Fully mechanized coal mining face conveyor middle trough hoisting and mounting all-in-one machine and walking system thereof

Abstract

The invention provides a lifting and mounting all-in-one machine for a middle trough of a fully mechanized coal mining face conveyor and a walking system of the lifting and mounting all-in-one machine, and belongs to the technical field of coal mine underground fully mechanized coal mining face matched equipment. The gear and the telescopic supporting leg are located on the two sides of the main machine frame respectively. The gear is meshed with a pin row chain of the middle groove; the sliding shoes are installed at the bottom ends of the telescopic supporting legs and used for being supported on the shovel plate ledge of the middle trough. Safe and efficient installation of the fully mechanized coal mining face conveyor middle trough can be achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of supporting equipment for fully mechanized mining working faces in underground coal mines, and specifically discloses a central trough hoisting and installation integrated machine for a fully mechanized mining working face conveyor and a traveling system thereof. Background Art

[0002] At present, the installation of the middle trough of the conveyor on the fully mechanized working face is completed by the ED series multi-functional forklift. After the middle trough is transported to the working face, two people are required to cooperate to unload the middle trough and transport it to the installation site for alignment installation. There are problems such as frequent entry and exit of vehicles in confined spaces, many human-machine coordination links, large vehicle size, inflexible movement, large exhaust emissions, poor on-site working environment, and easy accidents with vehicles and the middle trough, as well as accidents causing personal injury. Therefore, how to achieve safe and efficient installation of the middle trough of the fully mechanized working face conveyor needs to be solved urgently. Summary of the invention

[0003] The present invention provides an integrated machine for hoisting and installing the middle trough of a fully mechanized mining face conveyor and a traveling system thereof, so as to realize the safe and efficient installation of the middle trough of the fully mechanized mining face conveyor.

[0004] The walking system of the integrated machine for lifting and installing the middle trough of the comprehensive mining working face conveyor provided by the present invention includes a main frame, gears, telescopic legs and sliding shoes; the gears and telescopic legs are respectively located on both sides of the main frame; the gears are used to engage with the pin chain of the middle trough; the sliding shoes are installed at the bottom end of the telescopic legs and are used to support on the shovel plate trough side of the middle trough.

[0005] The above-mentioned walking system also includes a walking motor, a reducer and an outrigger cylinder; the walking motor is installed on the main frame, the output shaft is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the gear; the telescopic outrigger is driven to extend and retract by the outrigger cylinder.

[0006] The above-mentioned walking system also includes a hydraulic pump station, a hydraulic oil tank, a walking motor reversing valve, an outrigger cylinder reversing valve, a pilot oil source valve group, a remote control / manual switching pilot valve, a walking motor manual pilot valve, and an outrigger cylinder manual pilot valve; the hydraulic pump station includes a support frame, an emulsion motor, a speed increaser and a hydraulic pump; the support frame is installed on the main frame; the emulsion motor, the speed increaser and the hydraulic pump are installed on the support frame and are connected in sequence; the emulsion motor is connected to the emulsion pump station of the comprehensive mining working face; the oil inlet of the hydraulic pump is connected to the hydraulic oil tank, and the oil outlet is divided into two routes, the first route is respectively connected to the oil inlet of the walking motor reversing valve and the outrigger cylinder reversing valve, and the second route is connected to the oil inlet of the pilot oil source valve group; the A port and the B port of the walking motor reversing valve are respectively connected to the walking motor; the A port and the B port of the outrigger cylinder reversing valve are respectively connected to the The two control ports are connected to the outrigger cylinders respectively; the oil return ports of the travel motor reversing valve and the outrigger cylinder reversing valve are connected to the hydraulic oil tank; the oil outlet of the pilot oil source valve group is connected to the oil inlet of the remote control / manual switching pilot valve; the two oil outlets of the remote control / manual switching pilot valve are connected to the remote control operation oil circuit and the manual operation oil circuit respectively, the remote control / manual switching pilot valve is used to switch and interlock the remote control operation oil circuit and the manual operation oil circuit, the remote control operation oil circuit is connected to the pilot control ports of the travel motor reversing valve and the outrigger cylinder reversing valve respectively, the manual operation oil circuit is connected to the oil inlet of the travel motor manual pilot valve and the outrigger cylinder manual pilot valve respectively; the oil outlet of the travel motor manual pilot valve is connected to the pilot control port of the travel motor reversing valve; the oil outlet of the outrigger cylinder manual pilot valve is connected to the pilot control port of the outrigger cylinder reversing valve.

[0007] In the above-mentioned walking system, the walking motor reversing valve and the outrigger cylinder reversing valve are both proportional valves, which are integrated in the multi-way valve.

[0008] The integrated lifting and installation machine for the middle trough of a fully mechanized working face conveyor provided by the present invention comprises a mechanical arm and the above-mentioned walking system; the mechanical arm comprises a slewing mechanism, a telescopic arm, a telescopic arm lifting part, a swing wrist joint, a wrist joint driving part and a telescopic chuck I; the slewing mechanism comprises a slewing seat and a slewing seat driving part; the slewing seat is rotatably mounted on the main frame and driven to rotate by the slewing seat driving part; the first end of the telescopic arm is hinged to the slewing seat through a horizontal hinge shaft I, and is driven by the telescopic arm lifting part to swing around the horizontal hinge shaft I; the telescopic arm comprises a sleeve slidably connected and a sleeve telescopic part driving the sleeve to telescope; the wrist joint The swing mechanism comprises a swing frame, a rotating frame and a rotating frame driving unit; the swing frame is hinged to the second end of the telescopic arm through a horizontal hinge shaft II, and is driven by the wrist joint driving unit to swing around the horizontal hinge shaft II; the rotating frame is rotationally connected to the swing frame, the rotation center axis is perpendicular to the horizontal hinge shaft II, and the rotating frame is driven by the rotating frame driving unit to rotate around the rotation center axis; the telescopic chuck I comprises a chuck seat I, a sliding card plate I slidably installed on both sides of the chuck seat I, and a chuck driving unit I for driving the sliding card plate I to extend and retract relative to the chuck seat I; the chuck seat I is connected to the rotating frame and is perpendicular to the rotation center axis of the rotating frame.

[0009] In the above-mentioned integrated lifting and installation machine for the middle trough of the comprehensive mining working face conveyor, the slewing seat driving part is a slewing motor; the telescopic arm includes an outer sleeve and an inner sleeve, the end of the outer sleeve is the first end of the telescopic arm, and the end of the inner sleeve is the second end of the telescopic arm, and the sleeve telescopic part is a sleeve telescopic cylinder, which is located outside the outer sleeve and the inner sleeve, and the two ends are respectively hinged to the outer sleeve and the inner sleeve; the telescopic arm lifting part is a telescopic arm lifting cylinder, and the two ends are respectively hinged to the slewing seat and the outer sleeve; the wrist joint driving part is a wrist joint swing cylinder, and the two ends are respectively hinged to the inner sleeve and the swing frame; the rotating frame driving part is a rotating cylinder; the chuck driving part I is the chuck telescopic cylinder I.

[0010] The above-mentioned integrated lifting and installation machine for the middle trough of the comprehensive mining working face conveyor also includes a telescopic chuck II; the telescopic chuck II includes a chuck seat II, a sliding card plate II slidably installed on both sides of the chuck seat II, and a chuck driving part II for driving the sliding card plate II to extend and retract relative to the chuck seat II; the top surface of the chuck seat II is connected to the bottom surface of the main frame.

[0011] In the above-mentioned integrated lifting and installation machine for the middle trough of the comprehensive mining working face conveyor, threaded holes are provided on the top surfaces of the chuck seat I and the chuck seat II; the chuck driving part II is the chuck telescopic cylinder II.

[0012] The above-mentioned integrated lifting and installation machine for the middle trough of the comprehensive mining working face conveyor also includes a standing platform; the standing platform is installed on the main frame, including a base and a fence arranged above the base.

[0013] Compared with the prior art, the present invention has the following beneficial effects.

[0014] 1. The walking system of the integrated machine for lifting and installing the middle trough of the comprehensive mining working face conveyor provided by the present invention enables the whole machine to walk on the installed middle trough through the meshing of gears and the pin chain of the middle trough, avoiding the problems of frequent entry and exit of vehicles working in low confined spaces, large vehicle size, and inflexible movement. It cooperates with the sliding shoes to ensure the stability and safety of the whole machine during travel, and cleverly realizes the combination with the middle trough, providing a new design idea for the walking method of the integrated machine for lifting and installing the middle trough of the comprehensive mining working face conveyor.

[0015] 2. The hydraulic pump station has the function of converting the emulsion system into a hydraulic system, making full use of the emulsion system of the fully mechanized mining working face, facilitating the acquisition of power, improving the problems of large exhaust emissions and poor on-site working environment, and providing a new design idea for the power supply method of the integrated machine for hoisting and installing the middle trough of the fully mechanized mining working face conveyor.

[0016] 3. The integrated machine for lifting and installing the middle trough of the conveyor on the comprehensive mining working face provided by the present invention has a mechanical arm that can realize the automated lifting and installation of the middle trough unit, reduce the human-machine coordination links, greatly improve the installation efficiency of the middle trough of the conveyor, and improve the installation process of the middle trough of the conveyor, which is conducive to promoting the intelligent construction of the comprehensive mining working face.

[0017] 4. During lifting, the sliding card plate of the telescopic chuck II extends out and plugs into the middle groove to fix the whole machine, making it less likely for vehicle accidents to occur. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 This is a schematic diagram of the structure of the walking system of the integrated machine for hoisting and installing the middle trough of the fully mechanized working face conveyor;

[0020] Figure 2 for Figure 1 A view from another direction;

[0021] Figure 3 This is the assembly diagram of the gear, travel motor, and reducer;

[0022] Figure 4 It is the structural diagram of the hydraulic pump station;

[0023] Figure 5 The hydraulic principle diagram of the travel system of the integrated machine for hoisting and installing the middle trough of the fully mechanized working face conveyor;

[0024] Figure 6 This is a schematic diagram of the structure of the integrated machine for hoisting and installing the middle trough of the fully mechanized mining face conveyor;

[0025] Figure 7 It is a schematic diagram of the structure of the robotic arm;

[0026] Figure 8 It is a structural schematic diagram of the telescopic chuck I;

[0027] Fig. 9 This is the installation diagram of the integrated machine for hoisting and installing the middle trough of the fully mechanized mining working face conveyor.

[0028] In the figure: 1-main frame; 2-gear; 3-travel motor; 4-reducer; 5-telescopic outrigger; 6-outrigger cylinder; 7-slipper; 8-hydraulic oil tank; 9a-front travel motor reversing valve; 9b-rear travel motor reversing valve; 10a-front outrigger cylinder reversing valve; 10b-rear outrigger cylinder reversing valve; 11-pilot oil source valve group; 12-remote control / manual switching pilot valve; 13a-front travel motor manual pilot valve; 13b-rear travel motor manual pilot valve; 14a-front outrigger cylinder manual pilot valve; 14b-rear outrigger cylinder manual dynamic pilot valve; 15-support frame; 16-emulsion motor; 17-speed increaser; 18-hydraulic pump; 19-telescopic chuck II; 20-swivel seat; 21-swivel motor; 22-outer sleeve; 23-inner sleeve; 24-sleeve telescopic cylinder; 25-telescopic arm lifting cylinder; 26-swing frame; 27-rotating frame; 28-rotating cylinder; 29-wrist joint swing cylinder; 30-limiting frame; 31-limiting block; 32-chuck seat I; 33-sliding card plate I; 34-chuck telescopic cylinder I; 35-base; 36-fence;

[0029] 100-middle slot unit; 101-pin chain; 102-shovel plate slot side. DETAILED DESCRIPTION

[0030] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Example 1

[0032] The present embodiment provides a walking system of a middle trough hoisting and installation integrated machine for a fully mechanized working face conveyor, comprising a main frame 1, a gear 2, a walking motor 3, a reducer 4, a telescopic leg 5, a leg cylinder 6 and a sliding shoe 7; the gear 2 and the telescopic leg 5 are respectively located on both sides of the main frame 1; the gear 2 is used to mesh with the pin row chain 101 of the middle trough; the walking motor 3 is installed on the main frame 1, the output shaft is connected to the input shaft of the reducer 4, and the output shaft of the reducer 4 is connected to the gear 2; the telescopic leg 5 is driven to extend and retract by the leg cylinder 6; the sliding shoe 7 is installed at the bottom end of the telescopic leg 5, and is used to support on the shovel plate trough side 102 of the middle trough. The walking motor 3 drives the gear 2 to rotate, so that the whole machine can move forward and backward on the installed middle trough, and the lifting and lowering movement of the sliding shoe 7 is controlled by the extension and retraction of the leg cylinder 6, so as to ensure that the sliding shoe 7 can always contact with the shovel plate trough side 102 of the installed middle trough in the application scenarios of the middle troughs at different heights, so as to ensure the stability of the whole machine during the traveling process and improve the adaptability of the walking system.

[0033] The above-mentioned walking system also includes a hydraulic pump station, a hydraulic oil tank 8, a walking motor reversing valve (including a front walking motor reversing valve 9a and a rear walking motor reversing valve 9b), an outrigger oil cylinder reversing valve (including a front outrigger oil cylinder reversing valve 10a and a rear outrigger oil cylinder reversing valve 10b), a pilot oil source valve group 11, a remote control / manual switching pilot valve 12, a walking motor manual pilot valve (including a front walking motor manual pilot valve 13a and a rear walking motor manual pilot valve 13b), and an outrigger oil cylinder manual pilot valve (including a front outrigger oil cylinder manual pilot valve 14a and a rear outrigger oil cylinder manual pilot valve 14b); the hydraulic pump station is arranged inside the main frame 1, and has the function of converting the emulsion system into The function of the hydraulic system power is to facilitate the acquisition of the walking system power and provide green and clean energy for the walking system, including a support frame 15, an emulsion motor 16, a speed increaser 17 and a hydraulic pump 18; the support frame 15 is installed on the main frame 1; the emulsion motor 16, the speed increaser 17 and the hydraulic pump 18 are installed on the support frame 15 and are connected in sequence; the emulsion motor 16 is connected to the emulsion pump station of the comprehensive mining working face, which is the power source of the walking system; the speed increaser 17 is used to increase the speed of the hydraulic pump 18 during the energy conversion process, and provide a stable flow for the walking system; the oil inlet of the hydraulic pump 18 is connected to the hydraulic oil tank 8, and the oil outlet is divided into two ways, the first way is connected to the walking system respectively. The oil inlets of the walking motor reversing valve and the outrigger cylinder reversing valve are connected, and the second route is connected to the oil inlet of the pilot oil source valve 11; the A port and the B port of the walking motor reversing valve are respectively connected to the walking motor 3, serving as the direct output end of the walking motor 3 motion control; the A port and the B port of the outrigger cylinder reversing valve are respectively connected to the outrigger cylinder 6, serving as the direct output end of the outrigger cylinder 6 motion control; the oil return port of the walking motor reversing valve and the outrigger cylinder reversing valve is connected to the hydraulic oil tank 8; the oil outlet of the pilot oil source valve group 11 is connected to the oil inlet of the remote control / manual switching pilot valve 12, providing a stable flow and pressure for the system pilot oil; the two ports of the remote control / manual switching pilot valve 12 The oil outlets are respectively connected to the remote control operation oil circuit and the manual operation oil circuit. The remote control / manual switching pilot valve 12 is used to switch and interlock the remote control operation oil circuit and the manual operation oil circuit to realize the interlocking switching of manual control and remote control of the walking system; the remote control operation oil circuit is respectively connected to the pilot control ports (Z ports) of the walking motor reversing valve and the outrigger cylinder reversing valve, and the manual operation oil circuit is respectively connected to the oil inlet ports of the walking motor manual pilot valve and the outrigger cylinder manual pilot valve; the oil outlet of the walking motor manual pilot valve is connected to the pilot control port (Z port) of the walking motor reversing valve; the oil outlet of the outrigger cylinder manual pilot valve is connected to the pilot control port (Z port) of the outrigger cylinder reversing valve.

[0034] In the above-mentioned walking system, the walking motor reversing valve and the outrigger cylinder reversing valve are both proportional valves, which are integrated in the multi-way valve.

[0035] Example 2

[0036] The present embodiment provides an integrated machine for lifting and installing the middle trough of a comprehensive mining working face conveyor, which is used to lift the middle trough unit 100 so that it is aligned with the end face of the installed middle trough so that it can be connected through a pin shaft and a pin chain 101, including a mechanical arm, a telescopic chuck II 19, a standing platform and the walking system described in Example 1.

[0037] The mechanical arm is arranged at the front of the main frame 1 and has a 180° rotation angle to meet the lifting and installation requirements on both sides of the middle slot.

[0038] The robot arm comprises a slewing mechanism, a telescopic arm, a telescopic arm lifting part, a swing wrist joint, a wrist joint driving part, and a telescopic chuck I.

[0039] The swivel mechanism includes a swivel seat 20 and a swivel seat driving unit; the swivel seat 20 is rotatably mounted on the main frame 1 and driven by the swivel seat driving unit to achieve left and right rotation; in this embodiment, the swivel seat driving unit is a swivel motor 21.

[0040] The first end of the telescopic arm is hinged to the swivel seat 20 through a horizontal hinge shaft Ⅰ, and is driven by the telescopic arm lifting part to swing around the horizontal hinge shaft Ⅰ, so as to realize the up and down swing of the telescopic arm; the telescopic arm includes a sleeve that is slidably connected and a sleeve telescopic part that drives the sleeve to telescope; in this embodiment, the telescopic arm includes an outer sleeve 22 and an inner sleeve 23, the end of the outer sleeve 22 is the first end of the telescopic arm, the end of the inner sleeve 23 is the second end of the telescopic arm, the sleeve telescopic part is a sleeve telescopic cylinder 24, the sleeve telescopic cylinder 24 is located outside the outer sleeve 22 and the inner sleeve 23, and the two ends of the sleeve telescopic cylinder 24 are respectively hinged to the outer sleeve 22 and the inner sleeve 23, the telescopic arm lifting part is a telescopic arm lifting cylinder 25, and the two ends of the telescopic arm lifting cylinder 25 are respectively hinged to the swivel seat 20 and the outer sleeve 22.

[0041] The wrist joint swing mechanism includes a swing frame 26, a rotating frame 27 and a rotating frame driving unit; the swing frame 26 is hinged to the second end of the telescopic arm through a horizontal hinge shaft II, and is driven by the wrist joint driving unit to swing around the horizontal hinge shaft II to realize the forward and backward swing of the swing wrist joint; the rotating frame 27 is rotatably connected to the swing frame 26, and the rotation center axis is perpendicular to the horizontal hinge shaft II. The rotating frame 27 is driven by the rotating frame driving unit to rotate around the rotation center axis; in this embodiment, the rotating frame driving unit is a rotating oil cylinder 28, and the wrist joint driving unit is a wrist joint swing oil cylinder 29, and the two ends of the wrist joint swing oil cylinder 29 are respectively hinged to the inner sleeve 23 and the swing frame 26. The combination of the rotating oil cylinder 28 and the wrist joint swing oil cylinder 29 can realize a small rotation adjustment of the mechanical arm to the left and right and a small tilt to the front and back, which is more conducive to the installation and adjustment of the middle slot. In order to limit the rotation angle of the swivel seat 20, a limit frame 30 is fixed on the swivel seat 20, and a limit block 31 is installed on the main frame 1. When the limit frame 30 rotates with the swivel seat 20 until it contacts the limit block 31, the swivel seat 20 stops rotating.

[0042] The telescopic chuck I includes a chuck seat I32, a sliding card plate I33 slidably mounted on both sides of the chuck seat I32, and a chuck driving part I for driving the sliding card plate I33 to extend and retract relative to the chuck seat I32; the top surface of the chuck seat I32 is connected to the rotating frame 27 through a threaded hole, and the chuck seat I32 is perpendicular to the rotation center axis of the rotating frame 27. In this embodiment, the chuck driving part I is a chuck telescopic oil cylinder I34. Under the lifting condition, the chuck telescopic oil cylinder I34 drives the sliding card plate I33 to extend and fasten with the middle groove monomer 100 to be installed to prevent the middle groove monomer 100 from falling off during the lifting process. After the middle groove monomer 100 is connected to the installed middle groove, the chuck telescopic oil cylinder I34 drives the sliding card plate I33 to retract, and the telescopic chuck I moves out of the middle groove monomer.

[0043] The telescopic chuck II 19 has the same structure as the telescopic chuck I, including a chuck seat II, a sliding card plate II slidably mounted on both sides of the chuck seat II, and a chuck driving unit for driving the sliding card plate II to extend and retract relative to the chuck seat II; the top surface of the chuck seat II is connected to the bottom surface of the main frame 1 through a threaded hole. The chuck driving unit II is a chuck telescopic cylinder II. Under the lifting condition, the sliding card plate II extends and is fastened to the installed middle groove to prevent the equipment from tilting forward when the center of gravity is unstable; under the equipment walking condition, the sliding card plate II shrinks to avoid generating excess friction resistance during the equipment walking process.

[0044] The standing platform is arranged at the rear of the main frame 1 to facilitate the operator to drive the equipment. The standing platform includes a base 35 and a fence 36 arranged above the base 35. The base 35 is used to provide a standing space for the operator to ensure the operating field of view; the fence 36 ensures the safety of the operator.

[0045] The chuck telescopic cylinder I 34 , the chuck telescopic cylinder II, the rotary motor 21 , the sleeve telescopic cylinder 24 , the telescopic arm lifting cylinder 25 , the wrist joint swing cylinder 29 and the rotating cylinder 28 are all connected to the hydraulic pump 18 .

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A walking system for a central trough hoisting and installation integrated machine of a fully mechanized mining face conveyor, characterized in that: Includes main frame, gears, telescopic legs and skids; The gears and telescopic legs are respectively located on both sides of the main frame; The gear is used to mesh with the pin row chain of the middle groove; The sliding shoe is installed at the bottom end of the telescopic leg and is used for supporting on the shovel plate groove side of the middle groove.

2. The walking system of the integrated lifting and installation machine for the middle trough of the fully mechanized working face conveyor according to claim 1 is characterized in that: It also includes travel motor, reducer and outrigger cylinder; The travel motor is installed on the main frame, the output shaft is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the gear; The telescopic legs are driven to extend and retract by the leg oil cylinders.

3. The walking system of the integrated lifting and installation machine for the middle trough of the fully mechanized working face conveyor according to claim 2 is characterized in that: It also includes a hydraulic pump station, a hydraulic oil tank, a travel motor reversing valve, an outrigger oil cylinder reversing valve, a pilot oil source valve group, a remote control / manual switching pilot valve, a travel motor manual pilot valve, and an outrigger oil cylinder manual pilot valve; The hydraulic pump station includes a support frame, an emulsion motor, a speed increaser and a hydraulic pump; The support frame is installed on the main frame; The emulsion motor, speed increaser and hydraulic pump are installed on the support frame and connected in sequence; The emulsion motor is connected to the emulsion pump station of the fully mechanized mining working face; The oil inlet of the hydraulic pump is connected to the hydraulic oil tank, and the oil outlet is divided into two paths, the first path is connected to the oil inlets of the travel motor reversing valve and the outrigger oil cylinder reversing valve respectively, and the second path is connected to the oil inlet of the pilot oil source valve group; The A port and the B port of the travel motor reversing valve are respectively connected to the travel motor; The A port and the B port of the outrigger oil cylinder reversing valve are respectively connected to the outrigger oil cylinder; The oil return ports of the travel motor reversing valve and the outrigger oil cylinder reversing valve are connected to the hydraulic oil tank; The oil outlet of the pilot oil source valve group is connected to the oil inlet of the remote control / manual switching pilot valve; The two oil outlets of the remote control / manual switching pilot valve are respectively connected to the remote control operation oil circuit and the manual operation oil circuit. The remote control / manual switching pilot valve is used to switch and interlock the remote control operation oil circuit and the manual operation oil circuit. The remote control operation oil circuit is respectively connected to the pilot control ports of the travel motor reversing valve and the outrigger oil cylinder reversing valve, and the manual operation oil circuit is respectively connected to the oil inlet ports of the travel motor manual pilot valve and the outrigger oil cylinder manual pilot valve; the oil outlet of the travel motor manual pilot valve is connected to the pilot control port of the travel motor reversing valve; The oil outlet of the manual pilot valve of the outrigger oil cylinder is connected to the pilot control port of the outrigger oil cylinder reversing valve.

4. The walking system of the integrated lifting and installation machine for the middle trough of the fully mechanized working face conveyor according to claim 3 is characterized in that: The travel motor reversing valve and the outrigger cylinder reversing valve are both proportional valves, which are integrated in the multi-way valve.

5. A fully mechanized mining face conveyor middle trough hoisting and installation integrated machine, characterized in that: Comprising a robotic arm and a walking system according to any one of claims 1 to 4; The mechanical arm comprises a slewing mechanism, a telescopic arm, a telescopic arm lifting part, a swing wrist joint, a wrist joint driving part and a telescopic chuck I; The swivel mechanism comprises a swivel seat and a swivel seat driving part; The swivel seat is rotatably mounted on the main frame and driven to rotate by the swivel seat driving unit; The first end of the telescopic arm is hinged to the swivel seat through a horizontal hinge shaft I, and is driven by the lifting part of the telescopic arm to swing around the horizontal hinge shaft I; The telescopic arm comprises a sleeve that is slidably connected and a sleeve telescopic portion that drives the sleeve to telescope; The wrist joint swing mechanism includes a swing frame, a rotating frame and a rotating frame driving part; The swing frame is hinged to the second end of the telescopic arm through a horizontal hinge shaft II, and is driven by the wrist joint driving unit to swing around the horizontal hinge shaft II; The rotating frame is rotatably connected to the swing frame, the rotating center axis is perpendicular to the horizontal hinge axis II, and the rotating frame is driven by the rotating frame driving unit to rotate around the rotating center axis; The telescopic chuck I comprises a chuck seat I, a sliding card plate I slidably mounted on both sides of the chuck seat I, and a chuck driving part I for driving the sliding card plate I to extend and retract relative to the chuck seat I; The chuck seat I is connected to the rotating frame and is perpendicular to the rotation center axis of the rotating frame.

6. The integrated lifting and installation machine for the middle trough of a fully mechanized mining face conveyor according to claim 5 is characterized in that: The rotary seat driving part is a rotary motor; The telescopic arm comprises an outer sleeve and an inner sleeve, the end of the outer sleeve is the first end of the telescopic arm, the end of the inner sleeve is the second end of the telescopic arm, the sleeve telescopic part is a sleeve telescopic oil cylinder, the sleeve telescopic oil cylinder is located outside the outer sleeve and the inner sleeve, and the two ends are respectively hinged to the outer sleeve and the inner sleeve; The telescopic arm lifting part is a telescopic arm lifting cylinder, and both ends are hinged to the swivel seat and the outer sleeve respectively; The wrist joint driving part is a wrist joint swing cylinder, and its two ends are respectively hinged to the inner sleeve and the swing frame; The rotating frame driving part is a rotating oil cylinder; The chuck driving part I is a chuck telescopic oil cylinder I.

7. The integrated machine for hoisting and installing the middle trough of a fully mechanized working face conveyor according to claim 5 is characterized in that: Also includes telescopic chuck II; The telescopic chuck II comprises a chuck seat II, a sliding clamping plate II slidably mounted on both sides of the chuck seat II, and a chuck driving part II for driving the sliding clamping plate II to extend and retract relative to the chuck seat II; The top surface of the chuck seat II is connected to the bottom surface of the main frame.

8. The integrated lifting and installation machine for the middle trough of a fully mechanized mining face conveyor according to claim 3 is characterized in that: The top surfaces of the chuck seat I and the chuck seat II are provided with threaded holes; The chuck driving part II is a chuck telescopic oil cylinder II.

9. The integrated lifting and installation machine for the middle trough of a fully mechanized mining face conveyor according to claim 7 is characterized in that: It also includes a standing platform; The standing platform is installed on the main frame and comprises a base and a fence arranged above the base.

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