Rapid dismounting, mounting and transferring robot for roadway supporting bracket

Abstract

The invention discloses a fast dismounting and transferring robot for a roadway supporting bracket, which comprises a rotating shaft, the lower end of the rotating shaft is rotatably provided with a rotary disc, and the lower end of the rotary disc is provided with a lifting device I; the cross arm is connected with the first hoisting equipment, the first hoisting equipment drives the cross arm to ascend and descend, the two ends of the cross arm are connected with the inner wall of the roadway in a pressing mode, second hoisting equipment is arranged on the cross arm, and the supporting support is hoisted through the second hoisting equipment. The robot has the beneficial effects that an existing track in a roadway is fully utilized to complete rapid dismounting, mounting and transferring of the supporting bracket, manual dismounting is not needed, time and labor are saved, and the dismounting efficiency of the supporting bracket is greatly improved.

Description

Technical Field

[0001] The invention relates to the field of underground tunnels, and in particular to a tunnel support bracket rapid disassembly and assembly transportation robot. Background Art

[0002] The support bracket is a support equipment used in underground coal mine tunnels. It is generally used in the two tunnels of the long arm working face. After installation, it is in a supporting state for a long time. The base and the lower part of the column of the bracket are deeply sunken under the pressure, and the tunnel ground has been crushed by personnel and equipment for a long time, with high density and hardness. In addition, the tunnel space is small and it is difficult for lifting equipment to enter. It can only be manually dismantled by humans with the help of some simple tools, which is time-consuming and labor-intensive. The dismantling operation is labor-intensive and the dismantling work efficiency is low. The high density and hardness of the tunnel ground make it difficult to dismantle the bracket. Summary of the invention

[0003] The main purpose of the present invention is to provide a tunnel support bracket rapid disassembly and assembly transportation robot, aiming to solve the problem that the removal of support brackets in the tunnel can only be done manually, which is time-consuming, labor-intensive, slow and inefficient.

[0004] In order to solve the above problems, the present invention proposes a tunnel support bracket rapid disassembly and assembly transportation robot, comprising: A rotating shaft, a rotating disk is rotatably mounted at the lower end thereof, and a lifting device 1 is mounted at the lower end of the rotating disk; The cross arm is connected to the lifting device 1, and the lifting device 1 drives the cross arm to rise and fall, and the two ends of the cross arm are pressed against the inner wall of the tunnel. The cross arm is provided with a lifting device 2, and the supporting bracket is lifted by the lifting device 2.

[0005] In one embodiment, the cross arm comprises: The slider 2 is connected to the lifting device 1, and the slider 2 is driven to rise and fall by the lifting device 1; A pair of lifting fixed arms are symmetrically arranged on both sides of the slider 2, the lifting fixed arms are arranged horizontally, and a lifting movable arm is horizontally slidably installed on each of the lifting fixed arms, and each lifting movable arm is provided with Lifting equipment 2; The push-pull device is fixedly installed on the lifting fixed arm and connected to the lifting movable arm, and is used to drive the lifting movable arm to slide horizontally on the lifting fixed arm.

[0006] In one embodiment, a guide rod is vertically slidably provided on the sliding block 2, and the upper end of the guide rod is fixedly connected to the rotating disk.

[0007] In one embodiment, the upper end of the slider 2 is coaxially and detachably fixedly mounted with the slider 1, the lower end of the slider 1 is rotatably mounted with the mounting plate 2, the lower surface of the mounting plate 2 is fixedly mounted with the gear ring 2, the gear ring 2 and the slider are coaxial, the slider 2 is fixedly connected with the motor 5, and the motor 5 is transmission-connected with the gear ring 2; The mounting plate 2 is provided with a plurality of pairs of articulated frames 1, on which a jacking device 1 and a jacking device 2 are hingedly mounted, and a movable end of the jacking device 2 is hingedly connected to the jacking device 1, so as to drive the jacking device 1 to swing up and down around the articulated frame 1, and a plurality of articulated frames 1 and the jacking devices 1 and jacking devices 2 mounted thereon are symmetrically distributed on both sides of the slider 1; The guide rod axially slides through the slider 1, and the slider 1 is connected to the lifting device 1, and the slider 1 is driven to rise and fall through the lifting device 1.

[0008] In one embodiment, an annular electromagnet is coaxially arranged on the upper end of the slider 2, and the annular electromagnet is axially slidably connected to the slider 2. When the annular electromagnet is energized, it moves axially upward and is attracted to the lower surface of the mounting plate 2.

[0009] In one embodiment, a bottom plate is fixedly mounted on the lower end of the guide rod.

[0010] In one embodiment, a support rod is provided at the lower end of the lifting fixed arm, and two ends of the support rod are respectively fixedly connected to the lifting fixed arm and the second sliding block.

[0011] In one embodiment, a rotation angle sensor is provided on the lifting device for detecting the position of the cross arm.

[0012] In one embodiment, a gear ring 1 is coaxially fixedly mounted on the turntable, the gear ring 1 is transmission-connected to a motor 2, and the motor 2 is fixedly connected to the rotating shaft.

[0013] Beneficial effects: The tunnel support bracket rapid disassembly, assembly and transportation robot of the present application makes full use of the existing tracks in the tunnel to complete the rapid disassembly, assembly and transportation of the support bracket, without the need for manual disassembly, saving time and effort, and greatly improving the disassembly efficiency of the support bracket. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 It is a structural schematic diagram of a tunnel support bracket rapid disassembly and assembly transportation robot of the present invention; Figure 2 It is an internal structure diagram of a tunnel support bracket quick disassembly and assembly transportation robot of the present invention; Figure 3 yes Figure 1 A magnified view of part A in FIG. Figure 4 yes Figure 1 A magnified view of part B in FIG. Figure 5 yes Figure 1 The enlarged view of the C part in FIG. Figure 6 yes Figure 2 An enlarged view of the D section; Figure 7 yes Figure 2 The enlarged view of part E in FIG. Figure 8 is a top view of the second mounting plate of the present invention; Fig. 9 It is a schematic diagram of the structure of slider 1 and slider 2 of the present invention.

[0016] The following are the descriptions of the reference numerals: 1. Laneway; 2. Support bracket; 3. Hanger; 4. Track; 5. Notch; 6. Wheel frame; 7. Roller; 8. Slide; 9. Rotating shaft; 10. Motor 1; 11. Rack; 12. Gear 1; 13. Turntable; 14. Ring gear 1; 15. Motor 2; 16. Gear 2; 17. Mounting plate 1; 18. Rope roller 1; 19. Motor 3; 20. Electromagnetic brake 1; 21. Roller frame 1; 22. Rotation angle sensor; 23. Guide rod; 24. Rope 1; 25. Slider 1; 26. Ring Slot; 27, slider two; 28, slider three; 29, through hole; 30, lifting fixed arm; 31, lifting movable arm; 32, push-pull device; 33, rope winding roller two; 34, electromagnetic brake two; 35, motor four; 36, roller frame two; 37, lifting rope two; 38, support rod; 39, annular electromagnet; 40, mounting plate two; 41, gear ring two; 42, motor five; 43, articulated frame one; 44, lifting device one; 45, lifting device two; 46, articulated frame two; 47, anti-sliding block; 48, bottom plate. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0018] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0019] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0021] The present invention proposes a tunnel support bracket rapid disassembly, assembly and transportation robot, which makes full use of the existing track 4 in the tunnel 1 to complete the rapid disassembly, assembly and transportation of the support bracket 2, without the need for manual disassembly, saving time and effort, and greatly improving the disassembly efficiency of the support bracket 2.

[0022] Specifically, in one embodiment of the invention, Figure 1-Figure 7 As shown, the tunnel support bracket quick disassembly and assembly transfer robot at least includes: a rotating shaft 9, a cross arm, such as Figure 5 and Figure 7As shown, the inner top wall of the tunnel 1 is fixedly installed with a track 4 through a hanger 3, and an inverted T-shaped slide groove 8 is provided on the track 4, a wheel frame 6 is provided in the slide groove 8, and a roller 7 is installed on the wheel frame 6, and the roller 7 rolls in the slide groove 8 to drive the wheel frame 6 to move along the slide groove 8, and the lower end of the wheel frame 6 extends out from the notch 5 of the slide groove 8 and is fixedly connected to the upper end of the rotating shaft 9, and a rack 11 is provided on the track 4, and the rack 11 is meshed with a gear 12, and the gear 12 is installed on a motor 10, and the motor 10 is fixedly connected to the wheel frame 6 or the rotating shaft 9, and the gear 12 is driven to rotate by the motor 10, and then the rotating shaft 9 and the wheel frame 6 are driven to move along the track 4.

[0023] In this embodiment, if Figure 5 and Figure 7 As shown, a turntable 13 is rotatably installed at the lower end of the rotating shaft 9, and a ring gear 14 is coaxially fixedly installed on the turntable 13. The ring gear 14 is meshed with a gear 2 16, and the gear 2 16 is fixedly connected to the output shaft of the motor 2 15. The motor 2 15 is fixedly connected to the rotating shaft 9. The turntable 13 is driven by the motor 2 15 to rotate around the rotating shaft 9 to adjust the position of the lifting device 2, so as to facilitate the lifting of the support bracket 2.

[0024] In this embodiment, a lifting device is installed at the lower end of the turntable 13. Figure 5 and Figure 7 As shown, a mounting plate 17 is detachably fixedly mounted on the lower end of the turntable 13, and the lifting device 1 is mounted on the mounting plate 17. This design facilitates the deployment of the lifting device 1.

[0025] Specifically, Figure 5 and Figure 7 As shown, the lifting device includes a roller frame 21, a rope winding roller 18, a motor 3 19, and an electromagnetic brake 20. The roller frame 21 is fixedly connected to the lower surface of the mounting plate 17, and the rope winding roller 18 is rotatably mounted on the roller frame 21. The motor 3 19 and the electromagnetic brake 20 are both fixedly connected to the lower surface of the mounting plate 17. A lifting rope 24 is wound around the rope winding roller 18, and the lower end of the lifting rope 24 is connected to a cross arm. The motor 3 19 is used to drive the rope winding roller 18 to rotate to retract or unfold the lifting rope 24, and the electromagnetic brake 20 is used to brake the rope winding roller 18.

[0026] Further, such as Figure 7 As shown, the lifting device is provided with an angle sensor 22 for detecting the rotation angle of the rope winding roller 18, and then obtaining the height position of the cross arm.

[0027] In this embodiment, the cross arm is connected to the lower end of a lifting rope 24 of a lifting device, and the cross arm is driven to rise and fall by the lifting device. When the rope winding roller 18 rotates to retract the rope 24 to raise the cross arm, the two ends of the cross arm will then be crimped and fixed to the inner wall of the tunnel 1, and then the electromagnetic brake 20 is controlled to brake the rope winding roller 18, thereby fixing the cross arm in the tunnel 1, and then the lifting and removal of the tunnel 1 support bracket 2 can be carried out smoothly.

[0028] Preferably, the middle part of the cross arm is connected to the lower end of the suspension rope 24. With this design, when the track 4 is set in the top center of the tunnel 1, the suspension rope 24 drives the cross arm to rise so that both ends of the cross arm can be smoothly and simultaneously crimped and fixedly connected to the inner wall of the tunnel 1.

[0029] In this embodiment, a lifting device 2 is provided on the cross arm, and the support bracket 2 is lifted by the lifting device 2. The lifting device 2 can lift the support bracket 2 after the cross arm is crimped and fixedly connected to the inner wall of the tunnel 1.

[0030] Specifically, Figure 1 and Figure 2 As shown, the cross arm includes: a slider 27, a pair of lifting fixed arms 30, and a push-pull device 32. The slider 27 is connected to the lower end of the lifting rope 1 24, and the slider 27 is driven to rise and fall through the lifting rope 1 24; a pair of lifting fixed arms 30 are symmetrically arranged on both sides of the slider 27 and fixedly connected to the slider 27. The lifting fixed arms 30 are horizontally arranged, and each of the lifting fixed arms 30 is horizontally slidably installed with a lifting boom 31, and each lifting boom 31 is provided with a lifting device 2. The push-pull device 32 is fixedly installed on the lifting fixed arm 30 and connected to the lifting boom 31, and is used to drive the lifting boom 31 to slide horizontally on the lifting fixed arm 30 to adjust the position of the lifting device 2, so as to facilitate the lifting device 2 to lift the support bracket 2 at different positions, and at the same time, the far end of the lifting boom 31 is crimped and fixedly connected to the inner wall of the tunnel 1 to complete the fixation of the cross arm.

[0031] Further, such as Figure 1 and Figure 2 As shown, a support rod 38 is provided at the lower end of the lifting arm 30, and both ends of the support rod 38 are fixedly connected to the lifting arm 30 and the slider 27 respectively. This design can improve the connection stability between the lifting arm 30 and the slider 27.

[0032] Specifically, Figure 3As shown, the lifting device 2 includes a rope winding roller 2 33, an electromagnetic brake 2 34, a motor 4 35, a roller frame 2 36, and a lifting rope 2 37. The roller frame 2 36 is fixedly mounted on the lifting arm 31 at one end away from the lifting fixed arm 30, and the rope winding roller 2 33 is mounted on the roller frame 2 36. The electromagnetic brake 2 34 and the motor 4 35 are fixedly connected to the lifting arm 31 and are transmission-connected to the rope winding roller 2 33. The rope winding roller 2 33 is driven to rotate by the motor 4 35, and the rope winding roller 2 33 is braked by the electromagnetic brake 2 34. The rope winding roller 2 33 is wound with a lifting rope 2 37. The rope winding roller 2 33 The forward and reverse rotation drives the lifting rope 37 to be folded or unfolded. The lower end of the lifting rope 37 can be wrapped around the support bracket 2. When in use, the position of the lifting device 2 is first adjusted according to the position of the support bracket 2 to be lifted. For example, the lifting device 2 is moved to the top of the support bracket 2 to be lifted by controlling the action of the motor 10, the motor 15, and the push-pull device 32. At the same time, the far ends of the lifting arms 31 on the left and right sides of the slider 27 are crimped and fixed to the inner wall of the tunnel 1 to fix the cross arm, and then the lifting device 2 is controlled to lower the lifting rope 37, and the lifting rope 37 is wrapped around and tied tightly to the support bracket 2, and finally the lifting is performed.

[0033] In this embodiment, if Figure 1-Figure 7 As shown, a plurality of guide rods 23 are vertically slidably provided on the slider 27, and the upper ends of the guide rods 23 are fixedly connected to the mounting plate 17. The provision of the guide rods 23 enables the cross arm to be smoothly raised and lowered under the drive of the lifting device 1, which is beneficial to the safe lifting of the support bracket 2. At the same time, the motor 2 15 drives the turntable 13 to rotate, and can also drive the cross arm to rotate synchronously through the guide rods 23 to adjust the position of the lifting device 2, so that the lifting device 2 can quickly and smoothly reach the top of the support bracket 2 to be lifted. The reason why the lifting device 2 is moved to the top of the support bracket 2 before the lifting operation is performed is to enable the lifting operation of the support bracket 2 to proceed smoothly, thereby quickly completing the lifting, reducing the lifting resistance, and improving the lifting operation efficiency.

[0034] In this embodiment, the motor 1 10 and the motor 2 15 both have a braking function.

[0035] In this embodiment, in order to further improve the stability of the cross arm and avoid the problem of unstable cross arm shaking that affects the lifting safety when the lifting equipment 2 lifts the support bracket 2, as shown in FIG. Figure 4 and Figure 6As shown, the upper end of the slider 27 is coaxially and detachably fixedly mounted with the slider 1 25, the lower end of the slider 1 25 is provided with a coaxial annular groove 26, a mounting plate 20 is rotatably mounted in the annular groove 26, a gear ring 20 is fixedly mounted on the lower surface of the mounting plate 20, the gear ring 20 41 and the slider 1 25 are coaxial, the slider 2 27 is fixedly connected with a motor 5 42, the motor 5 42 is transmission-connected with the gear ring 20 41, the motor 5 42 drives the gear ring 20 41 to drive the mounting plate 20 to rotate around the slider 1 25 to adjust the position of the lifting device 1 44 and the lifting device 2 45, so that the lifting device 1 44 and the lifting device 2 45 can change the lifting operation position without rotating the turntable 13, so as to avoid the lifting operation of the lifting device 1 44 and the lifting device 2 45 being affected by the rotation of the turntable 13; as shown Figure 1 , Figure 2 , Figure 4 , Figure 6 and Figure 8 As shown, the mounting plate 40 is provided with a plurality of pairs of articulated frames 43, and each pair of articulated frames 43 is articulated with a jacking device 44 and a jacking device 45. The movable end of the jacking device 45 is articulated with the jacking device 44 through an articulated frame 46. The jacking device 45 is used to drive the jacking device 44 to swing up and down around the articulated frame 43 to adjust the top fixing position of the jacking device 44 to avoid sliding accidents. Figure 1 and Figure 2 As shown, the inner wall of the tunnel 1 is a curved surface. Therefore, in order to ensure the absolute fixing safety of the jacking device 44 and to avoid the dangerous situation that the movable end of the jacking device 44 suddenly slides along the inner wall of the tunnel 1 after the jacking device 44 is crimped and fixedly connected to the inner wall of the tunnel 1, the jacking action direction of the jacking device 44 must be perpendicular to the inner wall of the tunnel 1. Therefore, the cross arms at different heights correspond to the jacking devices 44 with different inclinations. Therefore, the rotation angle of the rope winding roller 18 is detected by the angle sensor 22, and then the height position of the jacking device 44 is obtained. Then, according to the inclination corresponding to the jacking device 44 at this position, the jacking device 45 is controlled to move to adjust the inclination of the jacking device 44 to the right position. After the inclination of the jacking device 44 is adjusted to the right position, the jacking device 44 is controlled to move and lift until the movable end of the jacking device 44 is crimped and fixedly connected to the inner wall of the tunnel 1. In this embodiment, as shown in FIG. Figure 8As shown, multiple articulated frames 43 and jacking devices 44 and jacking devices 45 installed thereon are symmetrically distributed on both sides of the slider 25. Preferably, there are at least four articulated frames 43, which are respectively arranged on the left and right front and back sides of the mounting plate 40, and are centrally symmetrically distributed with the central axis of the slider 25 as the center. With this design, the four jacking devices 44 are simultaneously crimped and fixedly connected to the inner wall of the tunnel 1, and the electromagnetic brake 20 brakes the lifting rope 24 to firmly fix the cross arm in the tunnel 1, thereby avoiding the problem of unstable shaking of the cross arm affecting the lifting safety when the lifting equipment 2 lifts the support bracket 2, thereby ensuring the lifting safety.

[0036] In this embodiment, from Figure 1 and Figure 2 It can be seen that if the lifting device 1 44 and the lifting device 2 45 want to be firmly crimped and fixed to the inner wall of the tunnel 1 so as to firmly fix the cross arm in the tunnel 1, the mounting plate 2 40 cannot rotate synchronously with the turntable 13 along with the slider 1 25 and the slider 2 27. Therefore, the motor 5 42 is provided to drive the gear ring 2 41 to drive the mounting plate 2 40 to rotate around the slider 1 25 to ensure that the position of the mounting plate 2 40 does not rotate relative to the tunnel 1.

[0037] In this embodiment, the motor five 42 has a braking function. When the slider one 25 and the slider two 27 do not rotate, the motor five 42 locks the gear ring two 41 to prevent the mounting plate two 40 from rotating on its own and affecting the jacking device one 44 being firmly crimped and fixed to the inner wall of the tunnel 1 and the fixation of the cross arm.

[0038] Further, such as Figure 4 , Figure 6 As shown, the upper end of the slider 27 is coaxially provided with an annular electromagnet 39, and the annular electromagnet 39 is axially slidably connected to the slider 27, such as Fig. 9 As shown, the upper end of the slider 27 is processed into a regular hexagonal structure or a slider 3 28 is coaxially fixedly installed. The cross section of the slider 3 28 cannot be circular. With this design, the annular electromagnet 39 is sleeved on the slider 3 28 and cannot rotate on its own, but can only slide axially. Subsequently, the annular electromagnet 39 is energized and moves axially upward to be attracted together with the lower surface of the mounting plate 2 40, further preventing the mounting plate 2 40 from rotating on its own and affecting the jacking device 1 44 being firmly crimped and fixed to the inner wall of the lane 1 and the fixation of the cross arm. When the slider 1 25 and the slider 2 27 need to rotate, the annular electromagnet 39 is controlled to be de-energized, and the annular electromagnet 39 slides down on its own and separates from the mounting plate 2 40. After the slider 1 25 and the slider 2 27 rotate to the position and no longer rotate, the annular electromagnet 39 is promptly controlled to be energized and attracted and fixed together with the lower surface of the mounting plate 2 40.

[0039] Further, such as Figure 1 and Figure 2As shown, the movable end of the lifting device 44 is fixedly installed with an anti-sliding block 47. This design can enhance the degree of firmness of the pressing connection between the movable end of the lifting device 44 and the inner wall of the tunnel 1.

[0040] In this embodiment, if Figure 1 and Figure 2 As shown, the guide rod 23 axially slides through the slider 1 25, and the slider 1 25 is connected to the suspension rope 1 24. The slider 1 25 is driven to rise and fall by the suspension rope 1 24. The slider 1 25 and the slider 2 27 are provided with a through hole 29 for the guide rod 23 to pass through.

[0041] Further, such as Figure 1 and Figure 2 As shown, a bottom plate 48 is fixedly mounted on the lower end of the guide rod 23, and the lifted and removed support bracket 2 can be placed on the bottom plate 48 for transportation.

[0042] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A tunnel support bracket rapid disassembly and assembly transportation robot, characterized in that: include: The rotating shaft has a turntable rotatably installed at its lower end, and a lifting device 1 is installed at the lower end of the turntable; the cross arm is connected to the lifting device 1, and the cross arm is driven to rise and fall through the lifting device 1, and the two ends of the cross arm are pressed against the inner wall of the tunnel, and the cross arm is provided with a lifting device 2, and the support bracket is lifted by the lifting device 2.

2. A tunnel support bracket rapid disassembly and assembly transportation robot as claimed in claim 1, characterized in that: The horizontal arm includes: a slider 2, which is connected to a lifting device 1 and drives the slider 2 to rise and fall through the lifting device 1; a pair of lifting fixed arms, which are symmetrically arranged on both sides of the slider 2, and the lifting fixed arms are arranged horizontally, and each of the lifting fixed arms is horizontally slidably installed with a lifting boom, and each lifting boom is provided with a lifting device 2; a push-pull device, which is fixedly installed on the lifting fixed arm and connected to the lifting boom, and is used to drive the lifting boom to slide horizontally on the lifting fixed arm.

3. A tunnel support bracket rapid disassembly and assembly transportation robot as claimed in claim 2, characterized in that: A guide rod is vertically slidably provided on the second slide block, and the upper end of the guide rod is fixedly connected to the rotating disk.

4. A tunnel support bracket rapid disassembly and assembly transportation robot as claimed in claim 3, characterized in that: The upper end of the slider 2 is coaxially and detachably fixedly mounted with a slider 1, the lower end of the slider 1 is rotatably mounted with a mounting plate 2, the lower surface of the mounting plate 2 is fixedly mounted with a gear ring 2, the gear ring 2 and the slider are coaxial, the slider 2 is fixedly connected with a motor 5, and the motor 5 is transmission-connected to the gear ring 2; a plurality of pairs of articulated frames 1 are arranged on the mounting plate 2, a jacking device 1 and a jacking device 2 are hingedly mounted on the articulated frame 1, the movable end of the jacking device 2 is hinged to the jacking device 1, and is used to drive the jacking device 1 to swing up and down around the articulated frame 1, and a plurality of articulated frames 1 and the jacking devices 1 and jacking devices 2 mounted thereon are symmetrically distributed on both sides of the slider 1; the guide rod axially slides through the slider 1, the slider 1 is connected to the lifting device 1, and drives the slider 1 to rise and fall through the lifting device 1.

5. A tunnel support bracket rapid disassembly and assembly transportation robot as claimed in claim 4, characterized in that: The upper end of the slide block 2 is coaxially provided with an annular electromagnet, and the annular electromagnet is axially slidably connected to the slide block 2. When the annular electromagnet is energized, it moves axially upward and is attracted to the lower surface of the mounting plate 2.

6. A tunnel support bracket rapid disassembly and assembly transportation robot as claimed in claim 3, characterized in that: A bottom plate is fixedly mounted on the lower end of the guide rod.

7. A tunnel support bracket rapid disassembly and assembly transportation robot as claimed in claim 2, characterized in that: A support rod is arranged at the lower end of the lifting fixed arm, and two ends of the support rod are respectively fixedly connected with the lifting fixed arm and the second sliding block.

8. The tunnel support bracket rapid disassembly and assembly transportation robot according to claim 1, characterized in that: The lifting device is provided with an angle sensor for detecting the position of the cross arm.

9. The tunnel support bracket rapid disassembly and assembly transportation robot according to claim 1, characterized in that: A gear ring 1 is coaxially fixedly installed on the rotary disk, the gear ring 1 is transmission-connected with a motor 2, and the motor 2 is fixedly connected with the rotating shaft.

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