A mine arch mounting trolley

Abstract

The present application relates to mine roadway arch construction technology field, especially relates to a mine arch mounting trolley.The present application relates to a mine arch mounting trolley, which is connected with the mounting trolley frame by an arm assembly, and the other end of the arm assembly is connected with a telescopic working platform.Three mechanical hands are arranged on the telescopic working platform, and a winch is arranged on the mechanical hand and the telescopic working platform.Compared with the prior art, the articulated mounting trolley has high flexibility, and is convenient for small cross-section roadway scene change;the telescopic working platform expands the working range of workers, and the workers can not only operate the mechanical hand on the fixed platform, but also can work on the left and right telescopic platforms;one arm is arranged, which can reserve more moving space, so as to adapt to small cross-section arch;the winch and the mechanical hand are coordinated, the arch is lifted by the rope, and the arch work can be realized in the narrow space.

Description

Technical Field

[0001] This invention relates to the field of arch construction technology in mine roadways, and more particularly to an arch frame installation trolley for mines. Background Technology

[0002] In mine tunnel construction, when the surrounding rock is of poor quality, arch support is often required to improve the stability of the surrounding rock.

[0003] Traditionally, the operation was entirely manual: workers stood on the core soil or a fixed steel platform, in groups of two or three, using their shoulders or simple tools to support the arches. This manual arch erection method suffers from harsh working conditions, high risks, high labor intensity, and low construction efficiency. Techniques have emerged to use mechanized equipment to replace manual labor for arch installation. This typically involves installing an aerial work platform and a robotic arm at the end of a vehicle's boom. Multiple booms are used, and the arches are installed by moving the booms to the appropriate positions.

[0004] The width × height of a mine roadway is approximately 4m × 4m to 5m × 5m. Due to the limited space in the mine roadway, there are more than one existing arch frame installation trolley boom, which makes it impossible to freely tilt and swing within the roadway. The arch frames on both sides need to be manually supported, which has problems such as harsh working environment, high labor intensity, high risk, and poor construction quality. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a mining arch frame installation trolley, which solves the technical problem that the existing arch frame installation trolleys cannot operate in the narrow space of mining roadways.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the main technical solution adopted by the present invention includes: a mining arch frame installation trolley, comprising an articulated frame, a boom assembly, a telescopic working platform, and a manipulator. The telescopic working platform includes a central fixed platform, a left telescopic platform, a right telescopic platform, and a platform winch. The left and right telescopic platforms are located on both sides of the central fixed platform and are telescopically extended and retracted via telescopic actuators. The manipulator includes a left manipulator, a right manipulator, and a central manipulator. The central manipulator is located at the center of the front end of the telescopic working platform, and a platform winch is located on each side of the central manipulator at the front end of the telescopic working platform. The left and right manipulators are respectively located on the left and right sides of the rear end of the telescopic working platform. The left winch is detachably mounted on the upper end of the left manipulator, and the right winch is detachably mounted on the upper end of the right manipulator. One end of the boom assembly is hinged to the rear end of the telescopic working platform, and the other end of the boom assembly is detachably connected to the front end of the frame.

[0009] Optionally, the frame includes a front frame and a rear frame, which are hinged together.

[0010] Optionally, the boom assembly includes an outer boom, an inner boom, a boom mounting base, a boom mounting plate, a first telescopic actuator, a lifting actuator, a leveling actuator, and a bending plate. The boom mounting base is mounted on the front frame and has upper and lower boom mounting plates. The outer boom is movably connected to the upper boom mounting plate, and the outer boom is connected to the inner boom via the first telescopic actuator. The outer boom is connected to the lower boom mounting plate via two lifting actuators. A bending plate is provided at the front end of the inner boom. One end of the leveling actuator is hinged to the bending plate, and the other end of the leveling actuator is hinged to the telescopic work platform.

[0011] Optionally, the telescopic work platform includes a central fixed platform, a left telescopic platform, a right telescopic platform, a work platform winch, a work platform swivel, a central robot arm mounting base, a left robot arm mounting base, and a right robot arm mounting base. A work platform swivel is hinged to a leveling drive at the rear center of the central fixed platform. A work platform winch is mounted on each of the left and right sides of the front end of the central fixed platform. A central robot arm is detachably connected to the central fixed platform via the central robot arm mounting base between the two winches. A left robot arm mounting base connected to the left robot arm and a right robot arm mounting base connected to the right robot arm are located at the lower part of the central fixed platform. The lower part of the left telescopic platform is connected to the central fixed platform via a second telescopic drive, and the upper part of the left telescopic platform is inserted into the central fixed platform. The lower end of the right telescopic platform is connected to the central fixed platform via a third telescopic drive, and the upper part of the right telescopic platform is inserted into the central fixed platform.

[0012] Optionally, the manipulator includes an outer arm, an inner arm, a clamping mechanism, a reducer, and a fourth telescopic actuator. The reducer is detachably fixed to the rear end of the outer arm, one end of the fourth telescopic actuator is hinged inside the outer arm, the other end of the fourth telescopic actuator is hinged inside the inner arm, and the clamping mechanism is detachably installed at the front end of the inner arm.

[0013] Optionally, the clamping mechanism includes a gripper, an arched limit block, a clamping driver, and a gripper platform. The bottom of the gripper platform is detachably connected to the inner arm of the manipulator. The top of the gripper platform is hinged to the gripper via a first pin. The four grippers are distributed at the four corners. The clamping driver is hinged to the bottom of the gripper via a second pin. An arched limit block is provided on the top of the gripper platform between the four grippers.

[0014] Optionally, the left manipulator includes a left rotary reducer, a left outer arm, a left inner arm, a left hinge seat, a left first yaw drive, a left yaw frame, a left yaw arm, a left winch, a left diagonal brace arm, a left second yaw drive, a left guide pulley, and a left first telescopic drive. The left outer arm is detachably connected to the left rotary reducer, and the interior of the left outer arm is connected to the interior of the left inner arm via the left first telescopic drive. One end of the left hinge seat is detachably connected to the left inner arm, and the other end of the left hinge seat is hinged to the left inner arm via a pin. At the bottom of the left sway arm, the left diagonal brace is detachably connected to the upper end of the left sway arm, and two left guide rope pulleys are installed at the upper end of the left diagonal brace; the left sway frame is hinged to the left sway arm by a pin, and the left winch is detachably connected to the left sway arm; one end of the left first sway drive is hinged to the left hinge seat, and the other end of the left first sway drive is hinged to the left sway arm; one end of the left second sway drive is hinged to the lower end of the left sway arm, and the other end of the left second sway drive is hinged to the left sway frame.

[0015] Optionally, the left manipulator also includes three left limit frames: one left limit frame is detachably connected to the lower end of the left swing arm, one left limit frame is detachably connected to the lower end of the left diagonal support arm, and one left limit frame is detachably connected to the upper end of the left diagonal support arm.

[0016] Optionally, the left manipulator also includes a left docking arm, one end of which is detachably connected to the left inner arm, and the other end of which is detachably connected to the left hinge seat.

[0017] Optionally, the right robot arm and the left robot arm are mirror images of each other relative to the rotating base of the work platform.

[0018] (III) Beneficial Effects

[0019] The beneficial effects of this invention are as follows: The mine arch frame installation trolley of this invention uses a boom assembly connected to the trolley frame, with the other end of the boom assembly connected to a telescopic work platform. Three robotic arms are mounted on the telescopic work platform, and winches are installed on the robotic arms and the telescopic work platform. Compared to existing technologies, the articulated installation trolley offers high flexibility and facilitates relocation in small cross-section roadways. The telescopic work platform expands the worker's working range; workers can operate the robotic arms from the central fixed platform and also work on the arch frame connections from the left and right telescopic platforms. The single boom configuration allows for greater movement space, adapting to small cross-section arch erection. The winches and robotic arms work in coordination, using ropes to flexibly lift the arch frame, enabling arch erection operations in confined spaces. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the vehicle frame structure of the present invention;

[0022] Figure 3 This is a schematic diagram of the boom assembly structure of the present invention;

[0023] Figure 4 This is a top view of the retractable work platform of the present invention;

[0024] Figure 5 This is a bottom view of the retractable work platform of the present invention;

[0025] Figure 6 This is a schematic diagram of the robotic arm structure in this invention;

[0026] Figure 7 This is a schematic diagram of the clamping mechanism structure of the present invention;

[0027] Figure 8 This is a schematic diagram of the left robotic arm structure of the present invention.

[0028] Explanation of reference numerals in the attached figures

[0029] 1: Chassis; 2: Front Chassis; 3: Rear Chassis; 4: Boom Assembly; 5: Telescopic Work Platform; 6: Robot Arm; 7: Steering Drive; 8: Rear Wheel; 9: Front Wheel; 10: Hinge Pin; 11: Cable Reel; 12: Engine Power System; 13: Motor Pump Unit; 14: Cab;

[0030] 41: Outer boom; 42: Inner boom; 43: Boom mount; 44: Boom mount plate; 45: Lifting actuator; 46: Leveling actuator; 47: Bending plate;

[0031] 51: Central fixed platform; 52: Left telescopic platform; 53: Right telescopic platform; 54: Working platform winch; 55: Central robot arm mounting base; 56: Left robot arm mounting base; 57: Right robot arm mounting base; 58: Working platform rotating base; 59: Second telescopic actuator;

[0032] 61: Left robotic arm; 62: Right robotic arm; 63: Middle robotic arm;

[0033] 611: Left slewing reducer; 612: Left outer boom; 613: Left inner boom; 614: Left articulated base; 615: Left first sway actuator; 616: Left sway frame; 617: Left sway arm; 618: Left winch; 619: Left diagonal brace arm; 6110: Left second sway actuator; 6111: Left guide pulley; 6112: Left first telescopic actuator; 6113: Left limit frame; 6114: Left connecting arm;

[0034] 631: Outer arm of the middle robotic arm; 632: Inner arm of the middle robotic arm; 633: Clamping mechanism; 634: Reducer; 635: Fourth telescopic actuator;

[0035] 6331: Gripper; 6332: Arch frame limiting block; 6333: Clamping driver; 6334: Gripper platform; 6335: First pin; 6336: Second pin. Detailed Implementation

[0036] To better explain and facilitate understanding of the present invention, a detailed description of the invention is provided below with reference to the accompanying drawings and specific embodiments. In this document, directional terms such as "upper," "lower," etc., are used interchangeably with other directional terms. Figure 1 The orientation is used as a reference.

[0037] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0038] Example 1:

[0039] During arch frame installation, the arch frame is generally divided into three sections. Existing arch frame installation trolleys typically have three booms, with the boom ends connected to an aerial work platform where a robotic arm is mounted. The boom swings to the appropriate position within the space, and workers on the aerial work platform operate the robotic arm and perform connection operations. However, due to the limited space in mine roadways (approximately 4m x 4m to 5m x 5m), existing arch frame installation trolleys with three booms cannot operate within this limited range. The arch frames on both sides need to be manually lifted to the installation position, which presents problems such as harsh working conditions, high labor intensity, high risk, and poor construction quality. This invention achieves pitching and lateral movement within a limited range using a single boom, while simultaneously using three robotic arms to hoist the arch frame to the designated position. Furthermore, when connection operations are needed between arch frames, workers can work from a telescopic work platform. A single boom not only saves overall costs but also accomplishes arch frame installation in confined mine roadways where three booms cannot. It adopts a multi-manipulator telescopic work platform integrated structure, which reduces the number of booms, adapts to small cross-section arches, and has high work efficiency.

[0040] In the following text, the actuator is preferably a hydraulic cylinder, especially a hydraulic cylinder.

[0041] Reference Figure 1 and Figure 4The arch frame installation trolley includes an articulated frame 1, a boom assembly 4, a telescopic work platform 5, and a robotic arm 6. The telescopic work platform 5 includes a central fixed platform 51, a left telescopic platform 52, a right telescopic platform 53, and a platform winch 54. The left telescopic platform 52 and the right telescopic platform 53 are located on both sides of the central fixed platform 51 and are telescopically extended and retracted by telescopic actuators.

[0042] The robotic arm 6 includes a left robotic arm 61, a right robotic arm 62, and a middle robotic arm 63. The middle robotic arm 63 is located in the middle of the front end of the telescopic work platform 5. On the front end of the telescopic work platform 5, a work platform winch 54 is set on each side of the middle robotic arm 63.

[0043] The left robotic arm 61 and the right robotic arm 62 are respectively located on the left and right sides of the rear end of the telescopic work platform 5. The left winch 618 can be detachably installed on the upper end of the left robotic arm 61, and the right winch can be detachably installed on the upper end of the right robotic arm 61.

[0044] One end of the boom assembly 4 is hinged to the rear end of the telescopic work platform 5, and the other end of the boom assembly 4 is detachably connected to the front end of the vehicle frame 1.

[0045] Reference Figure 2 The frame 1 includes a front frame 2 and a rear frame 3, which are hinged together with a hinge pin 10 as the hinge center. A steering system that controls the steering of the frame 1 is installed between the end of the front frame 2 and the front end of the rear frame 3. The steering system is hydraulically powered and includes a hydraulic pump, filter, oil tank, steering gear, steering cylinder, and oil pipes. When the steering wheel is not turned, the oil pumped in returns to the oil tank through the steering gear. When the steering wheel is turned, the oil pumped in is pushed into one side of the cylinder by the reversing valve, thus turning the wheels. When turning right, the oil enters the left cylinder; when turning left, the oil enters the right cylinder. The arch frame installation trolley of this application adopts an articulated chassis frame, which is highly flexible and can pass through narrow aisles, facilitating the transfer of small cross-section aisles. The chassis adopts a four-wheel drive mode, which effectively improves the driving capability of the chassis.

[0046] Reference Figure 3 The boom assembly 4 includes an outer boom 41, an inner boom 42, a boom mounting base 43, a boom mounting plate 44, a first telescopic actuator, a lifting actuator 45, a leveling actuator 46, and a bending plate 47. The boom mounting base 43 is mounted on the front frame 1 and has upper and lower boom mounting plates 44. The outer boom 41 is movably connected to the upper boom mounting plate 44. The outer boom 41 is connected to the inner boom 42 via the first telescopic actuator. The front end of the hydraulic cylinder is hinged to the inner boom 42 via a pin, and the rear end is hinged to the outer boom 41 via a pin. The extension and retraction of the inner boom is achieved by controlling the hydraulic cylinder to drive the inner boom.

[0047] The outer boom 41 and the lower boom mounting plate 44 are connected by two lifting drives 45. The upper end of the lifting cylinder is hinged to the lower side of the outer boom 41 by a pin, and the lower end is hinged to the boom mounting plate 44 by a pin. By controlling the lifting cylinder to drive the outer boom 41, the boom assembly pitch and yaw movements can be realized.

[0048] A bending plate 47 is provided at the front end of the inner boom 42. One end of the leveling actuator 46 is hinged to the bending plate 47, and the other end of the leveling actuator 46 is hinged to the telescopic work platform 5. The leveling actuator 46 is preferably a leveling cylinder, of which there are two. The rear end of the leveling cylinder is hinged to the upper part of the inner boom 42 by a pin, and the front end is hinged to the rotating seat of the work platform by a pin. By controlling the leveling cylinder to drive the rotating seat of the work platform, the telescopic work platform 5 is leveled.

[0049] Reference Figure 4 and Figure 5 A telescopic work platform is adopted to increase the worker's working range. The telescopic work platform 5 includes a central fixed platform 51, a left telescopic platform 52, a right telescopic platform 53, a work platform winch 54, a work platform swivel base 58, a central robot arm mounting base 55, a left robot arm mounting base 56, and a right robot arm mounting base 57. The work platform swivel base 58, which is hinged to the leveling drive 46, is located at the center of the rear end of the central fixed platform 51. A work platform winch 54 is installed on each of the left and right sides of the front end of the central fixed platform 51. The winches 54 are fixedly connected to the central fixed platform 51 by bolts. The winch reels are equipped with ropes, one end of which is fixedly connected to the winch, and the other end is a movable end, which can be used to winch and lift the arch frame.

[0050] A middle robot 63 is provided between the two working platform winches 54 and is detachably connected to the middle fixed platform 51 via a middle robot mounting base 55. The lower part of the middle fixed platform 51 is provided with a left robot mounting base 56 connected to the left robot 61 and a right robot mounting base 57 connected to the right robot 62.

[0051] The lower part of the left telescopic platform 52 is connected to the middle fixed platform 51 via the second telescopic actuator 59, and the upper end of the left telescopic platform 52 is inserted into the middle fixed platform 51.

[0052] The front end of the second telescopic cylinder is hinged to the bottom of the left telescopic platform 58 via a pin, and the rear end is hinged to the bottom of the middle fixed platform 51 via a pin. By controlling the telescopic cylinder, the left telescopic platform is driven to extend and retract. At the same time, the rod frame on the left telescopic platform 52 matches the frame of the middle fixed platform 51 and is inserted at the upper end, further ensuring the firmness of the connection between the left telescopic platform 52 and the middle fixed platform 51 and ensuring the safety of workers.

[0053] The lower end of the right telescopic platform 53 is connected to the middle fixed platform 51 via the third telescopic driver, and the upper end of the right telescopic platform 53 is inserted into the middle fixed platform 51. The right telescopic platform 53 and the left telescopic platform 52 have symmetrical structures, and the specific connection is the same as the connection between the left telescopic platform 52 and the middle fixed platform 51.

[0054] Reference Figure 6 and Figure 7 The manipulator 63 includes an outer arm 631, an inner arm 632, a clamping mechanism 633, a reducer 634, and a fourth telescopic actuator 635. The reducer 634 is detachably fixed to the rear end of the outer arm 631 and can drive the entire manipulator to rotate around its center. One end of the fourth telescopic actuator 635 is hinged inside the outer arm 631, and the other end is hinged inside the inner arm 632. The clamping mechanism 633 is detachably installed at the front end of the inner arm 632. The front end of the fourth telescopic cylinder is hinged to the inner arm 632 via a pin, and the rear end is hinged to the outer arm 631 via a pin. By controlling the telescopic cylinder, the inner arm 632 is driven to extend and retract. The clamping mechanism 633 is bolted to the front end of the inner arm and can extend and retract with the inner arm 632.

[0055] Reference Figure 6 and Figure 7 The clamping mechanism 633 includes a gripper 6331, an arched limit block 6332, a clamping driver 6333, and a gripper platform 6334. The bottom of the gripper platform 6334 is detachably connected to the inner arm 632 of the manipulator. The top of the gripper platform 6334 is hinged to the gripper 6331 via a first pin 6335. The four grippers 6331 are distributed at the four corners. The clamping driver 6333 is hinged to the bottom of the gripper 6331 via a second pin 6336. An arched limit block 6332 is provided on the top of the gripper platform 6334 between the four grippers 6331.

[0056] The clamping cylinder is hinged to the bottom of the gripper via the second pin 6336. By controlling the clamping cylinder, the gripper is driven to rotate around the first pin 6335, thereby realizing the function of gripping the arch frame.

[0057] The top of the gripper platform 6334 is connected to the arch frame limiting block 6332 by bolts. The cross-sectional shape of the U-shaped arch frame limiting block is similar to the letter U, and the cross-sectional shape of the circular steel pipe beam limiting block is similar to an arc. It can be replaced according to the actual arch frame installation on site to adapt to different arch frame forms in different mines.

[0058] Reference Figure 8The left manipulator 61 includes a left rotary reducer 611, a left outer arm 612, a left inner arm 613, a left hinge seat 614, a left first yaw drive 615, a left yaw frame 616, a left yaw arm 617, a left winch 618, a left diagonal support arm 619, a left second yaw drive 6110, a left guide pulley 6111, and a left first telescopic drive 6112.

[0059] The left outer arm 612 is detachably connected to the left rotary reducer 611, which can drive the entire left manipulator 61 to rotate horizontally around the center of the rotary reducer 611.

[0060] The left outer arm 612 is connected to the left inner arm 613 via the left telescopic actuator 6112. The front end of the left telescopic cylinder is hinged to the left inner arm 613 via a pin, and the rear end is hinged to the left outer arm 612 via a pin. The telescopic movement is achieved by controlling the left telescopic cylinder to drive the left inner arm 613.

[0061] One end of the left hinge seat 614 is detachably connected to the left inner arm 613, and the other end of the left hinge seat 614 is hinged to the bottom end of the left deflecting arm 617 by a pin. The left deflecting arm 617 can rotate around the hinge point.

[0062] The left diagonal support arm 619 is detachably connected to the upper end of the left lateral swing arm 617. Two left guide pulleys 6111 are installed on the upper end of the left diagonal support arm 619, located between the two limit frames 6113.

[0063] The left guide pulley 6111 is hinged to the left swing arm 617 and can rotate freely.

[0064] The left tilting frame 616 is hinged to the left tilting arm 617 via a pin and can rotate around the hinge point. The left winch 618 is detachably connected to the left tilting arm 617.

[0065] One end of the left yaw driver 615 is hinged to the left hinge seat 614, and the other end of the left yaw driver 615 is hinged to the left yaw arm 617, which can control the yaw angle of the left yaw arm 617.

[0066] One end of the left second yaw drive 6110 is hinged to the lower end of the left yaw arm 617, and the other end of the left second yaw drive 6110 is hinged to the left yaw frame 616, which can control the yaw angle of the left yaw frame 616.

[0067] Reference Figure 8The left manipulator 61 also includes three left limit frames 6113 to prevent the arch frame from deflecting. One left limit frame 6113 is detachably connected to the lower end of the left sway frame 616, one left limit frame 6113 is detachably connected to the lower end of the left diagonal support arm 619, and one left limit frame 6113 is detachably connected to the upper end of the left diagonal support arm 619. By using a winch and the left limit frames 6113 in conjunction with the arch frame's flexible lifting and positioning technology, arch erection operations can be performed in confined spaces.

[0068] Reference Figure 8 The left robotic arm 61 also includes a left docking arm 6114, one end of which is detachably connected to the left inner arm 613, and the other end of which is detachably connected to the left hinge seat 614. The detachable docking arm is bolted to the robotic arm, extending the working width of the robotic arm and adapting to the construction of larger cross-section arches.

[0069] Reference Figure 8 The right robotic arm 62 and the left robotic arm 61 are mirror images of each other relative to the rotating base 58 of the work platform.

[0070] The right manipulator includes a right rotary reducer, a right outer arm, a right inner arm, a right hinge seat, a right first yaw drive, a right yaw frame, a right yaw arm, a right winch, a right diagonal brace arm, a right second yaw drive, a right guide pulley, and a right first telescopic drive.

[0071] The right outer arm is detachably connected to the right rotary reducer, which can drive the entire right manipulator to rotate horizontally around the center of the rotary reducer.

[0072] The right outer arm is connected to the right inner arm via a right telescopic actuator. The front end of the right telescopic cylinder is hinged to the inside of the right inner arm via a pin, and the rear end is hinged to the inside of the right outer arm via a pin. The right inner arm is extended or retracted by controlling the right telescopic cylinder.

[0073] One end of the right hinge seat is detachably connected to the right inner arm, and the other end of the right hinge seat is hinged to the bottom end of the right swing arm via a pin. The right swing arm can rotate around this hinge point.

[0074] The right diagonal brace is detachably connected to the upper end of the right sway arm. Two right guide pulleys are installed at the upper end of the right diagonal brace, located between the two limit frames.

[0075] The right guide pulley is hinged to the right swing arm and can rotate freely.

[0076] The right sway arm is hinged to the right sway arm via a pin and can rotate around the hinge point. The right winch is detachably connected to the right sway arm.

[0077] One end of the right yaw actuator is hinged to the right hinge seat, and the other end of the right yaw actuator is hinged to the right yaw arm, which can control the yaw angle of the right yaw arm.

[0078] One end of the right second yaw drive is hinged to the lower end of the right yaw arm, and the other end of the right second yaw drive is hinged to the right yaw frame, which can control the yaw angle of the right yaw frame.

[0079] The right manipulator also includes three right limit frames to prevent the arch frame from deflecting. One right limit frame is detachably connected to the lower end of the right sway frame, one right limit frame is detachably connected to the lower end of the right diagonal brace arm, and one right limit frame is detachably connected to the upper end of the right diagonal brace arm. By using a winch and the right limit frames in conjunction, and employing flexible arch frame lifting and positioning technology, arch erection operations can be carried out in confined spaces.

[0080] The right robotic arm also includes a right docking arm, one end of which is detachably connected to the right inner arm, and the other end of which is detachably connected to the right hinge seat. The detachable docking arm is bolted to the robotic arm, extending the working width of the robotic arm and adapting to the construction of larger cross-section arches.

[0081] The mining arch frame installation trolley is driven by the engine power system 12. Driven by either the electric pump unit 13 or the engine power system 12, the arch frame installation mechanism, integrating multiple robotic arms and a telescopic work platform 5, performs arch frame installation under the control of the electrical and hydraulic systems. The actions of the engine power system 12 driving the front wheels 8 and rear wheels 9, and the electric pump unit 13 driving the arch frame installation, can be automatically switched between the electrical and hydraulic systems. The engine power system 12 and the electric pump unit 13 share a single hydraulic oil tank, which is equipped with a radiator to cool the hydraulic oil.

[0082] The cab, located on the front frame and perpendicular to the vehicle body, allows the mining arch frame installation trolley to be driven in both directions.

[0083] The control device for controlling the operation of the mining arch frame installation trolley includes an electrical system and a hydraulic system mounted on the rear frame. The electrical system consists of an electrical control cabinet and an operating box. The operating box is used to control the movement of the telescopic work platform, the left manipulator, the middle manipulator, the right manipulator, and the boom cylinders. The hydraulic system consists of hydraulic pipelines and hydraulic valve groups distributed throughout the machine. By controlling the opening and closing of the hydraulic valve ports, the movement of the cylinders and hydraulic components is achieved.

[0084] The hydraulic system provides power to the telescopic work platform, left manipulator, middle manipulator, right manipulator, boom, and chassis steering mechanism.

[0085] The mining arch frame installation trolley of this invention features an articulated chassis structure and a steering cylinder, ensuring flexible and convenient steering while maintaining vehicle balance and stability during turns. The simple chassis structure facilitates maintenance and enhances overall reliability. The chassis employs a four-wheel drive system, effectively improving its driving capability. The articulated engineering chassis supports the boom, cab, motor-pump unit, engine power system, hydraulic tank, and cable reel. Furthermore, the engine power system can automatically drive the arch frame installation mechanism in emergencies, and automatic switching between the electrical and hydraulic systems eliminates the need for manual disassembly of hydraulic lines, thus improving the construction efficiency of the mining arch frame installation trolley. This mining arch frame installation trolley significantly improves the efficiency of arch frame installation through mechanized installation, substantially reduces worker workload, improves the working environment, and saves on construction costs. Simultaneously, the power unit adopts a dual-power drive mode: the engine power system drives the arch frame installation trolley, while the motor-pump unit drives the arch frame installation device for installation, thereby reducing exhaust emissions and improving the working environment. This mining arch frame installation trolley has advantages such as high integration, compact structure, small size, flexible movement, and high efficiency in arch frame installation. It can be used in narrow mine tunnels, improving the adaptability of the mining arch frame installation trolley.

[0086] The arch frame installation process is as follows: When hoisting the intermediate arch frame, the arch frame placed on the ground is suspended by ropes in the winch 54 of the working platform on the central fixed platform 51. The arch frame is flexibly lifted in an inverted manner. During the upward lifting process, the central manipulator 63 grabs the middle position of the arch frame, releases the ropes, and the arch frame 180 degrees is flipped over. The arch frame is then moved by the boom assembly 4 and placed in the arch frame installation location in the tunnel. When flexibly picking up the left arch frame, two lifting points are set up. The winch lowers the ropes, the left winch 618 on the left manipulator 61 lifts the front end of the arch frame, and the winch 54 on the central fixed platform 51 on the same side lifts the rear end of the arch frame, lifting it from the ground. During the lifting process, the left winch 618 on the left manipulator 61 slowly retracts the ropes, and the winch 54 on the central fixed platform 51 slowly releases the ropes to maintain a stable balance and prevent the arch frame from swaying. During the hoisting process, the rope outlet of the left guide pulley 6111 is between the two limiting frames 6113, and the arch frame will eventually fall into the limiting frame on the robotic arm for positioning. Similarly, the process for the right arch frame is the same as the flexible picking and hoisting process for the left arch frame. Workers connect the three arch frames at the joints on the left telescopic platform 52 and the right telescopic platform 53 to complete the arch erection process.

[0087] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0088] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0089] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0090] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0091] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A mining arch frame installation trolley, characterized in that, It includes an articulated frame (1), a boom assembly (4), a telescopic work platform (5) and a robot (6). The telescopic work platform (5) includes a central fixed platform (51), a left telescopic platform (52), a right telescopic platform (53) and a platform winch (54). The left telescopic platform (52) and the right telescopic platform (53) are located on both sides of the central fixed platform (51) and are telescopically extended and retracted by telescopic actuators. The robotic arm (6) includes a left robotic arm (61), a right robotic arm (62) and a middle robotic arm (63). The middle robotic arm (63) is located in the middle of the front end of the telescopic work platform (5). A work platform winch (54) is set on each side of the middle robotic arm (63) on the front end of the telescopic work platform (5). The central manipulator (63) can rotate relative to the telescopic work platform (5); the central manipulator (63) includes a gripper (6331) and a central manipulator outer arm (631); the gripper (6331) can extend and retract relative to the central manipulator outer arm (631), and the gripper (6331) can grab the intermediate arch frame lifted by the work platform winch (54); The left manipulator (61) and the right manipulator (62) are respectively set on the left and right sides of the rear end of the telescopic work platform (5). The left manipulator (61) can be detachably installed with a left winch (618) at the upper end. The left manipulator (61) includes a left limit frame (6113), which can rotate, extend, and swing horizontally relative to the telescopic work platform (5). The left winch (618) is used to lift the two ends of the left arch frame together with the work platform winch (54). The left limit frame (6113) is used to accommodate the lifted left arch frame to position the left arch frame. The right manipulator (62) can be detachably installed with a right winch at the upper end. The right manipulator (62) includes a right limit frame, which can rotate, extend, and swing horizontally relative to the telescopic work platform (5). The right winch is used to lift the two ends of the right arch frame together with the work platform winch (54). The right limit frame is used to accommodate the lifted right arch frame to position the right arch frame. One end of the boom assembly (4) is hinged to the rear end of the telescopic work platform (5), and the other end of the boom assembly (4) is detachably connected to the front end of the vehicle frame (1).

2. The arch frame installation trolley for mining according to claim 1, characterized in that, The frame (1) includes a front frame (2) and a rear frame (3), which are hinged together.

3. The arch frame installation trolley for mining according to claim 2, characterized in that, The boom assembly (4) includes an outer boom (41), an inner boom (42), a boom mounting base (43), a boom mounting plate (44), a first telescopic driver, a lifting driver (45), a leveling driver (46), and a bending plate (47). The boom mounting base (43) is mounted on the front frame (2). The boom mounting base (43) is provided with two upper and lower boom mounting plates (44). The outer boom (41) is movably connected to the upper boom mounting plate (44). The outer boom (41) is connected to the inner boom (42) through the first telescopic driver. The outer boom (41) is connected to the lower boom mounting plate (44) through two lifting drivers (45). The inner boom (42) is provided with a bending plate (47) at its front end. One end of the leveling driver (46) is hinged to the bending plate (47), and the other end of the leveling driver (46) is hinged to the telescopic work platform (5).

4. A mining arch frame installation trolley according to claim 3, characterized in that, The telescopic work platform (5) includes a central fixed platform (51), a left telescopic platform (52), a right telescopic platform (53), a work platform winch (54), a work platform swivel base (58), a central robot arm mounting base (55), a left robot arm mounting base (56), and a right robot arm mounting base (57). The central fixed platform (51) has a work platform swivel base (58) hinged to a leveling drive (46) at its rear center. The central fixed platform (51) has a work platform winch (54) mounted on each of its left and right front sides. A connection is provided between the two work platform winches (54) via the central robot arm mounting base (55). The middle fixed platform (51) is detachably connected to the middle robot (63). The lower part of the middle fixed platform (51) is provided with a left robot mounting base (56) connected to the left robot (61) and a right robot mounting base (57) connected to the right robot (62). The lower part of the left telescopic platform (52) is connected to the middle fixed platform (51) through the second telescopic driver (59). The upper end of the left telescopic platform (52) is inserted into the middle fixed platform (51). The lower end of the right telescopic platform (53) is connected to the middle fixed platform (51) through the third telescopic driver. The upper end of the right telescopic platform (53) is inserted into the middle fixed platform (51).

5. A mining arch frame installation trolley according to claim 1, characterized in that, The middle manipulator (63) also includes a clamping mechanism (633), a reducer (634) and a fourth telescopic actuator (635). The reducer (634) is detachably fixed to the rear end of the outer arm (631) of the middle manipulator. One end of the fourth telescopic actuator (635) is hinged inside the outer arm (631) of the middle manipulator, and the other end of the fourth telescopic actuator (635) is hinged inside the inner arm (632) of the middle manipulator. The clamping mechanism (633) is detachably installed at the front end of the inner arm (632) of the middle manipulator.

6. A mining arch frame installation trolley according to claim 5, characterized in that, The clamping mechanism (633) includes a gripper (6331), an arched limit block (6332), a clamping driver (6333), and a gripper platform (6334). The bottom of the gripper platform (6334) is detachably connected to the inner arm (632) of the manipulator. The top of the gripper platform (6334) is hinged to the gripper (6331) via a first pin (6335). The four grippers (6331) are distributed at the four corners. The clamping driver (6333) is hinged to the bottom of the gripper (6331) via a second pin (6336). An arched limit block (6332) is provided on the top of the gripper platform (6334) between the four grippers (6331).

7. A mining arch frame installation trolley according to claim 1, characterized in that, The left manipulator (61) includes a left rotary reducer (611), a left outer arm (612), a left inner arm (613), a left hinge seat (614), a left first yaw drive (615), a left yaw frame (616), a left yaw arm (617), a left winch (618), a left diagonal support arm (619), a left second yaw drive (6110), a left guide pulley (6111), and a left first telescopic drive (6112). The left outer arm (612) is detachably connected to the left rotary reducer (611). The left outer arm (612) is internally connected to the left inner arm (613) through the left telescopic drive (6112). One end of the left hinge seat (614) is detachably connected to the left inner arm (613). The other end of the left hinge seat (614) is hinged to the bottom end of the left sway arm (617) through a pin. The left diagonal support arm (619) is detachably connected to the upper end of the left sway arm (617). Two left guide pulleys (6111) are installed on the upper end of the left diagonal support arm (619). The left tilting frame (616) is hinged to the left tilting arm (617) by a pin, and the left winch (618) is detachably connected to the left tilting arm (617); One end of the left yaw actuator (615) is hinged to the left hinge seat (614), and the other end of the left yaw actuator (615) is hinged to the left yaw arm (617). One end of the left second yaw drive (6110) is hinged to the lower end of the left yaw arm (617), and the other end of the left second yaw drive (6110) is hinged to the left yaw frame (616).

8. A mining arch frame installation trolley according to claim 7, characterized in that, The left manipulator (61) also includes three left limit frames (6113), one of which is detachably connected to the lower end of the left swing frame (616), one of which is detachably connected to the lower end of the left diagonal support arm (619), and one of which is detachably connected to the upper end of the left diagonal support arm (619).

9. A mining arch frame installation trolley according to claim 7, characterized in that, The left manipulator (61) also includes a left docking arm (6114), one end of which is detachably connected to the left inner arm (613), and the other end of which is detachably connected to the left hinge seat (614).

10. A mining arch frame installation trolley according to claim 9, characterized in that, The right robot (62) and the left robot (61) are mirror images of each other relative to the rotating base (58) of the work platform.

Images