A coal mine track type pipeline installation operation platform vehicle

Abstract

The present application provides a kind of coal mine track type pipeline installation operation platform vehicle, belong to the technical field of pipeline construction, including frame, track assembly and manipulator;Manipulator includes sliding platform, rotating platform, rotating platform motor, lifting cylinder, slewing shaft, slewing cylinder, slewing frame, large arm, large arm lifting cylinder, middle arm, middle arm telescopic cylinder, short arm, short arm lifting cylinder, pawl mechanism.The vehicle can effectively solve the problem of material lifting and pipeline operation in narrow space coal mine roadway, and the manipulator can realize the mutual switching of the two functions of transportation and pipeline lifting through quick-change mechanism.

Description

Technical Field

[0001] This invention belongs to the technical field of pipeline construction, and specifically discloses a tracked pipeline installation platform vehicle for coal mines. Background Technology

[0002] With the expansion of coal mining operations, the demand for underground pipelines for water supply and drainage, slurry removal, ventilation, and gas drainage has increased. The variety of pipeline types and specifications makes installation and laying difficult. Currently, pipeline installation mainly relies on manual labor and simple lifting devices. Pipelines are manually lifted onto side wall beams or brackets, and simple lifting devices are used to connect the steel pipes in mid-air. During connection, the steel pipes swing back and forth, and insufficient lighting makes the connection difficult. For example, laying 3km of water pipe requires 8-10 people per shift and takes approximately 40 days. The entire pipeline installation process is inefficient, labor-intensive, and poses safety hazards, seriously affecting the progress and quality of pipeline installation in the roadways. Summary of the Invention

[0003] To address the above issues, the applicant has conducted research on the cross-sectional dimensions of mine roadways and the laying and installation process of underground pipelines, and has provided a tracked pipeline installation platform vehicle for coal mines. This enables safe and rapid installation of underground pipelines in coal mines, which is of great significance for improving the working methods and conditions of underground workers and achieving the goal of reducing manpower and increasing efficiency.

[0004] This invention provides a tracked pipeline installation platform vehicle for coal mines, comprising a frame, a track assembly, and a manipulator. The manipulator includes 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 middle boom, a middle boom telescopic cylinder, a short boom, a short boom lifting cylinder, and a gripper mechanism. The track assembly is mounted on the left and right sides of the frame and connected by an H-shaped central connecting frame, driven by a travel motor. The sliding platform includes a fixed base and a sliding seat mounted on the fixed base. The fixed base is mounted on the frame via a quick-change mechanism, and the sliding seat can slide back, forth, left, and right on the fixed base. The rotating platform's fixed base is mounted 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. The system achieves horizontal rotation; the slewing frame is connected to the cylinder of the lifting cylinder via a slewing shaft; two slewing cylinders are installed on both sides of the slewing shaft, with their ends hinged to the cylinder of the lifting cylinder and the slewing frame respectively. The slewing frame achieves vertical rotation through the extension and retraction of the two slewing cylinders; the boom has a hollow structure, with its rear end hinged to the slewing frame via pin I; the boom lifting cylinder has its ends hinged to the slewing frame and the boom respectively, and its extension and retraction causes the boom to swing up and down around pin I; the middle arm is inserted from the front end of the boom, and its front end is hinged to the top of the short arm via pin II; the middle arm extension cylinder has its ends hinged to the boom and the middle arm respectively, and its extension and retraction causes the middle arm to extend from or retract into the boom; the short arm lifting cylinder has its ends hinged to the middle arm and the short arm respectively. The extension and retraction of the short boom lifting cylinder causes the short boom to swing up and down around pin II; the gripper mechanism includes a gripper mounting frame, a gripper mounting plate, gripper clamping cylinders, and grippers; the top surface of the gripper mounting frame is fixedly connected to the bottom end of the short boom, and the gripper mounting plate is vertically mounted on the bottom surface; two gripper clamping cylinders and two sets of grippers are respectively installed on both sides of the gripper mounting plate; each set of grippers includes a rotating shaft, a positioning shaft, a clamping assembly I, and a clamping assembly II; the clamping assembly I includes two opposing gripper clamping plates I, multiple clamping roller shafts I connecting the two gripper clamping plates I, and clamping rollers I installed on each clamping roller shaft I, and the clamping rollers I are rotatable; the clamping assembly II includes a clamping roller rotary motor, a transmission wheel, a transmission chain, and two opposing gripper... The system comprises a gripper plate II, multiple gripping roller shafts II connecting the two gripper plates II, and gripping rollers II mounted on each gripping roller shaft II. A drive wheel is mounted on the end of each gripping roller shaft II, and the drive wheels on the multiple gripping roller shafts II are connected by a drive chain. A gripping roller rotary motor is mounted on the gripper plate II, and its output shaft is connected to the drive wheel. The rotary motor drives the multiple gripping roller shafts II and their gripping rollers II to rotate synchronously via the drive wheel and drive chain. A rotating shaft passes through the gripper mounting plate, the top of the gripper plate I, and the top of the gripper plate II. A positioning shaft passes through the middle of the gripper plate I and the middle of the gripper plate II, and is fixedly connected to both gripper plates I and II.The top of the gripper clamping cylinder is hinged to the gripper mounting bracket, and the bottom is hinged to gripper clamping plate I or gripper clamping plate II. The extension and retraction of the gripper clamping cylinder causes the positioning shaft, clamping assembly I, and clamping assembly II to swing up and down around the rotation axis.

[0005] Furthermore, a slewing connecting frame is installed on the cylinder barrel of the lifting cylinder, and the slewing connecting frame is provided with a slewing shaft hole and a slewing cylinder mounting lug; the slewing frame is provided with a slewing cylinder mounting lug; the rear end of the slewing shaft is rotatably connected to the slewing shaft hole, and the front end is connected to the slewing frame by screws; both ends of the slewing cylinder are respectively connected to the slewing connecting frame and the slewing cylinder mounting lug on the slewing frame by mounting pins.

[0006] Furthermore, each gripper includes two sets of clamping components I and one set of clamping components II, with the clamping components II located between the two sets of clamping components I.

[0007] Furthermore, the clamping roller shaft I is fixed to the gripper clamping plate I by a cotter pin, and the clamping roller I is rotatably mounted on the clamping roller shaft I.

[0008] Furthermore, the aforementioned tracked pipeline installation platform vehicle for coal mines also includes a hydraulic oil tank, hydraulic pump I, manual / electric proportional directional valve I, balance valve I, manual / electric proportional directional valve II, balance valve II, manual / electric proportional directional valve III, balance valve III, manual / electric proportional directional valve IV, balance valve IV, manual / electric proportional directional valve V, balance valve V, manual / electric proportional directional valve VI, balance valve VI, manual / electric proportional directional valve VII, two-way safety valve, tandem pump, multi-way main control valve, speed control valve I, counterbalancing valve block I, pressure reducing valve I, hydraulic pump II, solenoid directional valve, manual pressure reducing pilot valve I, and an engine driving the tandem pump and hydraulic pump II; hydraulic pump I pumps hydraulic oil from the hydraulic oil tank. The hydraulic oil pump delivers oil to the P port of the manual / electric proportional directional valves I, II, III, IV, V, VI, and VII. The A port of the manual / electric proportional directional valve I is connected to the A1 port of two sets of balance valves I. The A2 ports of the two sets of balance valves I are connected to the rodless chamber ports of the two gripper cylinders. The rod chamber ports of the two gripper cylinders are connected to the B port of the manual / electric proportional directional valve I. An oil circuit is led out between the rod chamber ports of the gripper cylinders and the B port of the manual / electric proportional directional valve I as the balance valve I. The control oil circuit connects the T port of the manual / electric proportional directional valve I to the hydraulic oil tank; the A port of the manual / electric proportional directional valve II is connected to the A1 port of the balance valve II, the A2 port of the balance valve II is connected to the rodless chamber port of the short boom lifting cylinder, and the rod chamber port of the short boom lifting cylinder is connected to the B port of the manual / electric proportional directional valve II. An oil circuit is drawn between the rod chamber port of the short boom lifting cylinder and the B port of the manual / electric proportional directional valve II as the control oil circuit for the balance valve II. The T port of the manual / electric proportional directional valve II is connected to the hydraulic oil tank; the A port of the manual / electric proportional directional 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 port of the mid-arm telescopic cylinder. The rod chamber port of the mid-arm telescopic cylinder... The oil port is connected to port B of the manual / electric proportional directional valve III. An oil circuit is led out between the rod chamber oil port of the boom telescopic cylinder and port B of the manual / electric proportional directional valve III as the control oil circuit of the balance valve III. The T port of the manual / electric proportional directional valve III is connected to the hydraulic oil tank. The A port of the manual / electric proportional directional valve IV is connected to port A1 of the balance valve IV. The A2 port of the balance 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 port B of the manual / electric proportional directional valve IV. An oil circuit is led out between the rod chamber oil port of the boom lifting cylinder and port B of the manual / electric proportional directional valve IV as the control oil circuit of the balance valve IV. The T port of the manual / electric proportional directional valve IV is connected to the hydraulic oil tank.Port A of the manual / electric proportional directional valve V is connected to port A1 of two sets of balance valves V. Port A2 of the two sets of balance valves V is connected to the rodless chamber port of rotary cylinder I and the rod chamber port of rotary cylinder II, respectively. The rod chamber port of rotary cylinder I is connected to port B of the manual / electric proportional directional valve V. The rodless chamber port of rotary cylinder II is connected to port B of the manual / electric proportional directional valve V. Oil circuits are led out between the rod chamber port of rotary cylinder I and port B of the manual / electric proportional directional valve V, and between the rodless chamber port of rotary cylinder II and port B of the manual / electric proportional directional valve V, respectively, to serve as two sets of balance valves V. The control oil circuit of the balance valve V connects the T port of the manual / electric proportional directional valve V to the hydraulic oil tank; the A port of the manual / electric proportional directional valve VI connects to the A1 port of the balance valve VI, the A2 port of the balance valve VI connects to the rodless chamber port of the lifting cylinder, the rod chamber port of the lifting cylinder connects to the B port of the manual / electric proportional directional valve VI, and an oil circuit is drawn between the rod chamber port of the lifting cylinder and the B port of the manual / electric proportional directional valve VI as the control oil circuit of the balance valve VI; the T port of the manual / electric proportional directional valve VI connects to the hydraulic oil tank; the A port of the manual / electric proportional directional valve VII connects to the rotary motor of the clamping roller. Port A is connected to the hydraulic oil tank, and port B is connected to port B of the clamping roller rotary motor. Port T of the manual / electric proportional directional valve VII is connected to the hydraulic oil tank. A two-way safety valve is installed between the manual / electric proportional directional valve VII and the two sets of clamping roller rotary motors. The rotary platform motor is a dual-speed hydraulic motor. The dual pump pumps the hydraulic oil in the hydraulic oil tank to port P of the directional valve group I in the multi-way main control valve. Ports A and B of directional valve group I are connected to ports A1 and B1 of speed control valve I, respectively. Ports A2 and B2 of speed control valve I are connected to ports A1 and B1 of counterbalancing valve block I, respectively. Ports A2 and B2 of counterbalancing valve block I are connected to ports B1 and B1 of counterbalancing valve block I, respectively. Ports 2 and 3 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 directional valve assembly I are connected to the hydraulic oil tank. Hydraulic pump II pumps hydraulic oil from the hydraulic oil tank to port P of the solenoid directional valve. Port A of the solenoid directional 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 A and B of directional valve assembly I, respectively. Ports T1 and T2 of the manual pressure reducing pilot valve I are connected to the hydraulic oil tank.

[0009] Furthermore, the aforementioned tracked pipeline installation platform vehicle for coal mines also includes a pressure relief valve; the first path of the hydraulic pump I outlet pumps to the P port of the 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 path of the hydraulic pump I outlet is connected to the P port of the pressure relief valve, the A and B ports 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 T port of the pressure relief valve are normally connected.

[0010] Furthermore, the aforementioned tracked pipeline installation platform vehicle for coal mines also includes a safety valve; the third line of the outlet of hydraulic pump I is connected to the inlet of the safety valve, and the outlet of the safety valve is connected to the hydraulic oil tank.

[0011] Furthermore, the aforementioned tracked pipeline installation platform vehicle for coal mines also includes a cooling motor, a cooling fan mounted on the cooling motor, and a radiator mounted on the return oil pipeline; the inlet of the cooling motor is connected to port B 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.

[0012] Furthermore, the aforementioned tracked pipeline installation platform vehicle for coal mines also includes a robotic arm control center; the boom lifting cylinder is equipped with a displacement sensor, which transmits signals to the robotic arm control center; the mid-arm telescopic cylinder is equipped with a displacement sensor, which transmits signals to the robotic arm control center; the gripper clamping cylinder is equipped with a pressure sensor, which transmits signals to the robotic arm control center; the rotary cylinder is equipped with an angle sensor, which transmits signals to the robotic arm control center; and the clamping roller rotary motor is equipped with a speed sensor. The speed sensor is used to transmit signals to the robot control center. The robot control center controls the gripper clamping cylinder, short arm lifting cylinder, middle arm telescopic cylinder, large arm lifting cylinder, slewing cylinder, lifting cylinder, and gripping roller rotation motor through 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, respectively. The electromagnet of the pressure relief valve is controlled by the robot control center.

[0013] Furthermore, the aforementioned tracked pipeline installation platform vehicle for coal mines also includes a personnel approach system, a 360° line-of-sight remote control system, an alarm system, and a vehicle control center. Based on the detection signals from the personnel approach system and the 360° line-of-sight remote control system, the robotic arm control center determines whether personnel and / or obstacles are within a preset range, controls the alarm system, and issues a stop command to the vehicle control center. The travel motor is controlled by the vehicle control center.

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

[0015] 1) The above-mentioned tracked pipeline installation platform vehicle for coal mines uses an engine + dual pump to form an independent vehicle power. The tracked chassis can flexibly enter and exit roadways and has strong road adaptability. It is suitable for lifting and installing pipe materials. This vehicle can effectively solve the problem of material lifting and pipeline operation in narrow coal mine roadways. At the same time, the robotic arm can switch between transportation and pipeline lifting functions through a quick-change mechanism. The vehicle body width can be less than 3m and the overall size is small.

[0016] 2) The robotic arm adopts a compatible mode of remote control and manual control. In areas where the width of the roadway changes abruptly or there are protrusions on the sidewall, the control mode can be switched to adjust the posture of the robotic arm, thereby improving the roadway passage performance. The remote control and manual control functions are interlocked and operate independently, and can also serve as a backup in case one fails, thereby improving operability and safety.

[0017] 3) The gripper mechanism adopts a gripping roller rotary motor + transmission wheel + transmission chain transmission, which can clamp the pipe and then perform self-rotation installation and centering, solving the problems of difficult connection of multiple sections of aerial pipelines, low efficiency and poor safety.

[0018] 4) A personnel approach system is added to prevent personnel from approaching during the operation rotation. The distance to external objects is monitored and alarmed by multiple measurement points in different blind spots of the robot. A 360° camera is installed in the gripper mechanism to realize 360° line-of-sight remote control operation without blind spots. This solves the problem of uncertain position before pipe clamping when operating alone and improves the working efficiency of the equipment. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 Front view of a tracked pipeline installation platform vehicle for coal mines;

[0021] Figure 2 Right view of a tracked pipeline installation platform vehicle for coal mines;

[0022] Figure 3 Control principle diagram of a tracked pipeline installation platform vehicle for coal mines;

[0023] Figure 4 This is a schematic diagram of the robotic arm.

[0024] Figure 5 This is a schematic diagram of the gripper mechanism;

[0025] Figure 6 Schematic diagram of the rotation principle of clamping roller II;

[0026] Figure 7 Hydraulic schematic diagram of a tracked pipeline installation platform vehicle for coal mines;

[0027] Figure 8 for Figure 7 Enlarged view of the gripper mechanism (excluding the rotary platform motor);

[0028] Figure 9 for Figure 7 Enlarged view of the rotary platform motor and travel motor.

[0029] In the diagram: 1-Sliding platform; 2-Rotating platform; 3-Rotating platform motor; 4-Lifting cylinder; 5-Slewing shaft; 6-Slewing cylinder; 6.1-Slewing cylinder I; 6.2-Slewing cylinder II; 7-Slewing frame; 8-Up boom; 9-Up boom lifting cylinder; 10-Middle boom; 11-Middle boom telescopic cylinder; 12-Short boom; 13-Short boom lifting cylinder; 14-Grip mechanism; 14.1-Grip mounting frame; 14.2-Grip mounting plate; 14.3-Grip clamping cylinder; 14.4-Reinforcing shaft; 14.5-Rotating shaft; 14 14.6-Positioning axis; 14.7-Gripper gripping plate I; 14.8-Gripper roller I; 14.9-Gripper roller rotary motor; 14.10-Drive wheel; 14.11-Drive chain; 14.12-Gripper gripping plate II; 14.13-Gripper roller II; 15-Screw; 16-Pin I; 17-Pin II; 18-Slewing connecting frame; 19-Frame; 20-Crawler assembly; 21-H-type central connecting frame; 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-Balance valve I; 27-Manual / electric proportional directional valve II; 28-Balance valve II; 29-Manual / electric proportional directional valve III; 30-Balance valve III; 31-Manual / electric proportional directional valve IV; 32-Balance valve IV; 33-Manual / electric proportional directional valve V; 34-Balance valve V; 35-Manual / electric proportional directional valve VI; 36-Balance valve VI; 37-Manual / electric proportional directional valve VII; 38-Two-way safety valve; 39-Double valve Pump; 40-Multi-way main control valve; 41-Speed ​​control valve I; 42-Counteracting valve block I; 43-Pressure reducing valve I; 44-Hydraulic pump II; 45-Solenoid directional valve; 46-Manual pressure reducing pilot valve I; 47-Engine; 48-Relief valve; 49-Safety valve; 50-Speed ​​control valve II; 51-Counteracting valve block II; 52-Pressure reducing valve II; 53-Manual pressure reducing pilot valve II; 54-Speed ​​control valve III; 55-Counteracting valve block III; 56-Pressure reducing valve III; 57-Manual pressure reducing pilot valve III; 58-Cooling motor; 59-Radiator. Detailed Implementation

[0030] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] This embodiment provides a tracked pipeline installation platform vehicle for coal mines, including a frame 19, a track assembly 20, and a manipulator; the manipulator includes a sliding platform 1, a rotating platform 2, a rotating platform motor 3, a lifting cylinder 4, a slewing shaft 5, a slewing cylinder 6, a slewing frame 7, a boom 8, a boom lifting cylinder 9, a middle boom 10, a middle boom telescopic cylinder 11, a short boom 12, a short boom lifting cylinder 13, and a gripper mechanism 14.

[0032] The track assembly 20 is installed on the left and right sides of the frame 19, connected by the H-shaped central connecting frame 21, and driven by the travel motor 22.

[0033] The sliding platform 1 includes a fixed base and a sliding seat mounted on the fixed base. The fixed base is mounted on the frame 19 via a quick-change mechanism, and the sliding seat can slide back, forth, left, and right on the fixed base. The fixed base of the rotating platform 2 is mounted on the sliding seat, and the rotating seat is connected to the piston of the lifting cylinder 4. The rotating seat is driven by the rotating platform motor 3 to achieve horizontal rotation (including clockwise and counterclockwise rotation). The slewing frame 7 is connected to the cylinder of the lifting cylinder 4 via a slewing shaft 5. Two slewing cylinders 6 are mounted on both sides of the slewing shaft 5, and the two ends of the slewing cylinders 6 are respectively connected to the cylinder of the lifting cylinder 4 and the piston of the lifting cylinder 4. The rotating frame 7 is hinged, and its vertical rotation is achieved by the extension and retraction of two rotary cylinders 6. The boom 8 is a hollow structure, and its rear end is hinged to the rotating frame 7 via pin I 16. The two ends of the boom lifting cylinder 9 are hinged to the rotating frame 7 and the boom 8 respectively. The extension and retraction of the boom lifting cylinder 9 causes the boom 8 to swing up and down around pin I 16. The middle boom 10 is inserted from the front end of the boom 8, and its front end is hinged to the top of the short boom 12 via pin II 17. The two ends of the middle boom telescopic cylinder 11 are hinged to the boom 8 and the middle boom 10 respectively. The extension and retraction of the middle boom telescopic cylinder 11 causes the middle boom 10 to extend out of or retract into the boom 8. The short boom lifting cylinder 13 is hinged at both ends to the middle boom 10 and the short boom 12 respectively. The extension and retraction of the short boom lifting cylinder 13 causes the short boom 12 to swing up and down around the pin II 17. The gripper mechanism 14 includes a gripper mounting frame 14.1, a gripper mounting plate 14.2, a gripper clamping cylinder 14.3, and grippers. The top surface of the gripper mounting frame 14.1 is fixedly connected to the bottom end of the short boom 12 by bolts. The gripper mounting plate 14.2 is vertically mounted on the bottom surface. The two gripper mounting plates 14.2 are welded together by a reinforcing shaft 14.4. The two gripper clamping cylinders 14.3 and the two sets of grippers are respectively installed. On both sides of the gripper mounting plate 14.2; each gripper assembly includes a rotating shaft 14.5, a positioning shaft 14.6, a gripping assembly I, and a clamping assembly II; the gripping assembly I includes two opposing gripper gripping plates I 14.7, multiple gripping roller shafts I connecting the two gripper gripping plates I 14.7, and gripping rollers I 14.8 mounted on each gripping roller shaft I, the gripping rollers I 14.8 being rotatable; the clamping assembly II includes a gripping roller rotary motor 14.9, a transmission wheel 14.10, a transmission chain 14.11, and two opposing gripper gripping plates II.

[0034] 14.12 Multiple clamping roller shafts II connect the two gripper gripping plates II 14.12, and clamping rollers II 14.13 are mounted on each gripping roller shaft II; a drive wheel 14.10 is installed at the end of the clamping roller shaft II passing through the gripper gripping plate II 14.12, and the drive wheels 14.10 on the multiple gripping roller shafts II are connected by a drive chain 14.11; a gripping roller rotary motor 14.9 is mounted on the gripper gripping plate II 14.12, and its output shaft is connected to the drive wheel 14.10. The gripping roller rotary motor 14.9 drives the multiple clamping roller shafts II and the clamping rollers II 14.13 on them to rotate synchronously through the drive wheel 14.10 and the drive chain 14.11; the drive wheel 14.10 and the drive chain 14.11 can... The components include sprockets, chains, pulleys, and belts; a rotating shaft 14.5 passes through the top of the gripper mounting plate 14.2, the top of the gripper clamping plate I 14.7, and the top of the gripper clamping plate II 14.12; a positioning shaft 14.6 passes through the middle of the gripper clamping plate I 14.7 and the middle of the gripper clamping plate II 14.12, and is fixedly connected to the gripper clamping plate I 14.7 and the gripper clamping plate II 14.12; the top of the gripper clamping cylinder 14.3 is hinged to the gripper mounting frame 14.1, and the bottom is hinged to the gripper clamping plate I 14.7 or the gripper clamping plate II 14.12. The extension and retraction of the gripper clamping cylinder 14.3 causes the positioning shaft 14.6, the clamping assembly I, and the clamping assembly II to swing up and down around the rotating shaft 14.5, thereby opening and closing the gripper.

[0035] Furthermore, a rotary connecting frame 18 is installed on the cylinder of the lifting cylinder 4. The rotary connecting frame 18 is provided with a rotary shaft hole and a rotary cylinder mounting lug. A rotary cylinder mounting lug 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 screws 15. The two ends of the rotary cylinder 6 are respectively connected to the rotary connecting frame 18 and the rotary cylinder mounting lug on the rotary frame 7 by mounting pins.

[0036] Furthermore, each gripper includes two sets of clamping components I and one set of clamping components II, with the clamping components II located between the two sets of clamping components I.

[0037] Furthermore, the clamping roller shaft I is fixed to the gripper clamping plate I14.7 by a cotter pin, and the clamping roller I14.8 is rotatably mounted on the clamping roller shaft I.

[0038] Furthermore, the aforementioned tracked pipeline installation platform vehicle for coal mines also includes a hydraulic oil tank 23, a hydraulic pump I 24, a manual / electric proportional directional valve I 25, a balance valve I 26, a manual / electric proportional directional valve II 27, a balance valve II 28, a manual / electric proportional directional valve III 29, a balance valve III 30, a manual / electric proportional directional valve IV 31, a balance valve IV 32, a manual / electric proportional directional valve V 33, a balance valve V 34, a manual / electric proportional directional valve VI 35, a balance valve VI 36, a manual / electric proportional directional valve VII 37, a two-way safety valve 38, a double pump 39, a multi-way main control valve 40, a speed control valve I 41, a counterbalancing valve block I 42, a pressure reducing valve I 43, a hydraulic pump II 44, a solenoid directional valve 45, a manual pressure reducing pilot valve I 46, and a drive double pump. Engine 47 of pump 39 and hydraulic pump II 44; hydraulic pump I 24 pumps hydraulic oil from hydraulic oil tank 23 to port P of manual / electric proportional directional valve I 25, manual / electric proportional directional valve II 27, manual / electric proportional directional valve III 29, manual / electric proportional directional valve IV 31, manual / electric proportional directional valve V 33, manual / electric proportional directional valve VI 35, and manual / electric proportional directional valve VII 37; port A of manual / electric proportional directional valve I 25 is connected to port A1 of two sets of balance valves I 26, port A2 of the two sets of balance valves I 26 is connected to the rodless chamber port of the two gripper clamping cylinders 14.3, and the rod chamber ports of the two gripper clamping cylinders 14.3 are connected to port B of manual / electric proportional directional valve I 25, and the gripper clamping cylinders 14.3 are connected to the hydraulic oil in the hydraulic oil tank 23.An oil circuit is drawn from the rod-side port of valve 3 to port B of the manual / electric proportional directional valve I 25 as the control oil circuit for the balance valve I 26. Port T of the manual / electric proportional directional valve I 25 is connected to the hydraulic oil tank 23. Port A of the manual / electric proportional directional valve II 27 is connected to port A1 of the balance valve II 28. Port A2 of the balance valve II 28 is connected to the rodless port of the short boom lifting cylinder 13. The rod-side port of the short boom lifting cylinder 13 is connected to port B of the manual / electric proportional directional valve II 27. An oil circuit is drawn from port B to serve as the control oil circuit for balance valve II 28. Port T of manual / electric proportional directional valve II 27 is connected to hydraulic oil tank 23. Port A of manual / electric proportional directional valve III 29 is connected to port A1 of balance valve III 30. Port A2 of balance valve III 30 is connected to the rodless chamber port of boom telescopic cylinder 11. Port of the rod chamber port of boom telescopic cylinder 11 is connected to port B of manual / electric proportional directional valve III 29. An oil circuit is drawn from the rod chamber port of boom telescopic cylinder 11 to serve as the control oil circuit for balance valve III 30. The T port of the manual / electric proportional directional valve III 29 is connected to the hydraulic oil tank 23; the A port of the manual / electric proportional directional valve IV 31 is connected to the A1 port of the balance valve IV 32; the A2 port of the balance valve IV 32 is connected to the rodless chamber port of the boom lifting cylinder 9; the rod chamber port of the boom lifting cylinder 9 is connected to the B port of the manual / electric proportional directional valve IV 31; an oil circuit is led out between the rod chamber port of the boom lifting cylinder 9 and the B port of the manual / electric proportional directional valve IV 31 as the control oil circuit of the balance valve IV 32; and the T port of the manual / electric proportional directional valve IV 31 is connected to the hydraulic oil tank 23. Port A of the manual / electric proportional directional valve V33 is connected to Port A1 of the two sets of balance valves V34. Port A2 of the two sets of balance valves V34 is connected to the rodless chamber port of rotary cylinder I 6.1 and the rod chamber port of rotary cylinder II 6.2, respectively. The rod chamber port of rotary cylinder I 6.1 is connected to Port B of the manual / electric proportional directional valve V33. The rodless chamber port of rotary cylinder II 6.2 is connected to Port B of the manual / electric proportional directional valve V33. The rod chamber port of rotary cylinder I 6.1 is connected to Port B of the manual / electric proportional directional valve V33 and rotary cylinder II 6.2.Oil circuits are led out from the rodless chamber port of cylinder 2 and the B port of the manual / electric proportional directional valve V33 to serve as control oil circuits for two sets of balance valves V34. The T port of the manual / electric proportional directional valve V33 is connected to the hydraulic oil tank 23. The A port of the manual / electric proportional directional valve VI35 is connected to the A1 port of the balance valve VI36. The A2 port of the balance valve VI36 is connected to the rodless chamber port of the lifting cylinder 4. The rod chamber port of the lifting cylinder 4 is connected to the B port of the manual / electric proportional directional valve VI35. The rod chamber port of the lifting cylinder 4 is connected to the manual / electric proportional directional valve V34. An oil circuit is led out from port B of the proportional directional valve VI35 as the control oil circuit of the balance valve VI36. The T port of the manual / electric proportional directional valve VI35 is connected to the hydraulic oil tank 23. The A port of the manual / electric proportional directional valve VII37 is connected to the A port of the clamping roller rotary motor 14.9, and the B port is connected to the B port of the clamping roller rotary motor 14.9. The T port of the manual / electric proportional directional valve VII37 is connected to the hydraulic oil tank 23. A two-way safety valve 38 is installed between the manual / electric proportional directional valve VII37 and the two sets of clamping roller rotary motors 14.9. The rotary platform motor 3 is a dual-speed hydraulic motor; the dual pump 39 pumps hydraulic oil from the hydraulic oil tank 23 to the P port of the directional valve group I in the multi-way main control valve 40. The A and B ports of the directional valve group I are connected to the A1 and B1 ports of the speed control valve I 41, respectively. The A2 and B2 ports of the speed control valve I 41 are connected to the A1 and B1 ports of the counterbalancing valve block I 42, respectively. The A2 and B2 ports of the counterbalancing valve block I 42 are connected to the A and B ports of the rotary platform motor 3, respectively. The C port of the rotary platform motor 3 is connected to the inlet of the pressure reducing valve I 43. The D port of the rotating platform motor 3, the outlet of the pressure reducing valve I 43, and the T port of the directional valve group I are connected to the hydraulic oil tank 23. Hydraulic pump II 44 pumps hydraulic oil from the hydraulic oil tank to the P port of the solenoid directional valve 45. The first path of hydraulic oil from the A port of the solenoid directional valve 45 is connected to the P1 and P2 ports of the manual pressure reducing pilot valve I 46. The A and B ports of the manual pressure reducing pilot valve I 46 are connected to the A and B control terminals of the directional valve group I, respectively. The T1 and T2 ports of the manual pressure reducing pilot valve I 46 are connected to the hydraulic oil tank 23.

[0039] Furthermore, the aforementioned tracked pipeline installation platform vehicle for coal mines also includes a pressure relief valve 48; the first path of the hydraulic pump I 24 outlet pumps to the P port of the manual / electric proportional directional valve I 25, manual / electric proportional directional valve II 27, manual / electric proportional directional valve III 29, manual / electric proportional directional valve IV 31, manual / electric proportional directional valve V 33, manual / electric proportional directional valve VI 35, and manual / electric proportional directional valve VII 37; the second path of the hydraulic pump I 24 outlet is connected to the P port of the pressure relief valve 48, the A and B ports 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 and T port of the pressure relief valve 48 are normally connected.

[0040] Furthermore, the aforementioned tracked pipeline installation platform vehicle for coal mines also includes a safety valve 49; the third line of the outlet of hydraulic pump I 24 is connected to the inlet of safety valve 49, and the outlet of safety valve 49 is connected to hydraulic oil tank 23.

[0041] Furthermore, the aforementioned tracked pipeline installation platform vehicle for coal mines also includes a speed control valve II 50, a counterbalancing valve block II 51, a pressure reducing valve II 52, a manual pressure reducing pilot valve II 53, a speed control valve III 54, a counterbalancing 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 dual pump 39 pumps hydraulic oil from the hydraulic oil tank 23 to the P port of the directional valve group II in the multi-way main control valve 40, and the A and B ports of the directional valve group II are connected to the A1 and B1 ports of the speed control valve II 50, respectively. The A2 and B2 ports of the speed control valve II 50 are connected to the A1 and B1 ports of the counterbalancing valve block II 51, respectively. The A2 and B2 ports of the counterbalancing valve block II 51 are connected to the A and B ports 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 directional valve group II are connected to the hydraulic oil tank 23. The second hydraulic oil path of the A port of the solenoid directional valve 45 is connected to the P1 and P2 ports of the manual pressure reducing pilot valve II 53, respectively. Ports A and B of Ⅱ53 are connected to the control terminals A and B of directional valve group Ⅱ, respectively. Ports T1 and T2 of the manual pressure-reducing pilot valve Ⅱ53 are connected to the hydraulic oil tank 23. The dual pump 39 pumps the hydraulic oil from the hydraulic oil tank 23 to the P port of directional valve group Ⅲ in the multi-way main control valve 40. Ports A and B of directional valve group Ⅲ are connected to ports A1 and B1 of speed control valve Ⅲ54, respectively. Ports A2 and B2 of speed control valve Ⅲ54 are connected to ports A1 and B1 of counterbalancing valve block Ⅲ55, respectively. Ports A2 and B2 of counterbalancing valve block Ⅲ55 are connected to the right travel motor 2. 2.2 Connect ports A and B. Connect port C of right travel motor 22.2 to the inlet of pressure reducing valve III 56. Connect port D of right travel motor 22.2, outlet of pressure reducing valve III 56, and port T of directional valve group III to hydraulic oil tank 23. Connect the third hydraulic oil of port A of electromagnetic directional valve 45 to ports P1 and P2 of manual pressure reducing pilot valve III 57. Connect ports A and B of manual pressure reducing pilot valve III 57 to control terminals A and B of directional valve group III. Connect ports T1 and T2 of manual pressure reducing pilot valve III 57 to hydraulic oil tank 23.

[0042] Furthermore, the aforementioned tracked pipeline installation platform vehicle for coal mines also includes a cooling motor 58, a cooling fan mounted on the cooling motor 58, and a radiator 59 mounted on the return oil pipeline; the inlet of the cooling motor 58 is connected to port B 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.

[0043] Furthermore, the aforementioned tracked pipeline installation platform vehicle for coal mines also includes a robotic arm control center; the boom lifting cylinder 9 is equipped with a displacement sensor, which transmits signals to the robotic arm control center; the mid-arm telescopic cylinder 11 is equipped with a displacement sensor, which transmits signals to the robotic arm control center; the gripper clamping cylinder 14.3 is equipped with a pressure sensor, which transmits signals to the robotic arm control center; the rotary cylinder 6 is equipped with an angle sensor, which transmits signals to the robotic arm control center; and the clamping roller rotary motor 14.9 is equipped with a speed sensor, which transmits signals to the robotic arm control center. The central transmission signal; based on the detection signals from each sensor, the robot control center controls the gripper clamping cylinder 14.3, short arm lifting cylinder 13, middle arm telescopic cylinder 11, large arm lifting cylinder 9, rotary cylinder 6, lifting cylinder 4, and clamping roller rotary motor 14.9 respectively through the manual / electric proportional directional valve I 25, manual / electric proportional directional valve II 27, manual / electric proportional directional valve III 29, manual / electric proportional directional valve IV 31, manual / electric proportional directional valve V 33, manual / electric proportional directional valve VI 35, and manual / electric proportional directional valve VII 37; the electromagnet of the pressure relief valve 48 is controlled by the robot control center.

[0044] Furthermore, the aforementioned tracked pipeline installation platform vehicle for coal mines also includes a personnel approach system, a 360° line-of-sight remote control system, an alarm system, and a vehicle control center. Based on the detection signals from the personnel approach system and the 360° line-of-sight remote control system, the robotic arm control center determines whether personnel and / or obstacles are within a preset range, controls the alarm system, and issues a stop command to the vehicle control center. The walking motor 22 is controlled by the vehicle control center.

[0045] Furthermore, the engine 47 is an explosion-proof high-pressure common rail electronically controlled diesel engine, and all valve groups are explosion-proof valves. The reversing valve group in the multi-way main control valve 40 is equipped with a safety valve and a fuel replenishment valve.

[0046] The movement of the aforementioned tracked pipeline installation platform vehicle in coal mines is achieved by controlling the left and right travel motors. The working process of the left and right travel motors is the same, and the description is based on the left travel motor 22.1 as an example:

[0047] Under normal conditions, the P1 port of the manual pressure reducing pilot valve II53 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.

[0048] Engine 47 operates, driving the dual pump 39 and hydraulic pump II 44. Hydraulic pump II 44 pumps hydraulic oil to port P of solenoid directional valve 45. The vehicle control center controls the connection between port P and port A of solenoid directional valve 45. Hydraulic oil flows from port A of solenoid directional valve 45 to ports P1 and P2 of manual pressure-reducing pilot valve II 53. The manual pressure-reducing pilot valve II 53 is operated so that port P1 is connected to port A, port A is disconnected from port T1, port P2 is disconnected from port B, and port B is connected to port T2. Pilot control oil is supplied by the manual pressure-reducing pilot valve. The hydraulic oil flows from port A of Ⅱ53 to the control terminal of port A of directional valve group Ⅱ, making port A of directional valve group Ⅱ connected with port P and port B connected with port T. The double pump 39 pumps the hydraulic oil to port P of directional valve group Ⅱ, and through port A of directional valve group Ⅱ, ports A1 and A2 of speed control valve Ⅱ50, ports A1 and A2 of counterbalance valve block Ⅱ51, it 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 Ⅱ52 through port C of left travel motor 22.1 and flows back to hydraulic oil tank 23.

[0049] When the manual pressure-reducing pilot valve II 53 is operated, port P1 is disconnected from port A, port A is connected to port T1, port P2 is connected to port B and disconnected, and port B is disconnected from port T2. 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 directional valve group II, so that port B of the directional valve group II is connected to port P, and port A is connected to port T. The double pump 39 pumps the hydraulic oil to port P of the directional valve group II, and through port B of the directional valve group II, ports B1 and B2 of the speed control valve II 50, ports B1 and B2 of the counterbalance valve block II 51, it 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.

[0050] The grabbing process of the aforementioned tracked pipeline installation platform vehicle in coal mines is described below:

[0051] The working process of the rotary platform motor 3 is the same as that of the walking motor 22;

[0052] The power source for the gripper clamping cylinder 14.3, short boom lifting cylinder 13, middle boom telescopic cylinder 11, large boom lifting cylinder 9, slewing cylinder 6, lifting cylinder 4, and clamping roller rotary motor 14.9 is provided by hydraulic pump I24. Under normal conditions, all manual / electric proportional directional valves are de-energized. The pressure oil from hydraulic pump I24 returns to the hydraulic oil tank 23 through the P and T ports of the pressure relief valve 48. The system is in an unloaded state, and the system pressure is set by safety valve 49.

[0053] When materials need to be grasped, the robot 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, so that the hydraulic pump I24 can be loaded and operated.

[0054] The robot control center outputs a signal or operates manually to connect port P of the manual / electric proportional directional valve IV31 to port B. Pressure oil enters the rod chamber of the boom lifting cylinder 9 through port B of the manual / electric proportional directional valve IV31, pushing the piston rod to retract. After compression, a signal is sent to the robot control center via a displacement sensor installed in the boom lifting cylinder 9 to de-energize the manual / electric proportional directional valve IV31. Alternatively, manual de-energization causes the manual / electric proportional directional valve IV31 to return to the neutral position under the action of the return spring. The boom lifting cylinder 9 is then locked by the balance valve IV32, and the boom 8 swings downward around the pin I16. When port P of the manual / electric proportional directional valve IV31 connects to port A, the boom 8 swings upward around the pin I16.

[0055] The extension and retraction of the telescopic cylinder 11 of the middle arm is adjusted according to the distance from the material. The robot control center outputs a signal or operates manually to connect the P port of the manual / electric proportional directional valve III 29 to the A port. The pressurized oil enters the rodless chamber of the telescopic cylinder 11 through the A port of the manual / electric proportional directional valve III 29 and the balance valve III 30, pushing the piston rod to extend. After extending to the correct position, the displacement sensor installed in the telescopic cylinder 11 sends a signal to the robot control center to de-energize the manual / electric proportional directional valve III 29, or manually de-energizes it, causing the manual / electric proportional directional valve III 29 to return to the neutral position under the action of the return spring. The telescopic cylinder 11 is locked by the balance valve III 30, and the middle arm 10 extends. When the P port of the manual / electric proportional directional valve III 29 connects to the B port, the middle arm 10 retracts.

[0056] The robot control center outputs a signal or manually operates to connect port P of the manual / electric proportional directional valve II 27 to port A. Pressure oil then enters the rodless chamber of the short boom lifting cylinder 13 via port A of the manual / electric proportional directional valve II 27 and balance valve II 28, pushing the piston rod to extend. Once extended, the robot control center de-energizes the manual / electric proportional directional valve II 27, or manually de-energizes it, causing the valve to return to its neutral position under the action of the return spring. The short boom lifting cylinder 13 is locked by balance valve II 28, and the short boom 12 swings upward around pin II 17. When port P of the manual / electric proportional directional valve II 27 connects to port B, the middle boom 10 swings downward around pin II 17.

[0057] The robot control center outputs a signal or operates manually to connect port P of the manual / electric proportional directional valve I25 to port B. Pressure oil enters the rod chamber of the two gripper clamping cylinders 14.3 through port B of the manual / electric proportional directional valve I25, pushing the piston rod to retract. After retraction, the robot control center de-energizes the manual / electric proportional directional valve I25, or manually de-energizes it, causing the valve to return to the neutral position under the action of the return spring. At this time, the grippers open... When the valve is opened and approaches the material to be grabbed, after centering, the P port of the manual / electric proportional directional valve I25 is connected to the A port. The pressure oil enters the rodless chamber of the two gripper clamping cylinders 14.3 through the A port of the manual / electric proportional directional valve I25 and the balance valve I26, pushing out the piston rod and clamping the material. When the pressure reaches the preset value, the pressure sensor sends a signal, the manual / electric proportional directional valve I25 is de-energized, and the balance valve I26 locks it to prevent deformation of pipes of different diameters and materials when clamped.

[0058] When installing pipelines, the manual / electric proportional directional valve VII37 can be used to switch the clamping roller rotation motor 14.9 to drive the pipeline to rotate and align the mounting holes of the connecting flange.

[0059] When there is a deviation in the aerial angle, the manual / electric proportional directional valve V33 can be switched to extend or retract the slewing cylinders I 6.1 and II 6.2 for rotation and attitude adjustment. When the P port of the manual / electric proportional directional valve V33 is connected to the A port, the pressure oil passes through the balance valve V34 and reaches the rodless chamber of the slewing cylinder I 6.1 and the rod chamber of the slewing cylinder II 6.2. The slewing cylinder I 6.1 extends and the slewing cylinder II 6.2 retracts, causing the slewing frame 7 to rotate around the slewing shaft 5 in one direction. When the P port of the manual / electric proportional directional valve V33 is connected to the B port, the pressure oil reaches the rod chamber of the slewing cylinder I 6.1 and the rodless chamber of the slewing cylinder II 6.2. The slewing cylinder I 6.1 retracts and the slewing cylinder II 6.2 extends, causing the slewing frame 7 to rotate around the slewing shaft 5 in the other direction.

[0060] The overall lifting of the slewing frame 7 can be adjusted by switching the manual / electric proportional directional valve VI35 according to the usage conditions. When lifting is required, the P port of the manual / electric proportional directional valve VI35 is connected to the A port, and the pressure oil passes through the balance valve VI36 to the rodless chamber of the lifting cylinder 4, pushing the cylinder to lift, and the slewing frame 7 is raised as a whole; the P port of the manual / electric proportional directional 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.

[0061] When the personnel approach system detects that someone is approaching, or the 360° line-of-sight remote control system detects that the distance between the entire machine and surrounding obstacles exceeds the preset range, the robot control center controls the pressure relief valve 48P port to connect to the T port. The pressurized oil flows through the P port and T port of the valve to connect to the hydraulic oil tank 23, the hydraulic pump I 24 is unloaded, the system stops operating, and locks itself in the current position to avoid safety accidents. At the same time, the robot control center controls the alarm system to issue an alarm and sends a stop command to the vehicle control center. The vehicle control center then controls the walking motor 22 to stop working.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tracked pipeline installation platform vehicle for coal mines, characterized in that, Includes the frame, track assembly, and robotic arm; The robotic arm includes a sliding platform, a rotating platform, a rotating platform motor, a lifting cylinder, a rotary shaft, a rotary cylinder, a rotary frame, a main arm, a main arm lifting cylinder, a middle arm, a middle arm telescopic cylinder, a short arm, a short arm lifting cylinder, and a gripper mechanism. The track assembly is installed on the left and right sides of the frame, connected by an H-shaped central connecting frame, and driven by a travel motor; The sliding platform includes a fixed base and a sliding seat mounted on the fixed base. The fixed base is mounted on the frame via a quick-change mechanism, and the sliding seat can slide back, forth, left, and right on the fixed base. The fixed seat of the rotating platform is mounted 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 achieve horizontal rotation; The slewing frame is connected to the cylinder 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 respectively hinged to the cylinder of the lifting cylinder and the rotary frame. The rotary frame achieves vertical rotation by extending and retracting the two rotary cylinders. The boom has a hollow structure, and its rear end is hinged to the slewing frame via pin I. The two ends of the boom lifting cylinder are respectively hinged to the slewing frame and the boom. The extension and retraction of the boom lifting cylinder causes the boom to swing up and down around the pin I. The middle arm is inserted from the front end of the upper arm, and the front end is hinged to the top end of the short arm by pin II. The two ends of the telescopic cylinder are respectively hinged to the upper arm and the middle arm. The telescopic cylinder extends and retracts to make the middle arm extend out of the upper arm or retract into the upper arm. The two ends of the short arm lifting cylinder are respectively hinged to the middle arm and the short arm. The extension and retraction of the short arm lifting cylinder causes the short arm to swing up and down around the pin II. The gripper mechanism includes a gripper mounting frame, a gripper mounting plate, a gripper clamping cylinder, and a gripper. The top surface of the gripper mounting bracket is fixedly connected to the bottom end of the short arm, and a gripper mounting plate is vertically mounted on the bottom surface. Two grippers clamp the hydraulic cylinder and two sets of grippers are respectively installed on both sides of the gripper mounting plate; Each set of grippers includes a rotary axis, a positioning axis, a clamping assembly I, and a clamping assembly II; The clamping assembly I includes two opposing gripper plates I, multiple clamping roller shafts I connecting the two gripper plates I, and clamping rollers I installed on each clamping roller shaft I. The clamping rollers I are rotatable. The clamping assembly II includes a clamping roller rotary motor, a transmission wheel, a transmission chain, two opposing gripper plates II, multiple gripping roller shafts II connecting the two gripper plates II, and a clamping roller II installed on each gripping roller shaft II; The clamping roller shaft II is equipped with a transmission wheel at the end that passes through the gripper clamping plate II, and the transmission wheels on multiple clamping roller shafts II are connected by a transmission chain; The gripping roller rotary motor is mounted on the gripper plate II, and its output shaft is connected to the transmission wheel. The gripping roller rotary motor drives multiple gripping roller shafts II and the gripping rollers II on them to rotate synchronously through the transmission wheel and transmission chain. The rotating shaft passes through the top of the gripper mounting plate, the top of gripper clamping plate I, and the top of gripper clamping plate II; The positioning shaft passes through the middle of gripper plate I and gripper plate II, and is fixedly connected to gripper plate I and gripper plate II. The top end of the gripper clamping cylinder is hinged to the gripper mounting frame, and the bottom end is hinged to gripper clamping plate I or gripper clamping plate II. The extension and retraction of the gripper clamping cylinder causes the positioning shaft, clamping component I and clamping component II to swing up and down around the rotation axis.

2. The tracked pipeline installation platform vehicle for coal mines according to claim 1, characterized in that, The cylinder of the lifting cylinder is equipped with a rotary connecting frame, which has a rotary shaft hole and a rotary cylinder mounting lug. The slewing frame is equipped with a slewing cylinder mounting lug; The rear end of the rotary shaft is rotatably connected to the rotary shaft hole, and the front end is connected to the rotary frame by screws; The two ends of the rotary cylinder are connected to the rotary connecting frame and the rotary cylinder mounting lug on the rotary frame respectively by mounting pins.

3. The tracked pipeline installation platform vehicle for coal mines according to claim 2, characterized in that, Each gripper includes two sets of gripping components I and one set of clamping components II, with the clamping components II located between the two sets of gripping components I.

4. The tracked pipeline installation platform vehicle for coal mines according to claim 3, characterized in that, The clamping roller shaft I is fixed to the gripper clamping plate I by a cotter pin, and the clamping roller I is rotatably mounted on the clamping roller shaft I.

5. The tracked pipeline installation platform vehicle for coal mines according to claim 4, characterized in that, It also includes a hydraulic oil tank, hydraulic pump I, manual / electric proportional directional valve I, balance valve I, manual / electric proportional directional valve II, balance valve II, manual / electric proportional directional valve III, balance valve III, manual / electric proportional directional valve IV, balance valve IV, manual / electric proportional directional valve V, balance valve V, manual / electric proportional directional valve VI, balance valve VI, manual / electric proportional directional valve VII, two-way safety valve, tandem pump, multi-way main control valve, speed control valve I, counterbalance valve block I, pressure reducing valve I, hydraulic pump II, solenoid directional valve, manual pressure reducing pilot valve I, and the engine that drives the tandem pump and hydraulic pump II; Hydraulic pump I pumps hydraulic oil from the hydraulic oil tank 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; Port A of the manual / electric proportional directional valve I is connected to Port A1 of the two sets of balance valves I. Port A2 of the two sets of balance valves I is connected to the rodless chamber oil port of the two gripper clamping cylinders respectively. Ports of the rod chamber oil ports of the two gripper clamping cylinders are connected to Port B of the manual / electric proportional directional valve I respectively. An oil circuit is led out between the rod chamber oil port of the gripper clamping cylinder and Port B of the manual / electric proportional directional valve I as the control oil circuit of the balance valve I. Port T of the manual / electric proportional directional valve I is connected to the hydraulic oil tank. Port A of the manual / electric proportional directional valve II is connected to port A1 of the balance valve II. Port A2 of the balance valve II is connected to the rodless chamber port of the short boom lifting cylinder. Port of the rod chamber of the short boom lifting cylinder is connected to port B of the manual / electric proportional directional valve II. An oil circuit is led out between the rod chamber port of the short boom lifting cylinder and port B of the manual / electric proportional directional valve II as the control oil circuit of the balance valve II. Port T of the manual / electric proportional directional valve II is connected to the hydraulic oil tank. Port A of the manual / electric proportional directional valve III is connected to port A1 of the balance valve III. Port A2 of the balance valve III is connected to the rodless chamber oil port of the telescopic cylinder of the arm. Port of the rod chamber oil port of the telescopic cylinder of the arm is connected to port B of the manual / electric proportional directional valve III. An oil circuit is led out between the rod chamber oil port of the telescopic cylinder of the arm and port B of the manual / electric proportional directional valve III as the control oil circuit of the balance valve III. Port T of the manual / electric proportional directional valve III is connected to the hydraulic oil tank. Port A of the manual / electric proportional directional valve IV is connected to port A1 of the balance valve IV. Port A2 of the balance valve IV is connected to the rodless chamber port of the boom lifting cylinder. Port of the rod chamber of the boom lifting cylinder is connected to port B of the manual / electric proportional directional valve IV. An oil circuit is led out between the rod chamber port of the boom lifting cylinder and port B of the manual / electric proportional directional valve IV as the control oil circuit of the balance valve IV. Port T of the manual / electric proportional directional valve IV is connected to the hydraulic oil tank. Port A of the manual / electric proportional directional valve V is connected to Port A1 of the two sets of balance valves V. Port A2 of the two sets of balance valves V is connected to the rodless chamber port of rotary cylinder I and the rod chamber port of rotary cylinder II, respectively. The rod chamber port of rotary cylinder I is connected to Port B of the manual / electric proportional directional valve V. The rodless chamber port of rotary cylinder II is connected to Port B of the manual / electric proportional directional valve V. Oil circuits are led out between the rod chamber port of rotary cylinder I and Port B of the manual / electric proportional directional valve V, and between the rodless chamber port of rotary cylinder II and Port B of the manual / electric proportional directional valve V, respectively, as control oil circuits for the two sets of balance valves V. Port T of the manual / electric proportional directional valve V is connected to the hydraulic oil tank. Port A of the manual / electric proportional directional valve VI is connected to port A1 of the balance valve VI. Port A2 of the balance valve VI is connected to the rodless chamber port of the lifting cylinder. Port of the rod chamber port of the lifting cylinder is connected to port B of the manual / electric proportional directional valve VI. An oil circuit is led out between the rod chamber port of the lifting cylinder and port B of the manual / electric proportional directional valve VI as the control oil circuit for the balance valve VI. Port T of the manual / electric proportional directional valve VI is connected to the hydraulic oil tank. Port A of the manual / electric proportional directional valve VII is connected to port A of the clamping roller rotary motor, and port B is connected to port B of the clamping roller rotary motor. Port T of the manual / electric proportional directional valve VII is connected to the hydraulic oil tank. A two-way safety valve is installed between the manual / electric proportional directional valve VII and the two sets of clamping roller rotary motors. The rotary platform motor is a dual-speed hydraulic motor; The dual pump pumps the hydraulic oil in the hydraulic oil tank to the P port of the directional valve group I in the multi-way main control valve. The A and B ports of the directional valve group I are connected to the A1 and B1 ports of the speed control valve I, respectively. The A2 and B2 ports of the speed control valve I are connected to the A1 and B1 ports of the counterbalance valve block I, respectively. The A2 and B2 ports of the counterbalance valve block I are connected to the A and B ports 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 directional valve group I are connected to the hydraulic oil tank. Hydraulic pump II pumps hydraulic oil from the hydraulic oil tank to port P of the solenoid directional valve. Port A of the solenoid directional valve is connected to ports P1 and P2 of the manual pressure reducing pilot valve I. Ports A and B of the manual pressure reducing pilot valve I are connected to the control terminals A and B of the directional valve group I. Ports T1 and T2 of the manual pressure reducing pilot valve I are connected to the hydraulic oil tank.

6. The tracked pipeline installation platform vehicle for coal mines according to claim 5, characterized in that, It also includes a pressure relief valve; The first pump from the outlet of hydraulic pump I delivers power to the P port of manual / electric proportional directional valves I, II, III, IV, V, VI, and VII: The second outlet of hydraulic pump I is connected to port P of the pressure relief valve. Ports A and B of the pressure relief valve are blocked. Port T of the pressure relief valve is connected to the hydraulic oil tank. Under normal conditions, port P and port T of the pressure relief valve are connected.

7. The tracked pipeline installation platform vehicle for coal mines according to claim 6, characterized in that, It also includes safety valves; The third outlet of hydraulic pump I is connected to the inlet of the safety valve, and the outlet of the safety valve is connected to the hydraulic oil tank.

8. The tracked pipeline installation platform vehicle for coal mines according to claim 7, characterized in that, It also includes a cooling motor, a cooling fan mounted on the cooling motor, and a radiator installed on the oil return line; The inlet of the cooling motor is connected to port B of the solenoid directional valve, and the outlet is connected to the hydraulic oil tank. The cooling motor drives the cooling fan to rotate to cool the radiator.

9. The tracked pipeline installation platform vehicle for coal mines according to claim 8, characterized in that, It also includes the robotic arm control center; The boom lifting cylinder is equipped with a displacement sensor, which is used to transmit signals to the robot control center. The telescopic cylinder of the middle arm is equipped with a displacement sensor, which is used to transmit signals to the control center of the robot arm. The gripper clamping cylinder is equipped with a pressure sensor, which is used to transmit signals to the robot control center. The rotary cylinder is equipped with an angle sensor, which is used to transmit signals to the robot control center. The gripping roller rotary motor is equipped with a speed sensor, which is used to transmit signals to the robot control center. The robotic arm control center controls the gripper clamping cylinder, short arm lifting cylinder, middle arm telescopic cylinder, large arm lifting cylinder, slewing cylinder, lifting cylinder, and gripping roller rotation motor through 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, respectively. The electromagnet of the pressure relief valve is controlled by the robotic arm control center.

10. The tracked pipeline installation platform vehicle for coal mines according to claim 9, characterized in that, It also includes a personnel access system, a 360° line-of-sight remote control system, an alarm system, and a vehicle control center; Based on the detection signals from the personnel approach system and the 360° line-of-sight remote control system, the robotic arm control center determines when personnel and / or obstacles are within a preset range, 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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