7 Hydraulic schematic diagram for electro-hydraulic control of coal mine crawler pipeline installation system;

[0029] Figure 8 for Figure 7 An enlarged view of the middle gripper mechanism (excluding the rotary platform motor);

[0030] Figure 9 for Figure 7 Enlarged view of the middle rotating platform motor and travel motor.

[0031] In the figure: 1-sliding platform; 2-rotating platform; 3-rotating platform motor; 4-lifting cylinder; 5-rotating axis; 6-rotating cylinder; 6.1-rotating cylinder I; 6.2-rotating cylinder II; 7-rotating frame; 8-big arm; 9-big arm lifting cylinder; 10-middle arm; 11-middle arm telescopic cylinder; 12-short arm; 13-short arm lifting cylinder; 14-grip mechanism; 14.1-grip mounting frame; 14.2-grip mounting vertical plate; 14.3-grip clamping cylinder; 14.4-reinforcement axis; 14.5-rotating axis; 14.6-positioning Shaft; 14.7-Claw Clamping Plate I; 14.8-Clamping Roller I; 14.9-Clamping Roller Rotation Motor; 14.10-Drive Wheel; 14.11-Drive Chain; 14.12-Claw Clamping Plate II; 14.13-Clamping Roller II; 15-Screw; 16-Pin I; 17-Pin II; 18-Slewing Connector; 19-Frame; 20-Track Assembly; 21-H-Type Central Connector; 22-Travel Motor; 22.1-Left Travel Motor; 22.2-Right Travel Motor; 23-Hydraulic Oil Tank; 24-Hydraulic Pump I ;25-Manual / Electric Proportional Directional Valve I;26-Balancing Valve I;27-Manual / Electric Proportional Directional Valve II;28-Balancing Valve II;29-Manual / Electric Proportional Directional Valve III;30-Balancing Valve III;31-Manual / Electric Proportional Directional Valve IV;32-Balancing Valve IV;33-Manual / Electric Proportional Directional Valve V;34-Balancing Valve V;35-Manual / Electric Proportional Directional Valve VI;36-Balancing Valve VI;37-Manual / Electric Proportional Directional Valve VII;38-Two-way Safety Valve;39-Double Pump;40-Multi-way Main Control Valve;41-Regulating Speed ​​valve Ⅰ; 42-Counterbalancing valve block Ⅰ; 43-Pressure reducing valve Ⅰ; 44-Hydraulic pump Ⅱ; 45-Solenoid reversing valve; 46-Manual pressure reducing pilot valve Ⅰ; 47-Engine; 48-Pressure relief valve; 49-Safety valve; 50-Speed ​​regulating valve Ⅱ; 51-Counterbalancing valve block Ⅱ; 52-Pressure reducing valve Ⅱ; 53-Manual pressure reducing pilot valve Ⅱ; 54-Speed ​​regulating valve Ⅲ; 55-Counterbalancing valve block Ⅲ; 56-Pressure reducing valve Ⅲ; 57-Manual pressure reducing pilot valve Ⅲ; 58-Cooling motor; 59-Radiator; 60-Filter; 61-Stop valve; 62-Pressure gauge. DETAILED DESCRIPTION

[0032] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0033] This embodiment provides an electro-hydraulic controlled coal mine crawler pipeline installation system, including a frame 19, a crawler assembly 20 and a manipulator.

[0034] The crawler track assembly 20 is installed on the left and right sides of the frame 19, connected by an H-shaped central connecting frame 21, and driven by a travel motor 22.

[0035] The manipulator includes a sliding platform 1, a rotating platform 2, a rotating platform motor 3, a lifting cylinder 4, a rotary shaft 5, a rotary cylinder 6, a rotary frame 7, a large arm 8, a large arm lifting cylinder 9, a middle arm 10, a middle arm telescopic cylinder 11, a short arm 12, a short arm lifting cylinder 13, and a claw mechanism 14; the sliding platform 1 includes a fixed seat and a sliding seat installed on the fixed seat, the fixed seat is installed on the frame 19 through a quick-change mechanism, and the sliding seat can slide back and forth and left and right on the fixed seat; the fixed seat of the rotating platform 2 is installed on the sliding seat, the rotating seat is connected to the piston of the lifting cylinder 4, and the rotating seat is driven by the rotating platform motor 3 to realize horizontal rotation (including clockwise rotation and counterclockwise rotation); the rotary frame 7 is connected to the cylinder barrel of the lifting cylinder 4 through the rotary shaft 5; the two rotary cylinders 6 are installed on the rotary frame 7. On both sides of the rotating shaft 5, the two ends of the rotary cylinder 6 are respectively hinged to the cylinder barrel of the lifting cylinder 4 and the rotary frame 7, and the rotary frame 7 realizes vertical rotation through the extension and contraction of the two rotary cylinders 6; the boom 8 is a hollow structure, and the rear end is hinged to the rotary frame 7 through the pin shaft Ⅰ16; the two ends of the boom lifting cylinder 9 are respectively hinged to the rotary frame 7 and the boom 8, and the boom lifting cylinder 9 is extended to make the boom 8 swing up and down around the pin shaft Ⅰ16; the middle arm 10 is inserted from the front end of the boom 8, and the front end is hinged to the top of the short arm 12 through the pin shaft Ⅱ17; the two ends of the middle arm telescopic cylinder 11 are respectively hinged to the boom 8 and the middle arm 10, and the middle arm telescopic cylinder 11 is extended to make the middle arm 10 extend from the boom 8 or retract into the boom 8; the two ends of the short arm lifting cylinder 13 are respectively hinged to the middle arm 10 and the short arm 12, and the short arm lifting cylinder 13 The telescopic movement causes the short arm 12 to swing up and down around the pin shaft II 17; the gripper mechanism 14 comprises a gripper mounting frame 14.1, a gripper mounting vertical plate 14.2, a gripper clamping cylinder 14.3 and a gripper; the top surface of the gripper mounting frame 14.1 is fixedly connected to the bottom end of the short arm 12 by bolts, and a gripper mounting vertical plate 14.2 is vertically mounted on the bottom surface, and the two gripper mounting vertical plates 14.2 are welded by a reinforcing shaft 14.4; the two gripper clamping cylinders 14.3 and the two groups of grippers are respectively mounted on both sides of the gripper mounting vertical plate 14.2; each group of grippers comprises a rotating shaft 14.5, a positioning shaft 14.6, a clamping assembly I and a clamping assembly II; the clamping assembly I comprises two oppositely arranged gripper clamping plates I 14.7 and a plurality of clamping rollers connecting the two gripper clamping plates I 14.7 Axle I and a clamping roller I 14.8 mounted on each clamping roller shaft I, the clamping roller I 14.8 being rotatable; the clamping assembly II comprising a clamping roller rotation motor 14.9, a transmission wheel 14.10, a transmission chain 14.11, two oppositely disposed gripper clamping plates II 14.12, a plurality of clamping roller shafts II connecting the two gripper clamping plates II 14.12, and a clamping roller II 14.13 mounted on each clamping roller shaft II; a transmission wheel 14.10 is mounted on the end of the gripper clamping plate II 14.12, and the transmission wheels 14.10 on the plurality of gripper shafts II are connected via a transmission chain 14.11; the clamping roller rotation motor 14.9 is mounted on the gripper clamping plate II 14.12, and the output shaft is connected to the transmission wheel 14.11.10 connection, the clamping roller rotation motor 14.9 drives multiple clamping roller shafts II and the clamping roller II 14.13 thereon to rotate synchronously through the transmission wheel 14.10 and the transmission chain 14.11; the transmission wheel 14.10 and the transmission chain 14.11 can be sprockets, chains or pulleys, belts; the rotating shaft 14.5 passes through the hand gripper mounting vertical plate 14.2, the top of the hand gripper clamping plate I 14.7 and the top of the hand gripper clamping plate II 14.12; the positioning shaft 14.6 passes through the hand gripper clamping plate The middle portion of I 14.7 and the middle portion of gripper clamping plate II 14.12 are fixedly connected to gripper clamping plate I 14.7 and gripper clamping plate II 14.12. The top end of gripper clamping cylinder 14.3 is hinged to gripper mounting frame 14.1, and the bottom end is hinged to gripper clamping plate I 14.7 or gripper clamping plate II 14.12. The extension and retraction of gripper clamping cylinder 14.3 causes positioning shaft 14.6, gripper assembly I, and gripper assembly II to swing up and down around rotation axis 14.5, thereby opening and closing the gripper.

[0036] Furthermore, a rotary connecting frame 18 is installed on the cylinder barrel of the lifting cylinder 4, and a rotary connecting frame 18 is provided with a rotary shaft hole and a rotary cylinder mounting ear seat; a rotary cylinder mounting ear seat is provided on the rotary frame 7; the rear end of the rotary shaft 5 is rotatably connected to the rotary shaft hole, and the front end is connected to the rotary frame 7 by a screw 15; the two ends of the rotary cylinder 6 are respectively connected to the rotary connecting frame 18 and the rotary cylinder mounting ear seat on the rotary frame 7 by mounting pins.

[0037] Furthermore, each set of grippers includes two sets of clamping components I and one set of clamping components II, and the clamping components II are located between the two sets of clamping components I.

[0038] Furthermore, the clamping roller shaft I is fixed to the hand gripping plate I 14.7 via a cotter pin, and the clamping roller I 14.8 is rotatably mounted on the clamping roller shaft I.

[0039] Furthermore, the electro-hydraulic controlled coal mine crawler pipeline installation system further includes a hydraulic oil tank 23, a hydraulic pump I 24, a manual / electrically controlled proportional directional control valve I 25, a balancing valve I 26, a manual / electrically controlled proportional directional control valve II 27, a balancing valve II 28, a manual / electrically controlled proportional directional control valve III 29, a balancing valve III 30, a manual / electrically controlled proportional directional control valve IV 31, a balancing valve IV 32, a manual / electrically controlled proportional directional control valve V 33, a balancing valve V 34, a manual / electrically controlled proportional directional control valve VI 35, a balancing valve VI 36, a manual / electrically controlled proportional directional control valve VII 37, a two-way safety valve 38, a duplex pump 39, a multi-way main control valve 40, a speed regulating valve I 41, a counterbalancing valve block I 42, a pressure reducing valve I 43, a hydraulic pump II 44, an electromagnetic reversing valve 45, a manual pressure reducing pilot valve I 46 and a drive duplex valve. Pump 39 and motor 47 of hydraulic pump II 44; hydraulic pump I 24 pumps the hydraulic oil in hydraulic oil tank 23 to port P of manual / electric proportional reversing valve I 25, manual / electric proportional reversing valve II 27, manual / electric proportional reversing valve III 29, manual / electric proportional reversing valve IV 31, manual / electric proportional reversing valve V 33, manual / electric proportional reversing valve VI 35, and manual / electric proportional reversing valve VII 37; port A of manual / electric proportional reversing valve I 25 is connected to port A1 of two sets of balancing valves I 26, ports A2 of two sets of balancing valves I 26 are connected to the rodless chamber oil ports of two hand-claw clamping cylinders 14.3, respectively; the rod chamber oil ports of two hand-claw clamping cylinders 14.3 are connected to port B of manual / electric proportional reversing valve I 25, respectively.An oil circuit is led out between the rod chamber oil port of 3 and the B port of the manual / electric proportional directional control valve Ⅰ 25 as the control oil circuit of the balance valve Ⅰ 26, and the T port of the manual / electric proportional directional control valve Ⅰ 25 is connected to the hydraulic oil tank 23; the A port of the manual / electric proportional directional control valve Ⅱ 27 is connected to the A1 port of the balance valve Ⅱ 28, and the A2 port of the balance valve Ⅱ 28 is connected to the rodless chamber oil port of the short arm lifting cylinder 13, and the rod chamber oil port of the short arm lifting cylinder 13 is connected to the B port of the manual / electric proportional directional control valve Ⅱ 27, and the rod chamber oil port of the short arm lifting cylinder 13 is connected to the The oil circuit drawn out between the B ports serves as the control oil circuit of the balancing valve II 28, and the T port of the manual / electric proportional directional control valve II 27 is connected to the hydraulic oil tank 23; the A port of the manual / electric proportional directional control valve III 29 is connected to the A1 port of the balancing valve III 30, and the A2 port of the balancing valve III 30 is connected to the rodless chamber oil port of the middle arm telescopic cylinder 11, and the rod chamber oil port of the middle arm telescopic cylinder 11 is connected to the B port of the manual / electric proportional directional control valve III 29. The oil circuit drawn out between the rod chamber oil port of the middle arm telescopic cylinder 11 and the B port of the manual / electric proportional directional control valve III 29 serves as the control oil circuit of the balancing valve III 30. The T port of the manual / electrically controlled proportional directional reversing valve III 29 is connected to the hydraulic oil tank 23; the A port of the manual / electrically controlled proportional directional reversing valve IV 31 is connected to the A1 port of the balancing valve IV 32; the A2 port of the balancing valve IV 32 is connected to the rodless chamber oil port of the boom lifting cylinder 9; the rod chamber oil port of the boom lifting cylinder 9 is connected to the B port of the manual / electrically controlled proportional directional reversing valve IV 31; an oil circuit is drawn between the rod chamber oil port of the boom lifting cylinder 9 and the B port of the manual / electrically controlled proportional directional reversing valve IV 31 as the control oil circuit of the balancing valve IV 32; the T port of the manual / electrically controlled proportional reversing valve IV 31 is connected to the hydraulic oil tank 23; The A port of the manual / electrically controlled proportional directional control valve V33 is connected to the A1 port of the two balancing valves V34. The A2 ports of the two balancing valves V34 are connected to the rodless chamber oil port of the rotary cylinder I6.1 and the rod chamber oil port of the rotary cylinder II6.2 respectively. The rod chamber oil port of the rotary cylinder I6.1 is connected to the B port of the manual / electrically controlled proportional directional control valve V33. The rodless chamber oil port of the rotary cylinder II6.2 is connected to the B port of the manual / electrically controlled proportional directional control valve V33. The rod chamber oil port of the rotary cylinder I6.1 is connected to the B port of the manual / electrically controlled proportional directional control valve V33 and the B port of the rotary cylinder II6.2.2 and the B port of the manual / electric proportional reversing valve V33 are respectively led out as the control oil circuits of the two groups of balancing valves V34, and the T port of the manual / electric proportional reversing valve V33 is connected to the hydraulic oil tank 23; the A port of the manual / electric proportional reversing valve VI35 is connected to the A1 port of the balancing valve VI36, and the A2 port of the balancing valve VI36 is connected to the rodless chamber oil port of the lifting cylinder 4, the rod chamber oil port of the lifting cylinder 4 is connected to the B port of the manual / electric proportional reversing valve VI35, and the rod chamber oil port of the lifting cylinder 4 is connected to the manual / electric proportional reversing valve VI35. An oil circuit is led from port B of the proportional reversing valve VI35 to serve as the control oil circuit for the balancing valve VI36. Port T of the manual / electric proportional reversing valve VI35 is connected to the hydraulic oil tank 23. Port A of the manual / electric proportional reversing valve VII37 is connected to port A of the clamping roller rotation motor 14.9, and port B is connected to port B of the clamping roller rotation motor 14.9. Port T of the manual / electric proportional reversing valve VII37 is connected to the hydraulic oil tank 23. A two-way safety valve 38 is installed between the manual / electric proportional reversing valve VII37 and the two sets of clamping roller rotation motors 14.9. The rotary platform motor 3 is a two-speed hydraulic motor; the duplex pump 39 pumps the hydraulic oil in the hydraulic oil tank 23 to the P port of the reversing valve group I in the multi-way main control valve 40, the A port and B port of the reversing valve group I are respectively connected to the A1 port and B1 port of the speed regulating valve I 41, the A2 port and B2 port of the speed regulating valve I 41 are respectively connected to the A1 port and B1 port of the counterbalancing valve block I 42, the A2 port and B2 port of the counterbalancing valve block I 42 are respectively connected to the A port and B port of the rotary platform motor 3, the C port of the rotary platform motor 3 is connected to the inlet of the pressure reducing valve I 43, and the rotary Port D of the rotary platform motor 3, the outlet of pressure reducing valve I 43, and port T of reversing valve group I are connected to the hydraulic oil tank 23. Hydraulic pump II 44 pumps the hydraulic oil in the hydraulic oil tank to port P of the solenoid reversing valve 45. The first hydraulic oil line at port A of the solenoid reversing valve 45 is connected to ports P1 and P2 of the manual pressure reducing pilot valve I 46, respectively. Ports A and B of the manual pressure reducing pilot valve I 46 are connected to the control terminals of port A and port B of reversing valve group I, respectively. Ports T1 and T2 of the manual pressure reducing pilot valve I 46 are connected to the hydraulic oil tank 23.

[0040] Furthermore, the above-mentioned electro-hydraulic controlled coal mine crawler pipeline installation system also includes a pressure relief valve 48; the first pump at the outlet of the hydraulic pump I 24 is pumped to the P port of the manual / electrically controlled proportional reversing valve I 25, the manual / electrically controlled proportional reversing valve II 27, the manual / electrically controlled proportional reversing valve III 29, the manual / electrically controlled proportional reversing valve IV 31, the manual / electrically controlled proportional reversing valve V 33, the manual / electrically controlled proportional reversing valve VI 35, and the manual / electrically controlled proportional reversing valve VII 37: the second outlet of the hydraulic pump I 24 is connected to the P port of the pressure relief valve 48, the A port and the B port of the pressure relief valve 48 are blocked, the T port of the pressure relief valve 48 is connected to the hydraulic oil tank 23, and the P port of the pressure relief valve 48 is connected to the T port under normal conditions.

[0041] Furthermore, the electro-hydraulic controlled coal mine crawler pipeline installation system further includes a safety valve 49 ; the third route of the hydraulic pump I 24 outlet is connected to the inlet of the safety valve 49 , and the outlet of the safety valve 49 is connected to the hydraulic oil tank 23 .

[0042] Furthermore, the electro-hydraulic controlled coal mine crawler pipeline installation system further includes a speed regulating valve II 50, a counterbalance valve block II 51, a pressure reducing valve II 52, a manual pressure reducing pilot valve II 53, a speed regulating valve III 54, a counterbalance valve block III 55, a pressure reducing valve III 56 and a manual pressure reducing pilot valve III 57; the left travel motor 22.1 and the right travel motor 22.2 are dual-speed hydraulic motors; the duplex pump 39 pumps the hydraulic oil in the hydraulic oil tank 23 to the P port of the reversing valve group II in the multi-way main control valve 40, and the A port and B port of the reversing valve group II are connected to the A1 port and B1 port of the speed regulating valve II 50 respectively. Then, the A2 port and B2 port of the speed regulating valve II 50 are connected to the A1 port and B1 port of the counterbalance valve block II 51 respectively, the A2 port and B2 port of the counterbalance valve block II 51 are connected to the A port and B port of the left travel motor 22.1 respectively, the C port of the left travel motor 22.1 is connected to the inlet of the pressure reducing valve II 52, the D port of the left travel motor 22.1, the outlet of the pressure reducing valve II 52 and the T port of the reversing valve group II are connected to the hydraulic oil tank 23; the second hydraulic oil of the A port of the electromagnetic reversing valve 45 is connected to the P1 port and P2 port of the manual pressure reducing pilot valve II 53 respectively, the manual pressure reducing pilot valve II 53 is connected to the P1 port and P2 port of the manual pressure reducing pilot valve II 53. The A port and B port of valve II 53 are connected to the A port control end and B port control end of the reversing valve group II respectively, and the T1 port and T2 port of the manual pressure reducing pilot valve II 53 are connected to the hydraulic oil tank 23; the double pump 39 pumps the hydraulic oil in the hydraulic oil tank 23 to the P port of the reversing valve group III in the multi-way main control valve 40, and the A port and B port of the reversing valve group III are connected to the A1 port and B1 port of the speed regulating valve III 54 respectively, and the A2 port and B2 port of the speed regulating valve III 54 are connected to the A1 port and B1 port of the counterbalancing valve block III 55 respectively, and the A2 port and B2 port of the counterbalancing valve block III 55 are connected to the right travel motor respectively. The A port and B port of 22.2 are connected, the C port of the right travel motor 22.2 is connected to the inlet of the pressure reducing valve III 56, and the D port of the right travel motor 22.2, the outlet of the pressure reducing valve III 56 and the T port of the reversing valve group III are connected to the hydraulic oil tank 23; the third hydraulic oil of the A port of the solenoid reversing valve 45 is respectively connected to the P1 port and P2 port of the manual pressure reducing pilot valve III 57, the A port and B port of the manual pressure reducing pilot valve III 57 are respectively connected to the A port control end and the B port control end of the reversing valve group III, and the T1 port and T2 port of the manual pressure reducing pilot valve III 57 are connected to the hydraulic oil tank 23.

[0043] Furthermore, the above-mentioned electro-hydraulic controlled coal mine crawler pipeline installation system also includes a cooling motor 58, a cooling fan installed on the cooling motor 58, and a radiator 59 installed on the return oil pipeline; the inlet of the cooling motor 58 is connected to the B port of the electromagnetic reversing valve 45, and the outlet is connected to the hydraulic oil tank 23. The cooling motor 58 drives the cooling fan to rotate to cool the radiator 23.

[0044] Furthermore, filters 60 are installed on the oil return line, between the hydraulic pump II 44 and the electromagnetic reversing valve 45 , and on the outlet of the hydraulic pump I 24 ; the hydraulic oil pumped by the hydraulic pump I 24 is divided into three paths through the filter 60 .

[0045] Furthermore, an oil line between the inlet of the hydraulic pump I 24 and the hydraulic oil tank 23 is connected to the inlet of the stop valve 61 , and a pressure gauge 62 is installed at the outlet of the stop valve 61 .

[0046] Furthermore, the electro-hydraulic controlled coal mine crawler pipeline installation system further includes a manipulator control center; the boom lifting cylinder 9 is equipped with a displacement sensor, which is used to transmit signals to the manipulator control center; the middle arm telescopic cylinder 11 is equipped with a displacement sensor, which is used to transmit signals to the manipulator control center; the claw clamping cylinder 14.3 is equipped with a pressure sensor, which is used to transmit signals to the manipulator control center; the rotary cylinder 6 is equipped with an angle sensor, which is used to transmit signals to the manipulator control center; the clamping roller rotation motor 14.9 is equipped with a speed sensor, which is used to transmit signals to the manipulator control center. The manipulator control center transmits signals based on the detection signals of each sensor. The manipulator control center controls the hand clamping cylinder 14.3, the short arm lifting cylinder 13, the middle arm telescopic cylinder 11, the large arm lifting cylinder 9, the rotary cylinder 6, the lifting cylinder 4, and the clamping roller rotation motor 14.9 through the manual / electric proportional reversing valve I 25, the manual / electric proportional reversing valve II 27, the manual / electric proportional reversing valve III 29, the manual / electric proportional reversing valve IV 31, the manual / electric proportional reversing valve V 33, the manual / electric proportional reversing valve VI 35, and the manual / electric proportional reversing valve VII 37 respectively. The electromagnet of the pressure relief valve 48 is controlled by the manipulator control center.

[0047] Furthermore, the above-mentioned electro-hydraulic controlled coal mine crawler pipeline installation system also includes a personnel approach system, a 360° line of sight remote control system, an alarm system and a vehicle control center; the manipulator control center determines based on the detection signals of the personnel approach system and the 360° line of sight remote control system that when personnel and / or obstacles are within a preset range, it controls the alarm system and sends a stop command to the vehicle control center; the travel motor 22 is controlled by the vehicle control center.

[0048] Furthermore, the engine 47 adopts an explosion-proof high-pressure common rail electronic injection diesel engine, each valve group is an explosion-proof valve, and the reversing valve group in the multi-way main control valve 40 is equipped with a safety valve and an oil supply valve.

[0049] The travel process of the electro-hydraulic controlled coal mine crawler pipeline installation system is achieved by controlling the left and right travel motors. The left and right travel motors have the same working process. The left travel motor 22.1 is used as an example to describe the following:

[0050] Under normal conditions, the P1 port of the manual pressure-reducing pilot valve II 53 is disconnected from the A port, the A port is connected to the T1 port, the P2 port is disconnected from the B port, the B port is connected to the T2 port, and the pilot control oil flows back to the hydraulic oil tank 23;

[0051] The engine 47 works, driving the double pump 39 and the hydraulic pump II 44. The hydraulic pump II 44 pumps the hydraulic oil to the P port of the electromagnetic reversing valve 45. The vehicle control center controls the P port of the electromagnetic reversing valve 45 to be connected to the A port. The hydraulic oil flows from the A port of the electromagnetic reversing valve 45 to the P1 port and the P2 port of the manual pressure reducing pilot valve II 53. The manual pressure reducing pilot valve II 53 is operated to connect the P1 port with the A port, disconnect the A port from the T1 port, disconnect the P2 port from the B port, and connect the B port to the T2 port. The pilot control oil is supplied by the manual pressure reducing pilot valve The hydraulic oil flows from port A of Ⅱ53 to the control end of port A of reversing valve group II, connecting port A of reversing valve group II with port P and port B with port T. The duplex pump 39 pumps the hydraulic oil to port P of reversing valve group II, passes through port A of reversing valve group II, ports A1 and A2 of speed regulating valve II 50, and ports A1 and A2 of counterbalancing valve block II 51, and enters port A of left travel motor 22.1, driving left travel motor 22.1 to rotate forward. The circulated hydraulic oil enters pressure reducing valve II 52 through port C of left travel motor 22.1 and flows back to hydraulic oil tank 23.

[0052] Operate the manual pressure-reducing pilot valve II 53 to disconnect port P1 from port A, connect port A to port T1, disconnect port P2 from port B, and disconnect port B from port T2. The pilot control oil flows from port B of the manual pressure-reducing pilot valve II 53 to the control end of port B of the reversing valve group II, connecting port B to port P and port A to port T of the reversing valve group II. The duplex pump 39 pumps the hydraulic oil to port P of the reversing valve group II, passes through port B of the reversing valve group II, ports B1 and B2 of the speed control valve II 50, and ports B1 and B2 of the counterbalancing valve block II 51, and enters port B of the left travel motor 22.1, driving the left travel motor 22.1 to reverse. The circulated hydraulic oil enters the pressure-reducing valve II 52 through port C of the left travel motor 22.1 and flows back to the hydraulic oil tank 23.

[0053] The grabbing process of the electro-hydraulic controlled coal mine crawler pipeline installation system is as follows:

[0054] The working process of the rotating platform motor 3 is the same as that of the travel motor 22;

[0055] The power source for the hand gripping cylinder 14.3, the jib lifting cylinder 13, the mid-arm telescopic cylinder 11, the boom lifting cylinder 9, the swing cylinder 6, the lifting cylinder 4, and the clamping roller rotation motor 14.9 is provided by hydraulic pump I 24. Under normal circumstances, all manual / electrically controlled proportional reversing valves are in the de-energized state. The pressure oil of hydraulic pump I 24 returns to the hydraulic oil tank 23 through the P and T ports of the pressure relief valve 48. The system is in the unloaded state, and the system pressure is adjusted by the safety valve 49.

[0056] When it is necessary to grab materials, the manipulator control center outputs a signal to connect the P port of the pressure relief valve 48 to the A port, and the A port is sealed, and the hydraulic pump I 24 can load and work;

[0057] The manipulator control center outputs a signal or manually operates to connect the P port of the manual / electrically controlled proportional reversing valve IV31 to the B port, and the pressure oil enters the rod chamber of the boom lifting cylinder 9 through the B port of the manual / electrically controlled proportional reversing valve IV31, pushing the piston rod to retract. After being compressed into place, the displacement sensor installed in the boom lifting cylinder 9 sends a signal to the manipulator control center to cut off the power to the manual / electrically controlled proportional reversing valve IV31, or manually cuts off the power, so that the manual / electrically controlled proportional reversing valve IV31 returns to the middle position under the action of the reset spring, the boom lifting cylinder 9 is locked through the balance valve IV32, and the boom 8 swings downward around the pin shaft I16; when the P port of the manual / electrically controlled proportional reversing valve IV31 is connected to the A port, the boom 8 swings upward around the pin shaft I16;

[0058] The extension and retraction of the middle arm telescopic cylinder 11 is adjusted according to the distance from the material. The manipulator control center outputs a signal or manually operates to connect the P port of the manual / electrically controlled proportional reversing valve III29 to the A port. The pressure oil enters the rodless chamber of the middle arm telescopic cylinder 11 through the A port of the manual / electrically controlled proportional reversing valve III29 and the balancing valve III30, pushing the piston rod to extend. After it is extended to the full extent, the displacement sensor installed in the middle arm telescopic cylinder 11 sends a signal to the manipulator control center to cut off the power to the manual / electrically controlled proportional reversing valve III29, or manually cuts off the power, so that the manual / electrically controlled proportional reversing valve III29 returns to the middle position under the action of the reset spring. The middle arm telescopic cylinder 11 is locked through the balancing valve III30, and the middle arm 10 is extended; when the P port of the manual / electrically controlled proportional reversing valve III29 is connected to the B port, the middle arm 10 retracts.

[0059] The manipulator control center outputs a signal or manually operates to connect the P port of the manual / electrically controlled proportional reversing valve II 27 to the A port. The pressure oil enters the rodless chamber of the jib lift cylinder 13 through the A port of the manual / electrically controlled proportional reversing valve II 27 and the balancing valve II 28, pushing the piston rod to extend. After the piston rod is fully extended, the manipulator control center cuts off the power to the manual / electrically controlled proportional reversing valve II 27, or manually cuts off the power, so that the manual / electrically controlled proportional reversing valve II 27 returns to the middle position under the action of the reset spring. The jib lift cylinder 13 is locked through the balancing valve II 28, and the jib 12 swings upward around the pin shaft II 17. When the P port of the manual / electrically controlled proportional reversing valve II 27 is connected to the B port, the middle arm 10 swings downward around the pin shaft II 17.

[0060] The manipulator control center outputs a signal or manually operates to connect the P port of the manual / electrically controlled proportional reversing valve Ⅰ25 to the B port. The pressure oil enters the rod chamber of the two gripper clamping cylinders 14.3 through the B port of the manual / electrically controlled proportional reversing valve Ⅰ25, pushing the piston rod to retract. After retracting to the right position, the manipulator control center cuts off the power to the manual / electrically controlled proportional reversing valve Ⅰ25, or manually cuts off the power, so that the manual / electrically controlled proportional reversing valve Ⅰ25 returns to the middle position under the action of the reset spring. At this time, the gripper is open. Open, approach the material to be snatched, and after centering, the P port of the manual / electric proportional reversing valve I25 is connected to the A port. The pressure oil enters the rodless chamber of the two hand-claw clamping cylinders 14.3 through the A port of the manual / electric proportional reversing valve I25 and the balancing valve I26, pushing the piston rod out to clamp the material. When the pressure reaches the preset value, the pressure sensor sends a signal, the manual / electric proportional reversing valve I25 is de-energized, and the balancing valve I26 is used to lock it to prevent deformation of pipes of different diameters and materials;

[0061] When installing the pipeline, the manual / electric proportional reversing valve VII37 can be used to reverse the direction to make the clamping roller rotation motor 14.9 run forward or reverse, driving the pipeline to rotate and align the connecting flange mounting hole;

[0062] When the mid-air angle deviates, the manual / electrically controlled proportional directional control valve V33 can be controlled to reverse, so that the rotary cylinder I6.1 and the rotary cylinder II6.2 can be extended and retracted, and rotated to adjust the posture. When the P port of the manual / electrically controlled proportional directional control valve V33 is connected to the A port, the pressure oil passes through the balancing valve V34 and reaches the rodless cavity of the rotary cylinder I6.1 and the rod cavity of the rotary cylinder II6.2, so that the rotary cylinder I6.1 extends and the rotary cylinder II6.2 contracts, so that the rotary frame 7 rotates in one direction around the rotary axis 5; when the P port of the manual / electrically controlled proportional directional control valve V33 is connected to the B port, the pressure oil reaches the rod cavity of the rotary cylinder I6.1 and the rodless cavity of the rotary cylinder II6.2, so that the rotary cylinder I6.1 contracts and the rotary cylinder II6.2 extends, so that the rotary frame 7 rotates in the other direction around the rotary axis 5;

[0063] The overall lifting and lowering of the slewing frame 7 can be adjusted by reversing the direction of the manual / electrically controlled proportional reversing valve VI35 according to the usage situation, and the lifting cylinder 4 is adjusted. When lifting is required, the P port of the manual / electrically controlled proportional reversing valve VI35 is connected to the A port, and the pressure oil reaches the rodless chamber of the lifting cylinder 4 through the balance valve VI36, pushing the cylinder to lift, and the slewing frame 7 is raised as a whole; the P port of the manual / electrically controlled proportional reversing valve VI35 is connected to the B port, reaching the rod chamber of the lifting cylinder 4, pushing the cylinder to retract, and the slewing frame 7 is lowered as a whole;

[0064] When the personnel approach system detects that a person is approaching or the 360° visual range remote control system detects that the distance between the entire machine and the surrounding obstacles exceeds the preset range, the manipulator control center controls the pressure relief valve 48P port to connect to the T port, and the pressure oil passes through the valve P port and T port to connect to the hydraulic oil tank 23, the hydraulic pump I 24 is unloaded, the system stops moving, and is locked in the current position and remains motionless, avoiding the occurrence of safety accidents; at the same time, the manipulator control center controls the alarm system to sound an alarm and sends a stop command to the vehicle control center; the vehicle control center controls the travel motor 22 to stop working.

[0065] 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 above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above 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 electro-hydraulic controlled coal mine crawler pipeline installation system, characterized in that: Including frame, crawler assembly, manipulator, hydraulic oil tank, hydraulic pump I, manual / electric proportional directional control valve I, balancing valve I, manual / electric proportional directional control valve II, balancing valve II, manual / electric proportional directional control valve III, balancing valve III, manual / electric proportional directional control valve IV, balancing valve IV, manual / electric proportional directional control valve V, balancing valve V, manual / electric proportional directional control valve VI, balancing valve VI, manual / electric proportional directional control valve VII, two-way safety valve, duplex pump, multi-way main control valve, speed regulating valve I, counterbalancing valve block I, pressure reducing valve I, hydraulic pump II, solenoid directional control valve, manual pressure reducing pilot valve I and engine driving duplex pump and hydraulic pump II; The manipulator includes a sliding platform, a rotating platform, a rotating platform motor, a lifting cylinder, a rotary shaft, a rotary cylinder, a rotary frame, a large arm, a large arm lifting cylinder, a middle arm, a middle arm telescopic cylinder, a short arm, a short arm lifting cylinder, and a claw mechanism; The crawler assembly is installed on the left and right sides of the frame and is driven by a travel motor; The sliding platform includes a fixed base and a sliding base mounted on the fixed base. The fixed base is mounted on the frame through a quick-change mechanism, and the sliding base can slide forward, backward, left, and right on the fixed base. The fixed seat of the rotating platform is installed on the sliding seat, the rotating seat is connected to the piston of the lifting cylinder, and the rotating seat is driven by the rotating platform motor to realize horizontal rotation; The slewing frame is connected to the cylinder barrel of the lifting cylinder via a slewing shaft; Two rotary cylinders are installed on both sides of the rotary shaft. The two ends of the rotary cylinders are hinged to the cylinder barrel of the lifting cylinder and the rotary frame respectively. The rotary frame realizes vertical rotation through the extension and contraction of the two rotary cylinders. The arm is a hollow structure, and the rear end is hinged to the slewing frame through a pin shaft I; The two ends of the boom lifting cylinder are respectively hinged to the slewing frame and the boom, and the boom lifting cylinder is extended and retracted to make the boom swing up and down around the pin shaft I; The middle arm is inserted into the front end of the big arm, and the front end is hinged to the top end of the short arm through a pin II; The two ends of the middle arm telescopic cylinder are respectively hinged to the boom and the middle arm, and the middle arm telescopic cylinder is extended and retracted to make the middle arm extend from the boom or retract into the boom; The two ends of the short arm lifting cylinder are respectively hinged to the middle arm and the short arm, and the short arm lifting cylinder is extended and retracted to make the short arm swing up and down around the pin shaft II; The gripper mechanism comprises a gripper mounting frame, a gripper mounting vertical plate, a gripper clamping oil cylinder and a gripper; The top surface of the gripper mounting frame is fixedly connected to the bottom end of the short arm, and a gripper mounting vertical plate is vertically mounted on the bottom surface; Two gripper clamping cylinders and two sets of grippers are installed on both sides of the gripper mounting vertical plate respectively; Each set of grippers includes a rotating shaft, a positioning shaft, a clamping component I and a clamping component II; The clamping assembly I includes two gripper clamping plates I disposed opposite to each other, a plurality of clamping roller shafts I connecting the two gripper clamping plates I, and a clamping roller I mounted on each clamping roller shaft I, wherein the clamping roller I is rotatable; The clamping assembly II includes a clamping roller rotation motor, a transmission wheel, a transmission chain, two oppositely arranged hand clamping plates II, a plurality of clamping roller shafts II connecting the two hand clamping plates II, and a clamping roller II installed on each clamping roller shaft II; The clamping roller shaft II passes through the end of the hand gripping plate II and is equipped with a transmission wheel, and the transmission wheels on the multiple clamping roller shafts II are connected by a transmission chain; The clamping roller rotating motor is installed on the hand gripping plate II, and the output shaft is connected to the transmission wheel. The clamping roller rotating motor drives multiple clamping roller shafts II and the clamping rollers II thereon to rotate synchronously through the transmission wheel and the transmission chain; The rotating shaft passes through the gripper mounting vertical plate, the top of the gripper clamping plate I and the top of the gripper clamping plate II; The positioning shaft passes through the middle of the hand gripping plate I and the middle of the hand gripping plate II, and is fixedly connected to the hand gripping plate I and the hand gripping plate II; The top end of the hand claw clamping oil cylinder is hinged to the hand claw mounting frame, and the bottom end is hinged to the hand claw clamping plate I or the hand claw clamping plate II. The hand claw clamping oil cylinder is extended and retracted to make the positioning shaft, clamping assembly I and clamping assembly II swing up and down around the rotation axis. The hydraulic pump I pumps the hydraulic oil in the hydraulic oil tank to the P port of the manual / electric proportional reversing valve I, the manual / electric proportional reversing valve II, the manual / electric proportional reversing valve III, the manual / electric proportional reversing valve IV, the manual / electric proportional reversing valve V, the manual / electric proportional reversing valve VI, and the manual / electric proportional reversing valve VII; The A port of the manual / electrically controlled proportional directional reversing valve I is connected to the A1 port of the two groups of balancing valves I. The A2 ports of the two groups of balancing valves I are respectively connected to the rodless chamber oil ports of the two claw clamping cylinders. The rod chamber oil ports of the two claw clamping cylinders are respectively connected to the B port of the manual / electrically controlled proportional directional reversing valve I. The oil circuit between the rod chamber oil port of the claw clamping cylinder and the B port of the manual / electrically controlled proportional reversing valve I serves as the control oil circuit of the balancing valve I. The T port of the manual / electrically controlled proportional reversing valve I is connected to the hydraulic oil tank. Connect the A port of the manual / electric proportional directional control valve II to the A1 port of the counterbalance valve II, connect the A2 port of the counterbalance valve II to the rodless chamber oil port of the jib lift cylinder, connect the rod chamber oil port of the jib lift cylinder to the B port of the manual / electric proportional directional control valve II, and lead the oil circuit between the rod chamber oil port of the jib lift cylinder and the B port of the manual / electric proportional directional control valve II as the control oil circuit of the counterbalance valve II. Connect the T port of the manual / electric proportional directional control valve II to the hydraulic oil tank. The A port of the manual / electrically controlled proportional reversing valve III is connected to the A1 port of the balancing valve III. The A2 port of the balancing valve III is connected to the rodless chamber oil port of the middle arm telescopic cylinder. The rod chamber oil port of the middle arm telescopic cylinder is connected to the B port of the manual / electrically controlled proportional reversing valve III. The oil circuit between the rod chamber oil port of the middle arm telescopic cylinder and the B port of the manual / electrically controlled proportional reversing valve III serves as the control oil circuit of the balancing valve III. The T port of the manual / electrically controlled proportional reversing valve III is connected to the hydraulic oil tank. The A port of the manual / electrically controlled proportional reversing valve IV is connected to the A1 port of the balancing valve IV, the A2 port of the balancing valve IV is connected to the rodless chamber oil port of the boom lifting cylinder, the rod chamber oil port of the boom lifting cylinder is connected to the B port of the manual / electrically controlled proportional reversing valve IV, an oil circuit is drawn between the rod chamber oil port of the boom lifting cylinder and the B port of the manual / electrically controlled proportional reversing valve IV as the control oil circuit of the balancing valve IV, and the T port of the manual / electrically controlled proportional reversing valve IV is connected to the hydraulic oil tank; The A port of the manual / electrically controlled proportional directional reversing valve V is connected to the A1 port of the two groups of balancing valves V. The A2 ports of the two groups of balancing valves V are respectively connected to the rodless chamber oil port of the rotary cylinder I and the rod chamber oil port of the rotary cylinder II. The rod chamber oil port of the rotary cylinder I is connected to the B port of the manual / electrically controlled proportional directional reversing valve V. The rodless chamber oil port of the rotary cylinder II is connected to the B port of the manual / electrically controlled proportional reversing valve V. Oil circuits are respectively led between the rod chamber oil port of the rotary cylinder I and the B port of the manual / electrically controlled proportional reversing valve V, as well as between the rodless chamber oil port of the rotary cylinder II and the B port of the manual / electrically controlled proportional reversing valve V, as control oil circuits for the two groups of balancing valves V. The T port of the manual / electrically controlled proportional reversing valve V is connected to the hydraulic oil tank. The A port of the manual / electric proportional reversing valve VI is connected to the A1 port of the balancing valve VI, the A2 port of the balancing valve VI is connected to the rodless chamber oil port of the lifting cylinder, the rod chamber oil port of the lifting cylinder is connected to the B port of the manual / electric proportional reversing valve VI, an oil circuit is led between the rod chamber oil port of the lifting cylinder and the B port of the manual / electric proportional reversing valve VI as the control oil circuit of the balancing valve VI, and the T port of the manual / electric proportional reversing valve VI is connected to the hydraulic oil tank; the A port of the manual / electric proportional reversing valve VII is connected to the A port of the clamping roller rotation motor, and the B port is connected to the B port of the clamping roller rotation motor. The T port of the manual / electric proportional reversing valve VII is connected to the hydraulic oil tank, and a two-way safety valve is installed between the manual / electric proportional reversing valve VII and the two sets of clamping roller rotation motors; The rotating platform motor is a two-speed hydraulic motor; The duplex pump pumps the hydraulic oil in the hydraulic oil tank to the P port of the reversing valve group I in the multi-way main control valve. The A port and B port of the reversing valve group I are connected to the A1 port and B1 port of the speed regulating valve I respectively. The A2 port and B2 port of the speed regulating valve I are connected to the A1 port and B1 port of the counterbalance valve block I respectively. The A2 port and B2 port of the counterbalance valve block I are connected to the A port and B port of the rotary platform motor respectively. The C port of the rotary platform motor is connected to the inlet of the pressure reducing valve I. The D port of the rotary platform motor, the outlet of the pressure reducing valve I and the T port of the reversing valve group I are connected to the hydraulic oil tank. Hydraulic pump II pumps the hydraulic oil in the hydraulic oil tank to the P port of the solenoid reversing valve. The first hydraulic oil at the A port of the solenoid reversing valve is connected to the P1 port and P2 port of the manual pressure reducing pilot valve I respectively. The A port and B port of the manual pressure reducing pilot valve I are connected to the A port control end and the B port control end of the reversing valve group I respectively. The T1 port and T2 port of the manual pressure reducing pilot valve I are connected to the hydraulic oil tank.

2. The electro-hydraulic controlled coal mine crawler pipeline installation system according to claim 1, characterized in that: It also includes a speed control valve II, a counterbalance valve block II, a pressure reducing valve II, a manual pressure reducing pilot valve II, a speed control valve III, a counterbalance valve block III, a pressure reducing valve III and a manual pressure reducing pilot valve III; The left and right travel motors are two-speed hydraulic motors; The duplex pump pumps the hydraulic oil in the hydraulic oil tank to the P port of the reversing valve group II in the multi-way main control valve. The A port and B port of the reversing valve group II are connected to the A1 port and B1 port of the speed regulating valve II respectively. The A2 port and B2 port of the speed regulating valve II are connected to the A1 port and B1 port of the counterbalance valve block II respectively. The A2 port and B2 port of the counterbalance valve block II are connected to the A port and B port of the left travel motor respectively. The C port of the left travel motor is connected to the inlet of the pressure reducing valve II. The D port of the left travel motor, the outlet of the pressure reducing valve II and the T port of the reversing valve group II are connected to the hydraulic oil tank. The second hydraulic oil of port A of the solenoid reversing valve is connected to ports P1 and P2 of the manual pressure reducing pilot valve II respectively. Port A and port B of the manual pressure reducing pilot valve II are connected to the control end of port A and the control end of port B of the reversing valve group II respectively. Port T1 and port T2 of the manual pressure reducing pilot valve II are connected to the hydraulic oil tank. The duplex pump pumps the hydraulic oil in the hydraulic oil tank to the P port of the reversing valve group III in the multi-way main control valve. The A port and B port of the reversing valve group III are connected to the A1 port and B1 port of the speed regulating valve III respectively. The A2 port and B2 port of the speed regulating valve III are connected to the A1 port and B1 port of the counterbalancing valve block III respectively. The A2 port and B2 port of the counterbalancing valve block III are connected to the A port and B port of the right travel motor respectively. The C port of the right travel motor is connected to the inlet of the pressure reducing valve III. The D port of the right travel motor, the outlet of the pressure reducing valve III and the T port of the reversing valve group III are connected to the hydraulic oil tank. The third hydraulic oil at port A of the solenoid reversing valve is connected to ports P1 and P2 of the manual pressure reducing pilot valve III respectively. Port A and port B of the manual pressure reducing pilot valve III are connected to the control end of port A and the control end of port B of the reversing valve group III respectively. Port T1 and port T2 of the manual pressure reducing pilot valve III are connected to the hydraulic oil tank.

3. The electro-hydraulic controlled coal mine crawler pipeline installation system according to claim 2, characterized in that: Also includes a pressure relief valve; The first pump at the outlet of hydraulic pump I is pumped to the P port of manual / electric proportional directional valve I, manual / electric proportional directional valve II, manual / electric proportional directional valve III, manual / electric proportional directional valve IV, manual / electric proportional directional valve V, manual / electric proportional directional valve VI, and manual / electric proportional directional valve VII: The second outlet of hydraulic pump I is connected to the P port of the pressure relief valve, the A port and the B port of the pressure relief valve are blocked, the T port of the pressure relief valve is connected to the hydraulic oil tank, and the P port and the T port of the pressure relief valve are connected under normal conditions.

4. The electro-hydraulic controlled coal mine crawler pipeline installation system according to claim 3, characterized in that: Also includes a safety valve; The third line of the hydraulic pump I outlet is connected to the inlet of the safety valve, and the outlet of the safety valve is connected to the hydraulic oil tank.

5. The electro-hydraulic controlled coal mine crawler pipeline installation system according to claim 4, characterized in that: It also includes a cooling motor, a cooling fan mounted on the cooling motor, and a radiator mounted on the oil return line; The inlet of the cooling motor is connected to the B port of the electromagnetic reversing valve, and the outlet is connected to the hydraulic oil tank. The cooling motor drives the cooling fan to rotate to cool the radiator.

6. The electro-hydraulic controlled coal mine crawler pipeline installation system according to claim 5, characterized in that: Filters are installed on the oil return line, between hydraulic pump II and the electromagnetic reversing valve, and on the outlet of hydraulic pump I. The hydraulic oil pumped by hydraulic pump I is divided into three paths through the filter.

7. The electro-hydraulic controlled coal mine crawler pipeline installation system according to claim 6, characterized in that: The oil line between the inlet of the hydraulic pump I and the hydraulic oil tank is connected to the inlet of the stop valve, and a pressure gauge is installed at the outlet of the stop valve.

8. The electro-hydraulic controlled coal mine crawler pipeline installation system according to claim 7, characterized in that: It also includes a manipulator control center; The boom lifting cylinder is equipped with a displacement sensor, which is used to transmit signals to the manipulator control center; The middle arm telescopic cylinder is equipped with a displacement sensor, which is used to transmit signals to the manipulator control center; The gripper clamping cylinder is equipped with a pressure sensor, which is used to transmit signals to the manipulator control center; The rotary cylinder is equipped with an angle sensor, which is used to transmit signals to the manipulator control center; The clamping roller rotation motor is equipped with a speed sensor, which is used to transmit signals to the manipulator control center; The manipulator control center controls the hand clamping cylinder, short arm lifting cylinder, middle arm telescopic cylinder, large arm lifting cylinder, rotary cylinder, lifting cylinder, and clamping roller rotation motor through manual / electric proportional reversing valve I, manual / electric proportional reversing valve II, manual / electric proportional reversing valve III, manual / electric proportional reversing valve IV, manual / electric proportional reversing valve V, manual / electric proportional reversing valve VI, and manual / electric proportional reversing valve VII respectively; The electromagnet of the pressure relief valve is controlled by the manipulator control center.

9. The electro-hydraulic controlled coal mine crawler pipeline installation system according to claim 8, characterized in that: It also includes personnel approach system, 360° line-of-sight remote control system, alarm system and vehicle control center; Based on the detection signals from the personnel approach system and the 360° visual range remote control system, the manipulator control center determines that when a person and / or obstacle is within the preset range, it controls the alarm system and issues a stop command to the vehicle control center. The travel motor is controlled by the vehicle control center.

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