A gob-side entry retaining precast pier column installation robot

Abstract

The present application relates to the technical field of coal mine gob-side entry retaining equipment, and particularly relates to a gob-side entry retaining precast pier column installation robot, which comprises a whole machine seat and a crawler traveling component installed at the bottom of the whole machine seat, a shoveling component for shoveling and transporting the pier column is arranged at the front of the whole machine seat, a grabbing component for placing the shoveling pier column to a specified position is arranged on the upper side of the shoveling component, the shoveling component can transport the pier column flatly, effectively ensures the stable transportation of the pier column, avoids the situation that the pier column deviates and falls off due to shaking, the whole machine seat and the crawler traveling component are narrower than the roadway in width, which facilitates the advance and retreat, and the high ground adhesion of the crawler traveling component ensures the stable travel in the gob-side entry retaining, the grabbing component can adjust the vertical installation angle of the pier column through a transposition unit, which facilitates the actual installation.

Description

Technical Field

[0001] This invention relates to the field of coal mine gob-side roadway retention equipment technology, and in particular to a robot for installing precast pier columns for gob-side roadway retention. Background Technology

[0002] In my country, longwall mining faces typically retain section coal pillars, leading to problems such as coal resource waste, tight mining continuity, difficulties in roadway maintenance, and easy exceeding of limits at the upper corner. With the continuous improvement of my country's coal technology, more and more mines are adopting gob-side roadway retention technology. Gob-side roadway retention technology involves using special materials or technologies to maintain the roof in the goaf area immediately after the longwall mining face has been mined, following the end support. This ensures stability after the mining of one coal face and allows for reuse in the next working face, achieving dual use of a single roadway. A common gob-side roadway retention technique involves pouring a continuous wall or a row of pillars on the goaf side of the roadway to support the roof and maintain roadway stability. Materials used for the wall (pillar) include high-water-content materials, concrete, and pure cement. The basic process for these walls constructed using cast-in-place methods is: transporting cementitious materials → hanging bags (formwork) → feeding → mixing → pumping → pouring into the wall (pillar). The overall process is complex, involves many equipment and personnel, and is costly.

[0003] To address these issues, some researchers have proposed using precast piers to strengthen roadway support. However, precast piers require high support strength and have large diameters and weights, making them difficult to handle and install manually.

[0004] The following problems exist in transporting and installing precast piers in goaf-side roadway retention: First, the temporary support in the roadway uses unit supports or one beam and three columns, which results in narrow space, with a width of 2.0 to 3.0 meters. The equipment width needs to be small while maintaining stability, and it is also difficult to turn the equipment around. Second, the height of the precast piers is 200-400 mm lower than the height of the roadway, so they need to be transported horizontally and adjusted to a vertical state during installation, which presents problems in horizontal transportation and vertical installation adjustment. Third, the precast piers need to be installed near the goaf, and the piers need to be aligned in rows without tilting, which is difficult to install. However, there is no equipment specifically designed for transporting and installing precast piers in goaf-side roadway retention. Summary of the Invention

[0005] Technical problem to be solved: The present invention provides a robot for installing precast piers along the goaf, which can solve the above-mentioned problems.

[0006] Technical Solution: To achieve the above objectives, the present invention adopts the following technical solution: a robot for installing precast piers along a goaf, comprising a base and a tracked traveling component installed at the bottom of the base. The front of the base is provided with a scooping component for scooping and transporting the piers, and the upper side of the scooping component is provided with a gripping component for placing the scooped piers into a designated position.

[0007] The scooping component includes a mounting plate hinged to the front end of the machine base. A support is movably provided on the front side of the mounting plate. A first guide rod is slidably connected to the left side of the support, and a lifting screw is threadedly connected to the right side of the support. The upper and lower ends of the first guide rod are fixedly connected to the mounting plate, and the upper and lower ends of the lifting screw are rotatably connected to the mounting plate. The upper end of the lifting screw is extended and fixedly connected to the output end of a first motor. The first motor is fixedly connected to the top of the mounting plate. Support frames are symmetrically provided on the left and right sides of the front side of the support. The support frames are L-shaped, and the two support frames are provided with a first adjustment unit for adjusting the distance between them.

[0008] The gripping component includes a mounting base, a connecting base, and grippers. The upper side of the mounting base is provided with a calibration unit for aligning and placing the piers being placed and those that have already been placed. The front side of the mounting base is provided with three sets of equidistant connecting bases. Grippers are symmetrically hinged to the front of the connecting bases. One end of a second hydraulic cylinder is hinged to the outside of the grippers. The end of the second hydraulic cylinder away from the grippers is hinged to the connecting base. The middle connecting base is fixedly connected to the mounting base. The connecting bases on the left and right sides are provided with second adjustment units for adjusting the distance between them. The gripping component is mounted on the base of the whole machine through a displacement unit for changing its angle and position.

[0009] As a preferred embodiment of the present invention, the first adjusting unit includes a guide groove formed on the top of the support, and the top of the support frame is provided with a barb structure that is slidably connected in the guide groove. A connecting block is fixedly connected to the lower front end of the vertical section of the support frame, and support plates are fixedly connected to the left and right sides of the support corresponding to the positions of the connecting blocks. A first bidirectional screw is rotatably connected between the two support plates. One end of the first bidirectional screw extends out to the outside of the support plate and is fixedly connected to the output end of the second motor. The second motor is fixedly connected to one side of the support plate.

[0010] As a preferred embodiment of the present invention, a raised block is fixedly connected to one end of the horizontal section of the support frame near the support base, and one end of the first hydraulic cylinder is symmetrically hinged to the upper rear side of the mounting plate, with the end of the first hydraulic cylinder away from the mounting plate hinged to the base of the machine.

[0011] As a preferred embodiment of the present invention, the calibration unit includes an electric push rod fixedly connected to the upper side of the mounting base. The output end of the electric push rod is fixedly connected to a mounting bracket. The mounting bracket is Z-shaped with a 90° bend. A pressure sensor is fixedly connected to the upper end of the mounting bracket facing the gripper. The pressure sensor is electrically connected to a controller. The controller is electrically connected to an alarm. The alarm is fixedly connected to the upper side of the mounting bracket.

[0012] As a preferred embodiment of the present invention, the second adjustment unit includes an extension frame symmetrically and fixedly connected to the mounting base on the left and right sides. A second bidirectional lead screw is rotatably connected between the two extension frames and a second guide rod is fixedly connected thereto. The connecting seat in the middle has a through-hole for the second bidirectional lead screw and the second guide rod to pass through. The connecting seats on both sides are slidably connected to the second guide rod and are symmetrically threaded to the second bidirectional lead screw. One end of the second bidirectional lead screw extends out to the outside of the extension frame and is fixedly connected to the output end of the third motor. The third motor is fixedly connected to the outside of the extension frame.

[0013] As a preferred embodiment of the present invention, the switching unit includes a vertical telescopic arm and a horizontal telescopic arm, which are driven by hydraulic cylinders for telescopic movement. The horizontal telescopic arm and the mounting base are rotatably connected through a first slewing bearing, and the vertical telescopic arm and the machine base are rotatably connected through a second slewing bearing. A third hydraulic cylinder is also hinged between the horizontal telescopic arm and the vertical telescopic arm.

[0014] As a preferred embodiment of the present invention, the four corners of the base are provided with support components for stable support. The support components include support rods fixedly connected to the sides of the base, hydraulic support legs fixedly connected to the outer ends of the support rods, and pads fixedly connected to the output ends of the hydraulic support legs facing downwards.

[0015] Beneficial effects:

[0016] 1. The shovel component used in this invention can transport the pier column flat. The distance between the two support frames is adjusted by the first adjustment unit. The two outer edges of the two support frames respectively abut against the bottom plate seat and the raised ring of the pier column, which effectively ensures the stable transport of the pier column and avoids the pier column from shifting and falling off due to shaking.

[0017] 2. The machine base and tracked traveling components used in this invention are designed according to the specifications of the tunnel. The width of the machine is narrower than that of the tunnel to facilitate forward and backward movement. At the same time, the high traction of the tracked traveling components ensures stable travel within the tunnel.

[0018] 3. The gripping component used in this invention can grip the pier placed on the shovel component. The gripping width can be adjusted by the second adjustment unit, which is suitable for piers of different heights. This avoids the problem of uneven gravity caused by concentrated gripping positions, which makes the pier easy to slip. The vertical installation angle of the pier can be adjusted by the displacement unit, which facilitates actual installation.

[0019] 4. The calibration unit used in this invention can generate a feedback alarm by contacting the previously installed pier with the pressure sensor. The alignment status is determined by whether an alarm is triggered, ensuring that the piers are effectively aligned in rows without tilting, making it more convenient to use. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a first-view three-dimensional structural diagram of the present invention.

[0022] Figure 2 This is a schematic diagram of the right-side structure of the present invention.

[0023] Figure 3 This is a first-view three-dimensional structural diagram of the shovel component of the present invention.

[0024] Figure 4 This is a second-view perspective three-dimensional structural diagram of the shovel component of the present invention.

[0025] Figure 5 This is a first-view three-dimensional structural diagram of the gripping component of the present invention.

[0026] Figure 6 This is a second-view three-dimensional structural diagram of the gripping component of the present invention.

[0027] Figure 7 This is a three-dimensional structural diagram of the transposition unit of the present invention.

[0028] Figure 8 This is a schematic diagram of the pier installation of the present invention.

[0029] In the diagram: 1. Tracked traveling component; 2. Support component; 21. Support rod; 22. Hydraulic outrigger; 23. Pad plate; 3. Hoisting component; 31. Mounting plate; 32. Support bracket; 33. Support frame; 34. First guide rod; 35. Lifting screw; 36. First motor; 37. First adjustment unit; 371. Connecting block; 372. Support plate; 373. Guide groove; 374. First double-acting screw; 375. Second motor; 38. Raised block; 39. First hydraulic cylinder; 4. Gripping component; 41. Calibration unit ; 411, Electric push rod; 412, Mounting bracket; 413, Alarm; 414, Pressure sensor; 42, Mounting base; 43, Gripper; 44, Connecting base; 45, Second hydraulic cylinder; 46, Second adjusting unit; 461, Third motor; 462, Second bidirectional lead screw; 463, Second guide rod; 464, Extension frame; 5, Positioning unit; 51, First slewing bearing; 52, Second slewing bearing; 53, Vertical telescopic arm; 54, Horizontal telescopic arm; 55, Third hydraulic cylinder; 6, Base of the machine. Detailed Implementation

[0030] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0031] See Figure 1A robot for installing precast piers along a roadway includes a base 6 and a tracked driving component 1 installed at the bottom of the base 6 (the specific installation method of the tracked driving component 1 is existing technology, which can be directly applied by those skilled in the art). The front of the base 6 is provided with a scooping component 3 for scooping and transporting the piers, and the upper side of the scooping component 3 is provided with a gripping component 4 for placing the scooped piers into a designated position.

[0032] The robot moves by using the tracked driving component 1.

[0033] See Figure 1 , Figure 3 and Figure 4 The scooping component 3 includes a mounting plate 31 hinged to the front end of the base 6. A support 32 is movably provided on the front side of the mounting plate 31. A first guide rod 34 is slidably connected to the left side of the support 32, and a lifting screw 35 is threadedly connected to the right side of the support 32. The upper and lower ends of the first guide rod 34 are fixedly connected to the mounting plate 31, and the upper and lower ends of the lifting screw 35 are rotatably connected to the mounting plate 31. The upper end of the lifting screw 35 is extended and fixedly connected to the output end of the first motor 36. The first motor 36 is fixedly connected to the top of the mounting plate 31. Support frames 33 are symmetrically provided on the left and right sides of the front side of the support 32. The support frames 33 are L-shaped, and the two support frames 33 are provided with a first adjustment unit 37 for adjusting the distance between them.

[0034] The first adjustable unit 37 includes a guide groove 373 on the top of the support 32. The top of the support frame 33 is provided with a barb structure that is slidably connected in the guide groove 373. A connecting block 371 is fixedly connected to the lower front end of the vertical section of the support frame 33. Support plates 372 are fixedly connected to the left and right sides of the support 32 at the positions corresponding to the connecting blocks 371. A first bidirectional lead screw 374 is rotatably connected between the two support plates 372. One end of the first bidirectional lead screw 374 extends to the outside of the support plate 372 and is fixedly connected to the output end of the second motor 375. The second motor 375 is fixedly connected to one side of the support plate 372.

[0035] In specific operation, the first motor 36 controls the rotation of the lifting screw 35, which in turn drives the support 32 to move up and down, thereby achieving the up and down displacement of the support frame 33. This prevents the support frame 33 from being too low and colliding with obstacles on the ground during transportation. The support frame 33 lifts the pier column. In specific operation, the first adjustment unit 37 controls the rotation of the first bidirectional screw 374 through the operation of the second motor 375. The first bidirectional screw 374 controls the two support frames 33 to move relative to each other along the guide groove 373, adjusting the distance between the two support frames 33. The two outer edges of the two support frames 33 then press against the base plate seat and the raised ring of the pier column at different distances.

[0036] See Figure 1 , Figure 5 and Figure 6The gripping component 4 includes a mounting base 42, a connecting base 44, and a gripper 43. The upper side of the mounting base 42 is provided with a calibration unit 41 for aligning the pier being placed and the pier that has been placed. The front side of the mounting base 42 is provided with three sets of equidistant connecting bases 44. The front side of the connecting base 44 is symmetrically hinged with grippers 43. One end of a second hydraulic cylinder 45 is hinged to the outside of the gripper 43. The end of the second hydraulic cylinder 45 away from the gripper 43 is hinged to the connecting base 44. The middle connecting base 44 is fixedly connected to the mounting base 42. The connecting bases 44 on the left and right sides are provided with a second adjustment unit 46 for adjusting the distance between them. The gripping component 4 is mounted on the machine base 6 through a displacement unit 5 for changing its angle and position.

[0037] In actual operation, the second hydraulic cylinder 45 extends and retracts to control the gripper 43 on the connecting seat 44 to grasp the pier column, thus realizing the pier column grasping process.

[0038] See Figure 2 and Figure 6 The calibration unit 41 includes an electric push rod 411 fixedly connected to the upper side of the mounting base 42. The output end of the electric push rod 411 is fixedly connected to a mounting bracket 412. The mounting bracket 412 is Z-shaped with a 90° bend. The upper end of the mounting bracket 412 facing the gripper 43 is fixedly connected to a pressure sensor 414. The pressure sensor 414 is electrically connected to a controller. The controller is electrically connected to an alarm 413. The alarm 413 is fixedly connected to the upper side of the mounting bracket 412.

[0039] During the actual operation, in the pier installation and alignment stage, the pressure sensor 414 contacts the previously installed pier to align it. The pressure sensor 414 receives the contact signal and feeds it back to the controller, which then controls the alarm 413 to sound an alarm, indicating that the alignment is complete.

[0040] See Figure 5 The second adjustment unit 46 includes an extension frame 464 symmetrically fixedly connected to the mounting base 42. A second bidirectional lead screw 462 is rotatably connected between the two extension frames 464 and a second guide rod 463 is fixedly connected thereto. The connecting seat 44 in the middle has a through opening for the second bidirectional lead screw 462 and the second guide rod 463 to pass through. The connecting seats 44 on both sides are slidably connected to the second guide rod 463 and symmetrically threaded to the second bidirectional lead screw 462. One end of the second bidirectional lead screw 462 extends out to the outside of the extension frame 464 and is fixedly connected to the output end of the third motor 461. The third motor 461 is fixedly connected to the outside of the extension frame 464.

[0041] In actual operation, the second bidirectional lead screw 462 is rotated by the operation of the third motor 461. The second bidirectional lead screw 462 drives the two connecting seats 44 to move along the second guide rod 463 to change the distance between them, thereby achieving the effect of adjusting the gripping width.

[0042] See Figure 1 , Figure 2 and Figure 7 The switching unit 5 includes a vertical telescopic arm 53 and a horizontal telescopic arm 54. The vertical telescopic arm 53 and the horizontal telescopic arm 54 are driven by hydraulic cylinders for extension and retraction. The horizontal telescopic arm 54 and the mounting base 42 are rotatably connected through a first slewing bearing 51. The vertical telescopic arm 53 and the machine base 6 are rotatably connected through a second slewing bearing 52. A third hydraulic cylinder 55 is also hinged between the horizontal telescopic arm 54 and the vertical telescopic arm 53.

[0043] In actual operation, the horizontal distance of the gripping is adjusted by extending and retracting the horizontal telescopic arm 54, and the vertical distance of the gripping is adjusted by extending and retracting the vertical telescopic arm 53. The mounting base 42 can be rotated by the first slewing bearing 51, thereby adjusting the placement angle of the pier column itself. The bottom of the vertical telescopic arm 53 can be rotated by the second slewing bearing 52, thereby rotating the gripping component 4 horizontally and adjusting the placement angle of the pier column.

[0044] See Figure 3 and Figure 4 The horizontal section of the support frame 33 is fixedly connected to a raised block 38 near the support base 32. The upper rear side of the mounting plate 31 is symmetrically hinged to one end of the first hydraulic cylinder 39. The end of the first hydraulic cylinder 39 away from the mounting plate 31 is hinged to the machine base 6.

[0045] In actual operation, the first hydraulic cylinder 39 controls the tilting angle of the mounting plate 31 by extending and retracting, which raises the support frame 33. The raised support frame 33 and the raised block 38 provide lateral support and limit the pier column, increasing the stability of the pier column placement.

[0046] See Figure 1 The base 6 is also provided with support components 2 at the four corners for stable support. The support components 2 include support rods 21 fixedly connected to the side of the base 6, hydraulic support legs 22 fixedly connected to the outer end of the support rods 21, and pads 23 fixedly connected to the output end of the hydraulic support legs 22 facing downward.

[0047] During actual operation, the hydraulic outriggers 22 extend and retract to control the contact between the pad 23 and the ground, effectively increasing the stability of the entire machine base 6.

[0048] When using:

[0049] S1: The robot moves to a new position via the tracked travel component 1. Once it reaches the pier to be moved, the hydraulic outriggers 22 of the support component 2 extend and retract to control the pad 23 to contact the ground. Then, the support frame 33 is inserted into the gap below the pier. The second motor 375 controls the first bidirectional screw 374 to rotate. The first bidirectional screw 374 controls the two support frames 33 to move relative to each other along the guide groove 373, adjusting the distance between the two support frames 33. The outer edges of the two support frames 33 press against the base plate seat and the raised ring of the pier at different distances. The first hydraulic cylinder 39 extends and retracts to control the tilt of the mounting plate 31 to change the angle, raising the support frame 33. The raised support frame 33 and the raised block 38 provide lateral support and limit the pier.

[0050] S2: After the robot is moved to the designated installation position of the pier by the tracked travel component 1 again, the second bidirectional lead screw 462 is rotated by the operation of the third motor 461. The second bidirectional lead screw 462 drives the two connecting seats 44 to move along the second guide rod 463 to change the distance between them, so that the two grippers 43 adapt to the height of the pier. Then, the grippers 43 on the connecting seats 44 are gripped by the extension and retraction movement of the second hydraulic cylinder 45.

[0051] S3: The horizontal distance of the gripping device is adjusted by extending and retracting the horizontal telescopic arm 54, and the vertical distance of the gripping device is adjusted by extending and retracting the vertical telescopic arm 53. The mounting base 42 can be rotated by the first slewing bearing 51 to adjust the placement angle of the pier. The bottom of the vertical telescopic arm 53 can be rotated by the second slewing bearing 52 to rotate the gripping component 4 horizontally and adjust the placement angle of the pier. After the pier is placed at the correct angle, the pier is moved to the designated position. The pressure sensor 414 contacts the previous installed pier for alignment. The pressure sensor 414 receives the contact signal and feeds it back to the controller, which then controls the alarm 413 to sound an alarm, indicating that the alignment is complete.

[0052] S4: Reverse the movement of tracked travel component 1, exit the roadway, and proceed with the transport and installation of the next pier.

[0053] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A robot for installing precast piers along a goaf, comprising a base (6) and a tracked traveling component (1) installed at the bottom of the base (6), characterized in that: The front of the machine base (6) is provided with a scooping component (3) for scooping up and transporting the pier column, and the upper side of the scooping component (3) is provided with a gripping component (4) for placing the scooped pier column into a designated position. The scooping component (3) includes a mounting plate (31) hinged to the front end of the base (6). A support (32) is movably provided on the front side of the mounting plate (31). A first guide rod (34) is slidably connected to the left side of the support (32). A lifting screw (35) is threadedly connected to the right side of the support (32). The upper and lower ends of the first guide rod (34) are fixedly connected to the mounting plate (31). The upper and lower ends of the lifting screw (35) are rotatably connected to the mounting plate (31). The upper end of the lifting screw (35) is extended and fixedly connected to the output end of the first motor (36). The first motor (36) is fixedly connected to the top of the mounting plate (31). Support frames (33) are symmetrically provided on the left and right sides of the front side of the support (32). The support frames (33) are L-shaped. The two support frames (33) are provided with a first adjustment unit (37) for adjusting the distance between them. The gripping component (4) includes a mounting base (42), a connecting base (44), and a gripper (43). The mounting base (42) has a calibration unit (41) on its upper side for aligning the pier being placed and the pier that has been placed. The mounting base (42) has three sets of equidistant connecting bases (44) on its front side. The connecting bases (44) have grippers (43) symmetrically hinged on their front sides. One end of a second hydraulic cylinder (45) is hinged to the outside of the gripper (43). The end of the second hydraulic cylinder (45) away from the gripper (43) is hinged to the connecting base (44). The connecting base (44) in the middle is fixedly connected to the mounting base (42). The connecting bases (44) on the left and right sides are provided with a second adjustment unit (46) for adjusting the distance between them. The gripping component (4) is mounted on the machine base (6) by a displacement unit (5) for changing its angle and position.

2. The robot for installing precast piers along the goaf as described in claim 1, characterized in that: The first adjustable unit (37) includes a guide groove (373) on the top of the support (32). The top of the support frame (33) is provided with a barb structure that is slidably connected in the guide groove (373). A connecting block (371) is fixedly connected to the lower front end of the vertical section of the support frame (33). Support plates (372) are fixedly connected to the left and right sides of the support (32) at the positions corresponding to the connecting blocks (371). A first bidirectional screw (374) is rotatably connected between the two support plates (372). One end of the first bidirectional screw (374) extends to the outside of the support plate (372) and is fixedly connected to the output end of the second motor (375). The second motor (375) is fixedly connected to one side support plate (372).

3. The robot for installing precast piers along the goaf as described in claim 1, characterized in that: The horizontal section of the support frame (33) is fixedly connected to a raised block (38) at one end near the support base (32). The upper rear side of the mounting plate (31) is symmetrically hinged to one end of the first hydraulic cylinder (39). The end of the first hydraulic cylinder (39) away from the mounting plate (31) is hinged to the base (6).

4. The robot for installing precast piers along the goaf as described in claim 1, characterized in that: The calibration unit (41) includes an electric push rod (411) fixedly connected to the upper side of the mounting base (42). The output end of the electric push rod (411) is fixedly connected to a mounting bracket (412). The mounting bracket (412) is Z-shaped with a 90° bend. The upper end of the mounting bracket (412) facing the gripper (43) is fixedly connected to a pressure sensor (414). The pressure sensor (414) is electrically connected to a controller. The controller is electrically connected to an alarm (413). The alarm (413) is fixedly connected to the upper side of the mounting bracket (412).

5. The robot for installing precast piers along the goaf as described in claim 1, characterized in that: The second adjustment unit (46) includes an extension frame (464) symmetrically fixedly connected to the mounting base (42). A second bidirectional lead screw (462) is rotatably connected between the two extension frames (464) and a second guide rod (463) is fixedly connected. The connecting seat (44) in the middle has a through opening for the second bidirectional lead screw (462) and the second guide rod (463) to pass through. The connecting seats (44) on both sides are slidably connected to the second guide rod (463) and symmetrically threaded to the second bidirectional lead screw (462). One end of the second bidirectional lead screw (462) extends out to the outside of the extension frame (464) and is fixedly connected to the output end of the third motor (461). The third motor (461) is fixedly connected to the outside of the extension frame (464).

6. The robot for installing precast piers along the goaf as described in claim 1, characterized in that: The switching unit (5) includes a vertical telescopic arm (53) and a horizontal telescopic arm (54). The vertical telescopic arm (53) and the horizontal telescopic arm (54) are driven to extend and retract by a hydraulic cylinder. The horizontal telescopic arm (54) and the mounting base (42) are rotatably connected through a first slewing bearing (51). The vertical telescopic arm (53) and the machine base (6) are rotatably connected through a second slewing bearing (52). A third hydraulic cylinder (55) is also hinged between the horizontal telescopic arm (54) and the vertical telescopic arm (53).

7. The robot for installing precast piers along the goaf as described in claim 1, characterized in that: The four corners of the base (6) are also provided with support components (2) for stable support. The support components (2) include a support rod (21) fixedly connected to the side of the base (6). The outer end of the support rod (21) is fixedly connected to a hydraulic support leg (22). The output end of the hydraulic support leg (22) is fixedly connected to a pad (23) facing downward.

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