A unit support handling robot with automatic docking device

Abstract

The present application discloses a unit bracket handling robot with an automatic docking device, which relates to the technical field of unit bracket handling, and includes a mobile chassis and a vehicle body, and also includes an adjustment component and a support component; the adjustment component includes a handling part and a docking part; the handling part is used to control the forking angle of the docking part; the docking part includes a fixed bracket, a sliding bracket and a support seat; the fixed bracket and the sliding bracket are connected by a lifting cylinder; the support seat and the sliding bracket are connected by a floating spring, a plurality of guide rods are fixed on the support seat, a plurality of automatic female joints are fixed in the middle of the support seat, and the automatic female joints are connected to the emulsion tank through a pipeline; the support component includes a unit bracket, and the unit bracket includes a mounting seat, a column and a bracket base, and the mounting seat is fixed on the bracket base; a plurality of guide sleeves are fixed on the mounting seat; the emulsion pipeline can be quickly docked and separated during the handling of the unit bracket.

Description

Technical Field

[0001] The present invention relates to the technical field of unit support transport, and in particular to a unit support transport robot with an automatic docking device. Background Art

[0002] Unit supports are often installed on coal mine working faces. Unit supports are mainly used to prevent working face collapse and ensure the smooth progress of mining operations. Unit supports are widely used in the advance support of the drift of the coal mine comprehensive mining working face and the reinforced support of the goaf-retained lane. As the excavation continues to deepen, the unit supports need to be moved to the new support position as the excavation progresses to support the mine road. Therefore, the transportation of unit supports is an indispensable part of mine road support work.

[0003] During the process of moving the unit bracket, workers are required to frequently connect and remove the emulsion pipeline between the unit bracket and the vehicle-mounted emulsion pump station, which makes the operation procedure cumbersome. Not only is the labor intensity high, but it also increases the cost of mine maintenance and management. Moreover, during the process of workers connecting the emulsion pipeline, they need to operate near the unit bracket, which poses a major safety hazard. Summary of the invention

[0004] The embodiment of the present application provides a unit bracket transport robot with an automatic docking device, thereby solving the problem in the prior art that during the process of transporting the unit bracket, workers need to frequently connect and remove the emulsion pipeline between the unit bracket and the vehicle-mounted emulsion pump station, resulting in cumbersome operating procedures.

[0005] The embodiment of the present application provides a unit support handling robot with an automatic docking device, including a mobile chassis and a vehicle body, and also including an adjustment component and a support component;

[0006] The adjustment assembly includes a transport portion and a docking portion;

[0007] The transporting part is used to control the forking angle of the docking part;

[0008] The docking portion includes a fixed bracket, a sliding bracket and a supporting seat;

[0009] The fixed bracket and the sliding bracket are connected via a lifting cylinder;

[0010] The support seat and the sliding bracket are connected via a floating spring, a plurality of guide rods are fixed on the support seat, a plurality of automatic female joints are fixed in the middle of the support seat, and the automatic female joints are connected to the emulsion tank via a pipeline;

[0011] The support assembly includes a unit bracket, the unit bracket includes a mounting seat, a column and a bracket base, and the mounting seat is fixed on the bracket base;

[0012] A plurality of guide sleeves are fixed on the mounting seat, and a guide rod extends into a guide sleeve;

[0013] A plurality of automatic male connectors are fixed on the mounting seat near the automatic female connector, and a plurality of liquid guide tubes are fixed on the mounting seat away from the automatic male connector, and an automatic male connector and an automatic female connector are parallel;

[0014] When the guide rod and the guide sleeve are butted together, the automatic female joint and the automatic male joint are sealed and butted together;

[0015] The column is a hollow cylinder fixed on the bracket base, a liquid inlet pipe is fixed on the side of the column, the liquid guide tube is connected to the liquid inlet pipe through a pipeline, a frame is positioned inside the column, one end of the frame extends into the column, and a top plate is fixed on the other end of the frame.

[0016] Furthermore, the docking unit also includes a fork frame and an explosion-proof video monitoring device;

[0017] Two parallel telescopic guide rods are fixed on the sliding bracket, and the free end of each telescopic guide rod is fixed to the fixed bracket, and the fork frame is fixed on the fixed bracket near the handling part;

[0018] The fork frame is used to fork the top plate, and a limit block is fixed on the fork frame near the top plate;

[0019] Two explosion-proof video monitoring devices are fixed on the sliding bracket, and the two explosion-proof video monitoring devices are located behind the supporting seat.

[0020] Furthermore, the transporting part includes a gantry, a mounting frame, an adjusting cylinder and a cantilever beam;

[0021] The adjusting oil cylinder is installed on the door frame, and the adjusting oil cylinder is used to control the lifting and lowering of the mounting frame. The mounting frame is provided with a sliding frame through multiple sets of pulley bearings, and the sliding frame is provided with a guide groove;

[0022] The cantilever beam is positioned in the guide groove of the sliding frame through a transverse pulley device. A transverse oil cylinder is fixed in the sliding frame. A rotating oil cylinder is installed at the free end of the cantilever beam. The rotating oil cylinder is movably connected to the fixed bracket.

[0023] Furthermore, the support assembly also includes a dust removal part;

[0024] The dust removal unit includes a liquid storage tank, which is fixed on a side of the top plate away from the mounting seat;

[0025] A branch pipe is fixed on the liquid storage tank, the water inlet end of the branch pipe is fixed to the liquid inlet pipe, the water outlet end of the branch pipe extends into the liquid storage tank, and a valve is fixed on the branch pipe;

[0026] A liquid delivery pipe is fixed on the side of the liquid storage tank close to the mining working face, and a liquid spraying device is installed on the liquid delivery pipe. The liquid spraying device is a water pump. A spraying bin is fixed on the free end of the liquid delivery pipe, and a plurality of nozzles are fixed on the spraying bin. The nozzles are used to spray mist emulsion.

[0027] Furthermore, a feeding pipe is fixed to the side of the liquid storage tank, and negative pressure is increased in the feeding pipe by an air pump;

[0028] One end of the feeding pipe extends into the liquid storage tank, and the other end of the feeding pipe is fixed with a dust cover.

[0029] Furthermore, the dust hood is a truncated cone with a hollow interior and openings at both ends, and the small end of the dust hood is fixed to the feeding pipe;

[0030] A hollow plate is fixed in the small opening end of the dust hood, and a crushing blade is movably connected to the side of the hollow plate away from the feeding pipe. When the negative pressure in the feeding pipe increases, the crushing blade rotates accordingly.

[0031] Furthermore, the liquid storage tank is filled with a surfactant, and the emulsion is evenly contacted with the surfactant after entering the liquid storage tank. The liquid spraying device is a foaming device, and the liquid spraying device is used to make the emulsion form foam and spray it out through the nozzle.

[0032] Furthermore, the liquid storage tank is divided into two spaces by a partition, one space is a dust removal space, and the other space is a cleaning space, the surfactant is injected into the dust removal space, and the feed pipe extends into the dust removal space;

[0033] A distribution pipe is fixed on the water outlet end of the branch pipe. The distribution pipe has two water outlet ends. One water outlet end of the distribution pipe extends into the dust removal space, and the other water outlet end of the distribution pipe extends into the cleaning space.

[0034] Furthermore, a cleaning pipe is fixed on the liquid storage tank near the stand, one end of the cleaning pipe extends into the cleaning space, an electric valve is fixed on the cleaning pipe, and a nozzle is fixed on the remaining end of the cleaning pipe, and the nozzle is used to spray the stand.

[0035] Furthermore, two-thirds of the space in the liquid storage tank is a dust removal space, and one-third of the space in the liquid storage tank is a cleaning space.

[0036] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0037] By setting the adjustment assembly and the support assembly, the position of the fixed bracket is adjusted through the transport part, and the guide rod is first docked with the guide sleeve to achieve preliminary positioning. Then the automatic female joint and the automatic male joint are sealed and locked to complete the secondary positioning, which improves the connection stability and enables the emulsion pipeline to be quickly docked and separated during the transportation of the unit bracket. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a three-dimensional structural schematic diagram of a unit support handling robot with an automatic docking device according to the present invention;

[0039] Figure 2 It is a schematic diagram of the three-dimensional structure of the support assembly of the unit support handling robot with an automatic docking device of the present invention;

[0040] Figure 3 It is a structural schematic diagram of the positional relationship between the lateral movement cylinder and the cantilever beam of the unit support handling robot with an automatic docking device of the present invention;

[0041] Figure 4 It is a schematic diagram of the three-dimensional structure of the support base of the unit support handling robot with an automatic docking device of the present invention;

[0042] Figure 5 It is a schematic diagram of the three-dimensional structure of the unit support handling robot with an automatic docking device of the present invention, with the mounting base and the supporting base separated;

[0043] Figure 6 It is a schematic structural diagram of a state in which the guide rod of the unit support handling robot with an automatic docking device of the present invention extends into the guide sleeve;

[0044] Figure 7 It is a structural schematic diagram of the connection relationship between the dust removal part and the top plate of the unit support handling robot with an automatic docking device of the present invention;

[0045] Figure 8 It is a structural schematic diagram of the positional relationship between the liquid storage tank and the spraying chamber of the unit support handling robot with an automatic docking device of the present invention;

[0046] Fig. 9 It is a structural schematic diagram of the connection relationship between the feeding pipe and the liquid storage tank of the unit support handling robot with an automatic docking device of the present invention;

[0047] Fig.10 It is a structural schematic diagram of the connection relationship between the crushing blade and the dust collection cover of the unit support handling robot with an automatic docking device of the present invention;

[0048] Fig.11 It is a structural schematic diagram of the connection relationship between the branch pipe and the liquid storage tank of the unit support handling robot with an automatic docking device of the present invention;

[0049] Fig.12 It is a schematic diagram of the structure of the unit support handling robot with an automatic docking device of the present invention, in which the support rises after liquid is injected into the support column;

[0050] Fig.13It is a schematic diagram of the structure of the nozzle spraying and dust removal state of the unit support handling robot with an automatic docking device of the present invention;

[0051] Fig.14 It is a structural schematic diagram of the connection relationship between the distribution pipe and the branch pipe of the unit support handling robot with an automatic docking device of the present invention;

[0052] Fig.15 It is a schematic diagram of the cross-sectional three-dimensional structure of the liquid storage tank of the unit support handling robot with an automatic docking device of the present invention;

[0053] Fig.16 It is a structural schematic diagram of the connection relationship between the cleaning pipe and the liquid storage tank of the unit support handling robot with an automatic docking device of the present invention;

[0054] Fig.17 It is a schematic structural diagram of the state of the cleaning tube of the unit support transport robot with an automatic docking device of the present invention cleaning the stand.

[0055] In the figure: 100, mobile chassis; 110, vehicle body; 111, tilting cylinder; 120, auxiliary part; 200, adjustment assembly; 210, transport part; 2101, mounting frame; 211, adjustment cylinder; 212, sliding frame; 213, traverse cylinder; 214, cantilever beam; 215, rotating cylinder;

[0056] 230, docking part; 2301, fixed bracket; 2302, sliding bracket; 231, fork frame; 2311, limit block; 232, telescopic guide rod; 233, lifting cylinder; 234, support seat; 2341, guide rod; 2342, automatic female joint; 2343, floating spring; 235, explosion-proof video monitoring device;

[0057] 300, support assembly; 310, mounting seat; 311, guide sleeve; 312, automatic male connector; 313, liquid guide tube; 320, column; 321, liquid inlet tube; 322, stand; 330, top plate;

[0058] 340, dust removal unit; 341, liquid storage tank; 3411, liquid delivery pipe; 342, spray chamber; 3421, nozzle; 343, branch pipe; 3431, distribution pipe; 344, feed pipe; 3441, dust hood; 3442, crushing blade; 345, partition; 346, cleaning pipe; 350, bracket base. DETAILED DESCRIPTION

[0059] To facilitate the understanding of the present invention, the present application will be described more comprehensively below with reference to the relevant drawings; the drawings show preferred embodiments of the present invention, but the present invention can be implemented in many different forms and is not limited to the embodiments described herein; on the contrary, the purpose of providing these embodiments is to enable a more thorough and comprehensive understanding of the disclosed content of the present invention.

[0060] It should be noted that the terms “vertical”, “horizontal”, “up”, “down”, “left”, “right” and similar expressions used in this document are only for illustrative purposes and do not represent the only implementation method.

[0061] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs; the terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the term "and / or" used herein includes any and all combinations of one or more related listed items.

[0062] like Figures 1 to 6 As shown, the present application proposes a unit support handling robot with an automatic docking device, including a mobile chassis 100, a vehicle body 110 and an auxiliary part 120. The mobile chassis 100 is located at the bottom of the vehicle body 110. The mobile chassis 100 is used to drive the vehicle body 110 to move autonomously in the mine tunnel. The auxiliary part 120 is fixed on the vehicle body 110. The auxiliary part 120 includes a hydraulic control valve group, a hydraulic oil tank, an emulsion pump, an emulsion tank, a water replenishment tank, a wireless remote control operation receiving device, etc., and also includes an adjustment component 200 and a support component 300.

[0063] The adjustment assembly 200 includes a transport portion 210 and a docking portion 230;

[0064] The transporting part 210 is used to control the forking angle of the docking part 230 to complete the transporting action. A tilting cylinder 111 is movably connected to the vehicle body 110 near the transporting part 210. The tilting cylinder 111 is used to control the forward and backward tilting angle of the transporting part 210. The forward and backward tilting angle of the transporting part 210 is within the range of 0° to 12°.

[0065] The docking portion 230 includes a fixed bracket 2301, a sliding bracket 2302 and a support seat 234;

[0066] The fixed bracket 2301 is connected to the transport part 210, and the fixed bracket 2301 and the sliding bracket 2302 are connected via a lifting cylinder 233. There are two lifting cylinders 233, and the two lifting cylinders 233 are parallel. The lifting cylinders 233 are used to drive the support seat 234 to move up and down;

[0067] The support seat 234 and the sliding bracket 2302 are connected by a floating spring 2343. The floating spring 2343 is used to buffer the contact force when the support seat 234 and the mounting seat 310 are connected, prevent damage during the connection process of the components, and increase the service life. A plurality of guide rods 2341 are fixed on the support seat 234, and a plurality of automatic female connectors 2342 are fixed in the middle of the support seat 234. The automatic female connector 2342 is connected to the emulsion tank through a pipeline.

[0068] The support assembly 300 includes a unit support, which includes a mounting seat 310, a column 320 and a support base 350, and the mounting seat 310 is fixed on the support base 350 near the support seat 234;

[0069] A plurality of guide sleeves 311 are fixed on the mounting seat 310, a guide rod 2341 extends into a guide sleeve 311, and the outer side surface of the guide rod 2341 and the inner side surface of the guide sleeve 311 are in conflict with each other;

[0070] A plurality of automatic male connectors 312 are fixed on the mounting seat 310 near the automatic female connector 2342, and a plurality of liquid guide tubes 313 are fixed on the mounting seat 310 away from the automatic male connector 312. An automatic male connector 312 and a liquid guide tube 313 are internally connected, and an automatic male connector 312 and an automatic female connector 2342 are parallel.

[0071] When the guide rod 2341 and the guide sleeve 311 are connected, the automatic female connector 2342 and the automatic male connector 312 are sealed and connected, and the emulsion enters the automatic male connector 312 from the automatic female connector 2342, and the connection between the two is sealed and not easy to leak;

[0072] The column 320 is a hollow cylinder and is fixed on the support base 350. A liquid inlet pipe 321 is fixed on the side of the column 320. The liquid guide pipe 313 is connected to the liquid inlet pipe 321 through a pipeline. The emulsion is sent into the liquid inlet pipe 321 through the liquid guide pipe 313 to inject liquid into the column 320. A safety valve is fixed on the liquid inlet pipe 321. The safety valve is used to limit the pressure of the locking liquid in the column 320 to achieve constant resistance support.

[0073] A frame 322 is positioned inside the column 320 , one end of the frame 322 extends into the column 320 , and a top plate 330 is fixed to the other end of the frame 322 , and the top plate 330 is used to support the mine tunnel.

[0074] It is worth mentioning that by adjusting the position of the fixed bracket 2301 through the conveying part 210, the guide rod 2341 is docked with the guide sleeve 311, and at the same time, a guiding effect is provided for the docking of the automatic female connector 2342 and the automatic male connector 312, thereby improving the docking and locking accuracy of the automatic female connector 2342 and the automatic male connector 312.

[0075] Specifically, if Figures 2 to 4 As shown, the docking portion 230 further includes a fork frame 231 and an explosion-proof video monitoring device 235;

[0076] Two parallel telescopic guide rods 232 are fixed on the sliding bracket 2302. One telescopic guide rod 232 is located on one side of a lifting cylinder 233. The free end of each telescopic guide rod 232 is fixed to the fixed bracket 2301. The telescopic guide rod 232 is used to guide the support seat 234 to ensure the stability of the lifting movement of the support seat 234. The fork frame 231 is fixed on the fixed bracket 2301 near the transport part 210.

[0077] The fork frame 231 is used to fork the top plate 330. A limit block 2311 is fixed on the fork frame 231 near the top plate 330. The limit block 2311 is used to prevent the top plate 330 from sliding at the fork frame 231 during the movement, thereby ensuring safety and stability during the transportation process.

[0078] Two explosion-proof video monitoring devices 235 are fixed on the sliding bracket 2302. The two explosion-proof video monitoring devices 235 are located behind the support seat 234. The explosion-proof video monitoring devices 235 are used to observe the positions of the automatic female connector 2342 and the automatic male connector 312 when the vehicles are automatically docked and make timely adjustments.

[0079] It is worth noting that after the automatic female connector 2342 and the automatic male connector 312 are docked and locked, the emulsion is injected into the column 320 to make the frame 322 rise until the top plate 330 supports the top of the mine tunnel. When the top plate 330 forms a stable support for the top of the mine tunnel, the liquid injection is completed.

[0080] Specifically, if Figures 1 to 3 As shown, the transporting part 210 includes a gantry, a mounting frame 2101, an adjusting cylinder 211 and a cantilever beam 214. Two telescopic legs are installed on the vehicle body 110 near the transporting part 210, and the telescopic legs are used to support the vehicle body 110;

[0081] The adjusting oil cylinder 211 is installed on the door frame, and the adjusting oil cylinder 211 is used to control the lifting of the mounting frame 2101. The mounting frame 2101 is located in front of the vehicle body 110. The mounting frame 2101 is installed with a sliding frame 212 through multiple sets of pulley bearings, and the sliding frame 212 is provided with a guide groove;

[0082] The cantilever beam 214 is positioned in the guide groove of the sliding frame 212 through a transverse pulley device. A transverse cylinder 213 is fixed in the sliding frame 212. The transverse cylinder 213 is used to drive the cantilever beam 214 to slide transversely in the guide groove of the sliding frame 212. A rotating cylinder 215 is installed at the free end of the cantilever beam 214. The rotating cylinder 215 is used to drive the docking part 230 to rotate. The rotating cylinder 215 is movably connected to the fixed bracket 2301 to facilitate the transportation of the unit bracket.

[0083] It is easy to understand that when transporting the unit bracket, the transport part 210 controls the docking part 230 to fork the top plate 330, and adjusts the landing position of the unit bracket by rotating the rotary cylinder 215 to achieve left-lifting and right-lifting or right-lifting and left-lifting. The transport part 210 has the functions of lifting, lateral movement, rotation, and amplitude adjustment, realizing multiple degrees of freedom of movement, making the transportation more flexible, efficient, safe and reliable.

[0084] In the above embodiment, when transporting a unit support, the transport robot walks to the side of the unit support that needs to be transported. When the stand 322 is in the top supporting state, the worker can extend the telescopic legs to support the vehicle body 110 through wireless remote control, control the adjustment cylinder 211 to lower the mounting frame 2101 to the lowest position, control the transverse cylinder 213 to transversely move the cantilever beam 214 to the side of the unit support that needs to be transported, and rotate the fork frame 231 90° through the rotating cylinder 215 to make the support seat 234 close to the mounting seat. 310, extend the fork frame 231 toward the column 320, at which time the fork frame 231 is located directly below the top plate 330, then control the lifting cylinder 233 to rise to drive the sliding bracket 2302 to rise, and by observing the image display of the explosion-proof video monitoring device 235, control the guide rod 2341 to extend into the guide sleeve 311, and after the guide rod 2341 and the guide sleeve 311 are accurately connected, continue to control the lifting cylinder 233 to rise, so that the automatic female connector 2342 and the automatic male connector 312 are connected until they are locked;

[0085] After the joints are aligned and locked, the emulsion pipeline of the vehicle-mounted emulsion pump is connected, and the liquid return and frame lowering start. The vertical frame 322 starts to lower until the top plate 330 drops to the lowest height and contacts the fork frame 231, and the liquid return is completed. Then the lifting cylinder 233 is controlled to descend to separate the automatic female joint 2342 from the automatic male joint 312. The joint separation can prevent the joints from being damaged due to the uneven ground during the walking of the transport bracket. The mounting frame 2101 is controlled to rise by adjusting the cylinder 211, and the top plate 330 is lifted by the fork frame 231, so that the bracket base 350 is more than 200mm away from the bottom surface. The unit bracket is moved horizontally to the front of the vehicle body 110 by controlling the cantilever beam 214 through the transverse cylinder 213, and the telescopic legs are retracted to the width of the vehicle body, and the transport bracket starts to move;

[0086] When the transport robot transports the unit bracket to the specified position, it extends the telescopic legs again, then controls the cantilever beam 214 through the transverse cylinder 213 to transversely move the unit bracket to the side of the lane where the bracket needs to be dropped, controls the adjustment cylinder 211 to lower the mounting frame 2101, so that the unit bracket picked up by the fork frame 231 drops, and then rises again through the lifting cylinder 233, repeats the above actions, docks the guide rod 2341 and the guide sleeve 311, and then aligns the automatic female joint 2342 with the automatic male joint 312. The emulsion pipeline of the vehicle-mounted emulsion pump is connected, and the emulsion enters the column 320 through the liquid inlet pipe 321 to start the liquid inlet lifting until the top plate 330 supports the top of the tunnel. After the top of the tunnel is stably supported, the liquid inlet is completed, and then the lifting cylinder 233 is controlled to descend, so that the automatic female joint 2342 is separated from the automatic male joint 312 of the unit bracket, and the guide rod 2341 and the guide sleeve 311 are gradually separated, and the various components of the handling robot are adjusted to the initial position to prepare for the next handling action;

[0087] It can realize automatic docking and locking of the automatic female connector 2342 and the automatic male connector 312 when the unit bracket is transported, so as to quickly connect the emulsion pipeline between the column 320 and the emulsion pump station, and can realize rapid docking and separation of the emulsion pipeline during the transportation of the unit bracket, without manual insertion and removal of the hose, so that the dangerous area near the unit bracket can always remain unmanned, reducing the labor intensity of workers, effectively improving work efficiency, and reducing safety hazards.

[0088] In some embodiments of the present application, considering that the unit support is used in advance support, the working face to be mined is supported and reinforced in advance, and a large amount of mine dust is generated in the mine tunnel during the mining process, which not only affects the working line of sight, but also causes damage to the health of the mine workers. In order to deal with the mine dust in the mine tunnel, pipes are usually laid in the mine tunnel for spray dust suppression, resulting in a large amount of preliminary work and high cost. Therefore, further improvements are made to the above problems, specifically, as follows: Figures 7 to 11 As shown;

[0089] The support assembly 300 further includes a dust removal unit 340, which is used to reduce the flying of mine dust in the mine tunnel;

[0090] The dust removal unit 340 includes a liquid storage tank 341, which is fixed on a side of the top plate 330 away from the mounting seat 310, and is located in the middle of the top plate 330, that is, the liquid storage tank 341 rises and falls with the rise and fall of the top plate 330, and performs spraying and dust removal from the highest point downwards, thereby reducing the flying of mine dust above the mine tunnel, and the liquid storage tank 341 does not affect the fork frame 231 from forking the top plate 330;

[0091] The liquid storage tank 341 is fixed with a branch pipe 343, the water inlet end of the branch pipe 343 is fixed to the liquid inlet pipe 321, and the unit bracket will inject emulsion into the liquid storage tank 341 every time the liquid is infused, and the water outlet end of the branch pipe 343 extends into the liquid storage tank 341. The branch pipe 343 is a bellows, and it can be extended and retracted with the lifting and lowering of the liquid storage tank 341. A valve is fixed on the branch pipe 343, and the valve is used to control the amount of liquid inflow into the liquid storage tank 341;

[0092] A liquid delivery pipe 3411 is fixed to the liquid storage tank 341 on one side close to the mining working face, and a liquid spraying device is installed on the liquid delivery pipe 3411. The liquid spraying device is fixed to the liquid storage tank 341, and the liquid spraying device is a water pump. The liquid in the liquid storage tank 341 is delivered to the liquid delivery pipe 3411 through the liquid spraying device. A spraying bin 342 is fixed to the free end of the liquid delivery pipe 3411. The spraying bin 342 and the liquid storage tank 341 are fixedly connected, and a plurality of nozzles 3421 are fixed to the spraying bin 342. The nozzles 3421 are used to spray mist emulsion. The viscosity of the emulsion is higher than that of water. The sprayed mist emulsion can better adhere to the mine dust, and the dust suppression effect is better.

[0093] It is worth noting that there are multiple unit supports evenly distributed. As the coal mining face continues to advance, the dust removal parts 340 of multiple unit supports start to operate in turn. The mine dust generated by the ongoing coal mining face is more obvious than the mine dust in other areas. The unit supports far away from the operating coal mining face maintain their supporting functions, and the mine dust in the mine tunnel is not obvious after dust removal. The dust removal part 340 of the unit support suspends the dust removal operation, which is convenient for focusing on dust suppression in different areas of the mining face and saving resources at the same time.

[0094] Specifically, if Figures 9 to 11 As shown, a feeding pipe 344 is fixed to the side of the liquid storage tank 341, and negative pressure is increased in the feeding pipe 344 by an air pump. The air pump is fixed on the liquid storage tank 341, and one end of the feeding pipe 344 extends into the liquid storage tank 341. The mine dust in the mine tunnel is sucked into the liquid storage tank 341 through the feeding pipe 344. A dust hood 3441 is fixed to the other end of the feeding pipe 344. The dust hood 3441 is communicated with the inside of the feeding pipe 344, and the mine dust enters the feeding pipe 344 through the dust hood 3441.

[0095] It should be noted that, by increasing the pressure in the feed pipe 344 through an air pump, some of the mine dust in the external environment enters the liquid storage tank 341, and the solid particles in the mine dust are mixed into the emulsion, so that the nozzle 3421 sprays out the emulsion containing solid particles. The weight and viscosity of the solid particles are increased after wetting, and the wetted solid particles physically collide with the mine dust when in contact, making it easier for them to adhere to the mine dust and cause it to settle to the ground, further increasing the dust removal effect. It can not only vacuum the mine dust in the mine tunnel, but also increase the effect of spray dust removal.

[0096] Specifically, if Fig.10 As shown, the dust hood 3441 is a truncated cone with a hollow interior and openings at both ends. The dust hood 3441 includes a small end and a large end, and the small end of the dust hood 3441 is fixed to the feeding pipe 344;

[0097] A hollow plate is fixed inside the small end of the dust hood 3441, and the hollow plate is used to support the crushing blades 3442 without affecting the entry of mineral dust into the feeding pipe 344. The crushing blades 3442 are movably connected to the side of the hollow plate away from the feeding pipe 344. When the negative pressure in the feeding pipe 344 increases, the crushing blades 3442 rotate accordingly.

[0098] It is easy to understand that the mineral dust enters from the dust hood 3441 and passes through the crushing blades 3442. The crushing blades 3442 crush the mineral dust, which facilitates the crushing of relatively large solid particles, ensuring that the solid particles in the emulsion are smaller and the solid particles in the emulsion are finely distributed, thereby making the sprayed emulsion faster and further improving the dust suppression effect.

[0099] On the basis of the above embodiment, when liquid is introduced into the column 320, the valve of the branch pipe 343 is opened, and the emulsion enters the liquid storage tank 341 through the branch pipe 343. When the liquid inflow volume in the liquid storage tank 341 reaches the amount, the valve of the branch pipe 343 is closed. During the mining process, the liquid in the liquid storage tank 341 is sent into the liquid delivery pipe 3411 through the liquid spraying device, so that the nozzle 3421 sprays out a mist emulsion with solid particles, and the mineral dust is absorbed by the droplets and the wetted solid particles. Under the action of gravity, the droplets fall and drive the mineral dust to settle. The mineral dust generated on the working surface can be treated by supporting the mine tunnel while injecting liquid into the liquid storage tank 341, and using the emulsion to remove the mineral dust, thereby shortening the time for setting up a separate water pipe for dust removal, saving costs, and improving working efficiency.

[0100] In some embodiments of the present application, Figures 10 to 13 As shown, the liquid storage tank 341 is filled with a surfactant. In the initial state, a certain proportion of the surfactant is added to the liquid storage tank 341. After the emulsion enters the liquid storage tank 341, it is evenly contacted with the surfactant. The emulsion contains some surfactants. The added surfactant further increases the proportion of the surfactant in the emulsion, thereby reducing the surface tension of the emulsion. The spray device is a foaming device, which is used to make the emulsion form foam and spray it through the nozzle 3421. The surfactant can maintain the stability of the bubbles so that the sprayed foam will not break too quickly.

[0101] It is worth mentioning that the mixture of emulsion and surfactant can reduce the surface tension of the emulsion, the solid particles in the foam can increase the accumulation height of the foam and improve the durability of the foam, and the foam has high viscosity, which can better absorb mine dust and consume less water. When the sprayed foam is adsorbed on the coal mining working face, it can moisten the working face and reduce the flying of mine dust during mining.

[0102] On the basis of the above embodiment, after the emulsion enters the liquid storage tank 341, it is evenly contacted with the surfactant. The mixed emulsion is pumped into the liquid delivery pipe 3411 through the liquid spraying device. After the emulsion forms foam in the spraying chamber 342, the foam containing solid particles is sprayed out through the nozzle 3421 to absorb the mine dust generated by the ongoing coal mining face. The foam has high viscosity. After the mine dust contacts the foam, it will be quickly absorbed by the foam, and a gapless foam can be formed to cover the mine dust, thereby preventing the mine dust from spreading, improving the dust removal efficiency, and thus improving the work efficiency.

[0103] In some embodiments of the present application, Figures 14 to 17 As shown, the liquid storage tank 341 is divided into two spaces by a partition 345, one space is a dust removal space, and the other space is a cleaning space. The surfactant is injected into the dust removal space, and the feeding pipe 344 extends into the dust removal space;

[0104] A distribution pipe 3431 is fixed on the water outlet end of the branch pipe 343. The distribution pipe 3431 has two water outlet ends. One water outlet end of the distribution pipe 3431 extends into the dust removal space, and the other water outlet end of the distribution pipe 3431 extends into the cleaning space. That is to say, the emulsion is diverted to the dust removal space and the cleaning space through the distribution pipe 3431.

[0105] It is easy to understand that the emulsion is divided into the dust removal space and the cleaning space through the distribution pipe 3431, and the dust removal space provides emulsion for mine dust removal.

[0106] Specifically, if Figures 14 to 17 As shown, a cleaning pipe 346 is fixed to the liquid storage tank 341 near the stand 322, one end of the cleaning pipe 346 extends into the cleaning space, an electric valve is fixed to the cleaning pipe 346, the electric valve is used to control the water flow, when the electric valve is opened, the nozzle sprays the emulsion to clean the stand 322, and a nozzle is fixed to the free end of the cleaning pipe 346, the nozzle is used to spray the stand 322.

[0107] It should be noted that when the top plate 330 supports the mine tunnel, the frame 322 is exposed in the mine tunnel, and the mine dust in the mine tunnel is easily attached to the surface of the frame 322 during mining, making the surface of the frame 322 rough. When the frame 322 retracts, the contact force with the column 320 will increase, and the loss caused by repeated use is large. The mine dust on the surface of the frame 322 is cleaned by the cleaning pipe 346 to reduce the loss and increase the service life.

[0108] Specifically, if Figures 14 to 16 As shown, two-thirds of the space of the liquid storage tank 341 is a dust removal space, and one-third of the space of the liquid storage tank 341 is a cleaning space.

[0109] It is easy to understand that there is more emulsion in the dust removal space than in the clean space, ensuring that there is sufficient liquid for the dust removal operation.

[0110] On the basis of the above-mentioned embodiment, the emulsion in the dust removal space is used for dust removal of the ongoing coal mining face, and the units are kept away from the coal mining face and before the next transportation, the automatic valve on the cleaning pipe 346 is opened to allow the emulsion in the cleaning space to enter the cleaning pipe 346 and be sprayed onto the frame 322 through the nozzle, thereby cleaning the dust accumulated on the surface of the frame 322, reducing the roughness of the surface of the frame 322, thereby reducing the wear between the frame 322 and the column 320 and increasing the service life.

[0111] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A unit rack transport robot with an automatic docking device, comprising a mobile chassis (100) and a vehicle body (110), characterized in that: Also includes an adjustment component (200) and a support component (300); The adjustment assembly (200) comprises a transport portion (210) and a docking portion (230); The transporting portion (210) is used to control the forking angle of the docking portion (230); The docking portion (230) comprises a fixed bracket (2301), a sliding bracket (2302) and a support seat (234); The fixed bracket (2301) and the sliding bracket (2302) are connected via a lifting cylinder (233); The support seat (234) and the sliding bracket (2302) are connected via a floating spring (2343); a plurality of guide rods (2341) are fixed on the support seat (234); a plurality of automatic female joints (2342) are fixed in the middle of the support seat (234); and the automatic female joints (2342) are connected to the emulsion tank via a pipeline; The support assembly (300) comprises a unit support, the unit support comprises a mounting seat (310), a column (320) and a support base (350), and the mounting seat (310) is fixed on the support base (350); A plurality of guide sleeves (311) are fixed on the mounting seat (310), and a guide rod (2341) extends into a guide sleeve (311); A plurality of automatic male connectors (312) are fixed on the mounting seat (310) near the automatic female connector (2342), and a plurality of liquid guide tubes (313) are fixed on the mounting seat (310) away from the automatic male connector (312); When the guide rod (2341) and the guide sleeve (311) are butted together, the automatic female connector (2342) and the automatic male connector (312) are butted together in a sealed manner; The column (320) is a cylindrical body with a hollow interior and is fixed on the support base (350). A liquid inlet pipe (321) is fixed on the side of the column (320). The liquid guide pipe (313) is connected to the liquid inlet pipe (321) through a pipeline. A stand (322) is positioned inside the column (320). One end of the stand (322) extends into the column (320), and a top plate (330) is fixed to the other end of the stand (322).

2. The unit rack handling robot with an automatic docking device according to claim 1, characterized in that: The docking portion (230) further includes a fork frame (231) and an explosion-proof video monitoring device (235); Two parallel telescopic guide rods (232) are fixed on the sliding bracket (2302), and the free end of each telescopic guide rod (232) is fixed to the fixed bracket (2301), and the fork frame (231) is fixed on the fixed bracket (2301) near the transporting part (210); The fork frame (231) is used to fork the top plate (330), and a limiting block (2311) is fixed on the fork frame (231) near the top plate (330); Two explosion-proof video monitoring devices (235) are fixed on the sliding bracket (2302), and the two explosion-proof video monitoring devices (235) are located behind the support seat (234).

3. The unit rack handling robot with an automatic docking device according to claim 1, characterized in that: The transporting part (210) comprises a door frame, a mounting frame (2101), an adjusting oil cylinder (211) and a cantilever beam (214); The regulating oil cylinder (211) is installed on the door frame, and the regulating oil cylinder (211) is used to control the lifting and lowering of the mounting frame (2101). The mounting frame (2101) is provided with a sliding frame (212) via a plurality of pulley bearings, and the sliding frame (212) is provided with a guide groove. The cantilever beam (214) is positioned in the guide groove of the sliding frame (212) through a transverse pulley device. A transverse oil cylinder (213) is fixed in the sliding frame (212). A rotating oil cylinder (215) is installed at the free end of the cantilever beam (214). The rotating oil cylinder (215) is movably connected to the fixed bracket (2301).

4. The unit rack transport robot with an automatic docking device according to claim 1, characterized in that: The support assembly (300) further comprises a dust removal unit (340); The dust removal part (340) comprises a liquid storage tank (341), and the liquid storage tank (341) is fixed on a side of the top plate (330) away from the mounting seat (310); A branch pipe (343) is fixed to the liquid storage tank (341), a water inlet end of the branch pipe (343) is fixed to the liquid inlet pipe (321), a water outlet end of the branch pipe (343) extends into the liquid storage tank (341), and a valve is fixed to the branch pipe (343); A liquid delivery pipe (3411) is fixed to the side of the liquid storage tank (341) close to the mining working face, and a liquid spraying device is installed on the liquid delivery pipe (3411). The liquid spraying device is a water pump. A spraying chamber (342) is fixed to the free end of the liquid delivery pipe (3411), and a plurality of nozzles (3421) are fixed to the spraying chamber (342). The nozzles (3421) are used to spray mist-like emulsion.

5. The unit rack transport robot with an automatic docking device according to claim 4, characterized in that: A feeding pipe (344) is fixed to the side of the liquid storage tank (341), and negative pressure is increased in the feeding pipe (344) by an air pump; One end of the feeding pipe (344) extends into the liquid storage tank (341), and a dust collecting cover (3441) is fixed to the other end of the feeding pipe (344).

6. The unit rack transport robot with an automatic docking device according to claim 5, characterized in that: The dust hood (3441) is a truncated cone with a hollow interior and openings at both ends, and the small end of the dust hood (3441) is fixed to the feeding pipe (344); A hollow plate is fixed inside the small end of the dust cover (3441), and a crushing blade (3442) is movably connected to the side of the hollow plate away from the feeding pipe (344). When negative pressure increases in the feeding pipe (344), the crushing blade (3442) rotates accordingly.

7. The unit rack transport robot with an automatic docking device according to claim 4, characterized in that: The liquid storage tank (341) is filled with a surfactant. After the emulsion enters the liquid storage tank (341), it is evenly contacted with the surfactant. The liquid spraying device is a foaming device, which is used to make the emulsion form foam and spray it out through the nozzle (3421).

8. The unit rack transport robot with an automatic docking device according to claim 7, characterized in that: The liquid storage tank (341) is divided into two spaces by a partition (345), one space being a dust removal space and the other space being a cleaning space, the surfactant is injected into the dust removal space, and the feeding pipe (344) extends into the dust removal space; A distribution pipe (3431) is fixed to the water outlet end of the branch pipe (343), and the distribution pipe (3431) has two water outlet ends, one of which extends into the dust removal space, and the other of which extends into the cleaning space.

9. The unit rack transport robot with an automatic docking device according to claim 8, characterized in that: A cleaning pipe (346) is fixed to the liquid storage tank (341) near the stand (322), one end of the cleaning pipe (346) extends into the cleaning space, an electric valve is fixed to the cleaning pipe (346), and a spray head is fixed to the free end of the cleaning pipe (346), the spray head is used for spraying and cleaning the stand (322).

10. The unit rack transport robot with an automatic docking device according to claim 8, characterized in that: Two thirds of the space of the liquid storage tank (341) is a dust removal space, and one third of the space of the liquid storage tank (341) is a cleaning space.

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