Coal mine fully-mechanized coal mining equipment withdrawing robot

Abstract

The invention provides a withdrawing robot for fully-mechanized coal mining equipment, and relates to the field of coal mining equipment. The withdrawing robot for the fully-mechanized coal mining equipment comprises a chassis assembly, an advancing assembly and a swing type dragging assembly, the advancing assembly is installed on the chassis assembly and is transversely and slidably connected with the chassis assembly, the swing type dragging assembly is fixedly installed on the advancing assembly, the chassis assembly comprises a transportation flat plate, and a plurality of long rails are arranged at one end of the surface of the transportation flat plate; the advancing assembly slides in cooperation with the long rail, a plurality of crow plates are hinged to the end, away from the long rail, of the transportation flat plate, and the upper end face of each crow plate is of an arc-shaped structure. According to the withdrawing robot for the fully-mechanized coal mining equipment, by arranging the chassis assembly, the swing type dragging assembly and the advancing assembly, the fully-mechanized coal mining equipment can be withdrawn with low resistance and high efficiency, the dragging self-immobilization degree is high, and the robot is not prone to slipping underground. And the device is also suitable for withdrawing equipment in a mine tunnel with a gradient.

Description

Technical Field

[0001] The present invention relates to the field of coal mine equipment, in particular to a coal mine fully mechanized mining equipment withdrawal robot. Background Art

[0002] With the continuous development of modern manufacturing industry, high-power and high-mining equipment has been widely used in comprehensive mining working faces. The speed of installation, removal and transportation of comprehensive mining equipment such as hydraulic supports and scrapers is an important link in improving the efficiency of coal mining. The weight of hydraulic supports ranges from more than ten tons to twenty tons, and it is difficult to dismantle and transport hydraulic supports underground. At present, the domestic hydraulic support withdrawal still uses winches as the main tool. There are two main methods of withdrawal and removal: 1. Pull it out with a winch, drag it to the chute for lifting and loading; 2. Pull it out with a winch, drag it to the working face loading platform and transport it out with a flatbed truck. The above withdrawal methods have low work efficiency and high work intensity. With the increasing frequency of mining site replacement, the withdrawal speed of hydraulic supports has become a weak link restricting coal mining efficiency.

[0003] Existing patent: CN212337319U discloses a coal mine comprehensive mining equipment withdrawal robot, including a fixed platform, which includes a base placed on the ground and a connecting frame fixed on the base; a centralized Hooker hinge unit, including an X-axis rotating frame, a second rotating hinge arranged on the X-axis rotating frame, and two third rotating hinges arranged on the X-axis rotating frame; the X-axis rotating frame is hinged on the connecting frame along the X-axis rotation; a hydraulic telescopic boom frame, the lower end of which is hinged on the second rotating hinge; a moving platform fixedly connected to the main arm, and two first rotating hinges are arranged on the moving platform; two swing hydraulic telescopic cylinders, arranged on both sides of the hydraulic telescopic boom frame, the fixed end of which is hinged on a first rotating hinge, and the telescopic end is hinged on a third rotating hinge; a lifting hydraulic telescopic cylinder, the fixed end of which is hinged on the lifting Hooker hinge, and the telescopic end is hinged on the hydraulic telescopic boom frame. The utility model has high rigidity, higher load-bearing capacity, more stable structure, good flexibility and compliance of mechanism movement, and high safety.

[0004] In this scheme, the coal mine comprehensive mining equipment can be retracted by repeatedly dragging it. However, many coal mine equipment have large tonnage and large friction with the ground. Even if hydraulic cylinders are used to support and connect to the ground in this scheme, it is still difficult to meet the friction requirements. Moreover, when retracting, the friction of the equipment always exists. If it is far away from the loading platform, the efficiency of this dragging method is difficult to meet actual needs. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a coal mine fully mechanized mining equipment withdrawal robot, which solves the problems raised in the above background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a coal mine comprehensive mining equipment withdrawal robot, including a chassis assembly, a traveling assembly and a pendulum drag assembly, the traveling assembly is installed on the chassis assembly and is laterally slidably connected thereto, and the pendulum drag assembly is fixedly installed on the traveling assembly.

[0007] The chassis assembly includes a transport flatbed, a plurality of long tracks are provided at one end of the surface of the transport flatbed, and two groups of rollers distributed in parallel are installed at the other end. The travel assembly slides in cooperation with the long tracks. A plurality of skid plates are hingedly connected at one end of the transport flatbed away from the long tracks. The upper end surface of the skid plates is an arc-shaped structure, and the arc-shaped end of the skid plates is lower than the surface height of the transport flatbed. A hydraulic cylinder A is hingedly connected to the bottom surface of the transport flatbed, and the number and position of the hydraulic cylinders A correspond to the skid plates. The movable end of the hydraulic cylinder A is hingedly connected to the bottom end of the skid plate, and the arc-shaped end of the skid plate can be lifted when the hydraulic cylinder A is extended. A plurality of support legs distributed front and back are fixedly installed on the bottom surface of the transport flatbed, and the support legs are of equal length to the transport flatbed on the left and right, and the support legs, the hydraulic cylinders A and the skid plates are staggered, and the bottom ends of the support legs are inclined structures front and back.

[0008] Preferably, the traveling assembly includes a moving plate, which is arranged on the transport plate and slides in cooperation with the long track. Two lateral fixing mechanisms are installed on both the front and rear ends of the moving plate. The lateral fixing mechanism close to the pry plate direction is fixed to the moving plate, and a hydraulic cylinder B is provided between the lateral fixing mechanism on the other side and the moving plate. The fixed end of the hydraulic cylinder B is fixed to the lateral fixing mechanism, and its movable end is fixed to the moving plate.

[0009] Preferably, the lateral fixing mechanism comprises a fixed plate, a rocker arm, a top frame and a hydraulic cylinder C, wherein a plurality of rockers are provided and are arranged in parallel, one end of the rocker arm is hinged to the fixed plate, the other end of the rocker arm is hinged to the top frame, the fixed end of the hydraulic cylinder C is hinged to the top frame, the movable end of the hydraulic cylinder C is hinged to the top frame, and when the hydraulic cylinder C is extended, the top frame can be moved in a direction away from the fixed plate;

[0010] The fixing plate included in the lateral fixing mechanism fixed to the moving plate is fixed to the moving plate;

[0011] The fixed plate included in the lateral fixing mechanism movably connected to the moving plate is connected to the moving plate by a telescopic track, and the fixed plate is fixed to the fixed end of the hydraulic cylinder B.

[0012] Preferably, a plurality of vertical plates are fixedly mounted on a side of the top frame away from the fixed plate, and a plurality of vertically penetrating pin holes are provided on the vertical plates.

[0013] Preferably, the pendulum towing assembly includes a bottom frame, a top frame and a multi-directional hanger assembly, the bottom frame is fixed to the mobile flat plate, the top frame is arranged on the bottom frame, the two are rotatably connected by a center disk, two symmetrically distributed hydraulic cylinders D are arranged between the bottom frame and the top frame, the fixed ends of the hydraulic cylinders D are hinged to the bottom frame, and the top frame is fixedly mounted with support arms at the output ends of the hydraulic cylinders D, and the movable ends of the hydraulic cylinders D are hinged to the end of the support arms away from the top frame.

[0014] Preferably, the multi-directional hanger assembly includes a fixed block A, a fixed block B, a boom and a hydraulic cylinder E. The fixed block A and the fixed block B are respectively fixed on the left and right ends of the upper surface of the top frame. Three booms are provided. One end of the boom is hinged to the fixed block A. The number and positions of the hydraulic cylinders E correspond to the booms. The fixed end of the hydraulic cylinder E is hinged to the fixed block B, and the output end thereof is hinged to the boom for lifting and lowering the boom. A winch is fixedly installed on the upper end of the boom.

[0015] Preferably, the middle suspension rod is in a vertical plane relative to the top frame, and the suspension rods on the front and rear sides form an angle of forty-five degrees with the vertical plane.

[0016] Preferably, the rollers are embedded in the transport flatbed and rotatably connected thereto, the upper ends of the rollers protrude from the upper surface of the transport flatbed, and each group of rollers is provided with a plurality of rollers which are arranged front to back at equal distances.

[0017] Preferably, the arc-shaped structural surface of the pry plate is provided with a plurality of friction grooves.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The coal mine comprehensive mining equipment withdrawal robot is provided with a chassis component, a swing-type drag component and a travel component. The swing-type drag component can pull the comprehensive mining equipment. During the pulling, the fixed lateral fixing mechanism and the movable lateral fixing mechanism are alternately used and fixed on the side wall of the shaft. By using the contraction force of the hydraulic cylinder B, the swing-type drag component can pull the comprehensive mining equipment to the transport plate until the outer ring of the comprehensive mining equipment is pulled onto the transport plate. Subsequently, the coal mine comprehensive mining equipment can be withdrawn by dragging the transport plate with external equipment, which can realize low resistance and high efficiency withdrawal of the comprehensive mining equipment. In addition, the dragging itself has a high degree of fixation and is not easy to slip underground. It is also applicable to withdrawing equipment in a sloped mine.

[0020] 2. The coal mine comprehensive mining equipment withdrawal robot is equipped with a swing-type dragging component. The winches on the three booms act on the middle and two end parts of the top of the large mining equipment respectively. The three winches cooperate with the hydraulic cylinder E to lift one end of the tonnage mining equipment so that it can be slightly tilted at an angle, and the two inclined booms can apply tension alternately so that different parts of the equipment are stressed separately. When it is stuck in one direction, the other direction continues to apply tension. The alternating movement of the two hydraulic cylinders D can realize the swing of the top frame. When it swings, the swinging direction can act on the comprehensive mining equipment, so that the probability of it getting stuck during withdrawal is lower, the pulling resistance is smaller, and the withdrawal of large-tonnage comprehensive mining equipment is smoother.

[0021] 3. The coal mine comprehensive mining equipment withdrawal robot is equipped with a chassis assembly. When the comprehensive mining equipment moves toward the transport plate little by little, the pry plate will be under the equipment. Under the extension force of the hydraulic cylinder A, the pry plate can lift the end of the equipment and transfer it to the transport plate. When the comprehensive mining equipment is kept stationary by the pulling force, the pry plate can move back and forth to push the comprehensive mining equipment onto the transport plate step by step. In this way, heavier equipment can be more easily transferred to the transport plate, and the supporting legs at the bottom of the transport plate greatly reduce the friction between the transport plate and the ground, making it easier for external dragging equipment to pull the transport plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of the present invention;

[0023] Figure 2 It is a top view of the structure of the present invention;

[0024] Figure 3 It is a top view of the structure of the chassis assembly and the travel assembly of the present invention;

[0025] Figure 4 For the present invention Figure 3 Enlarged view of the local area;

[0026] Figure 5 is a structural diagram of the chassis assembly of the present invention;

[0027] Figure 6 For the present invention Figure 5 Enlarged view of the local area;

[0028] Figure 7 This is a structural diagram of the swing-type drag assembly of the present invention;

[0029] Figure 8 A top view of the swing-type drag assembly of the present invention;

[0030] Fig. 9 It is a structural diagram of the bottom frame and the top frame of the present invention.

[0031] In the figure: 1. chassis assembly; 101. transport flatbed; 102. long track; 103. roller; 104. pry plate; 105. hydraulic cylinder A; 106. support leg; 107. friction slot; 2. travel assembly; 201. mobile flatbed; 202. lateral fixing mechanism; 2021. fixed plate; 2022. rocker arm; 2023. top frame; 2024. hydraulic cylinder C; 2025. telescopic track; 2026. vertical plate; 2027. pin hole; 203. hydraulic cylinder B; 3. pendulum drag assembly; 301. bottom frame; 302. top frame; 303. hanger assembly; 3031. fixed block A; 3032. fixed block B; 3033. hanger rod; 3034. hydraulic cylinder E; 3035. winch; 304. center plate; 305. hydraulic cylinder D; 306. support arm. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0033] It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0034] In this application, 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 this application can be understood according to specific circumstances.

[0035] In addition, in this application, descriptions such as "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 technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0036] like Figure 1-9 As shown, a coal mine comprehensive mining equipment withdrawal robot includes a chassis component 1, a traveling component 2 and a pendulum-type dragging component 3. The traveling component 2 is installed on the chassis component 1 and is laterally slidably connected thereto, and the pendulum-type dragging component 3 is fixedly installed on the traveling component 2.

[0037] The chassis assembly 1 includes a transport platform 101. A plurality of long rails 102 are provided at one end of the surface of the transport platform 101. Two sets of rollers 103 are installed in parallel at the other end. The travel assembly 2 slides with the long rails 102. A plurality of pry plates 104 are hingedly connected at one end of the transport platform 101 away from the long rails 102. The upper end surface of the pry plate 104 is an arc-shaped structure. The arc-shaped end of the pry plate 104 is lower than the surface height of the transport platform 101. A hydraulic cylinder A105 is hingedly connected to the bottom surface of the transport platform 101. The number and position of the hydraulic cylinders A105 correspond to the pry plate 104. The movable end of the hydraulic cylinder A105 is hinged to the bottom end of the pry plate 104. When the hydraulic cylinder A105 is extended, the arc-shaped end of the pry plate 104 can be lifted. A plurality of support legs 106 distributed front and back are fixedly installed on the bottom surface of the transport flatbed 101. The support legs 106 are the same length as the transport flatbed 101 on the left and right, and the support legs 106, the hydraulic cylinder A105 and the pry plate 104 are staggered. The front and rear ends of the bottom ends of the support legs 106 are inclined structures.

[0038] The transport flatbed 101 is made of thick steel plate and has a certain self-weight. The support legs 106 welded at the bottom are hollow structures, which can further increase the structural strength of the transport flatbed 101. The inclined structure at the bottom of the support legs 106 has less friction with the ground when moving in a straight line, and the support legs 106 have a certain height. The hydraulic cylinder A105 can be hidden between multiple support legs 106, which can avoid position interference and protect the hydraulic cylinder A105. The pry plates 104 are made of solid metal, and each pry plate 104 has a hydraulic cylinder A105 connected to it, so each pry plate 104 can be lifted individually.

[0039] The transport flatbed 101 is also provided with a connection hole for towing, and a hydraulic generating device for providing hydraulic force. The hydraulic generating device is divided into multiple control areas, which can control all hydraulic equipment on the chassis component 1, the travel component 2 and the pendulum towing component 3 respectively.

[0040] The traveling assembly 2 includes a moving plate 201, which is arranged on the transport plate 101 and slides with the long rail 102. Two lateral fixing mechanisms 202 are installed at the front and rear ends of the moving plate 201. The lateral fixing mechanism 202 close to the pry plate 104 is fixed to the moving plate 201, and a hydraulic cylinder B203 is provided between the lateral fixing mechanism 202 on the other side and the moving plate 201. The fixed end of the hydraulic cylinder B203 is fixed to the lateral fixing mechanism 202, and its movable end is fixed to the moving plate 201.

[0041] A T-shaped slider is provided at the bottom of the mobile plate 201. The slider is a ball slider. When sliding with the long track 102, the friction is small, and the mobile plate 201 will not separate from the long track 102 when subjected to external force. The hydraulic cylinder B203 is thicker than the hydraulic cylinder A105 and plays the main role in dragging output.

[0042] The lateral fixing mechanism 202 includes a fixing plate 2021, a rocker arm 2022, a top frame 2023 and a hydraulic cylinder C2024. The rocker arm 2022 is provided with a plurality of rockers and arranged in parallel. One end of the rocker arm 2022 is hinged to the fixing plate 2021, and the other end of the rocker arm 2022 is hinged to the top frame 2023. The fixed end of the hydraulic cylinder C2024 is hinged to the top frame 2023, and the movable end of the hydraulic cylinder C2024 is hinged to the top frame 2023. When the hydraulic cylinder C2024 is extended, the top frame 2023 can be moved away from the fixing plate 2021.

[0043] The fixing plate 2021 included in the lateral fixing mechanism 202 fixed to the moving plate 201 is fixed to the moving plate 201;

[0044] The fixed plate 2021 included in the lateral fixing mechanism 202 movably connected to the movable plate 201 is connected to the movable plate 201 by a telescopic rail 2025, and the fixed plate 2021 is fixed to the fixed end of the hydraulic cylinder B203.

[0045] The fixed plate 2021 is a metal plate, and is connected to the movable plate 201 or the hydraulic cylinder B203 by bolts, which has a stronger connection strength. The top frame 2023 is a U-shaped metal. When the hydraulic cylinder C2024 is extended, the top frame 2023 gradually leaves the fixed plate 2021 until it contacts the side wall of the shaft. The hydraulic cylinder C2024 can make the top frame 2023 close to the side wall of the mine shaft, and the structure of the top frame 2023 is not easily deformed by pressure.

[0046] A plurality of vertical plates 2026 are fixedly mounted on a side of the top frame 2023 away from the fixed plate 2021 , and a plurality of pin holes 2027 penetrating up and down are provided on the vertical plates 2026 .

[0047] The vertical plate 2026 can not only increase the friction between the top frame 2023 and the mine wall, but also increase the friction between the top frame 2023 and the mine wall in combination with the positioning pin rod. If the mine wall is difficult to resist, the pin rod can be inserted into the ground by drilling to fix the top frame 2023. Generally, the length of the rocker arm 2022 can adopt different specifications. If the side wall of the mine tunnel is wider, a longer rocker arm 2022 or a hydraulic cylinder C2024 with a longer stroke can be replaced.

[0048] The pendulum towing assembly 3 includes a bottom frame 301, a top frame 302 and a multi-directional hanger assembly 303. The bottom frame 301 is fixed to the mobile flat plate 201, and the top frame 302 is arranged on the bottom frame 301. The two are rotatably connected by a center plate 304. Two symmetrically distributed hydraulic cylinders D305 are arranged between the bottom frame 301 and the top frame 302. The fixed end of the hydraulic cylinder D305 is hinged to the bottom frame 301, and the top frame 302 is fixedly installed with a support arm 306 at the output end of the hydraulic cylinder D305 corresponding to the top frame 302. The movable end of the hydraulic cylinder D305 is hinged to the end of the support arm 306 away from the top frame 302.

[0049] The bottom frame 301 and the top frame 302 are both cage-type metal frames with high compressive strength. When subjected to vertical pressure from above, the structures of the bottom frame 301 and the top frame 302 are less likely to deform. The center disk 304 utilizes an axial pressure bearing or a gear-type rotating shaft, which can withstand greater pressure when rotating. The hydraulic cylinder D305 mainly plays the role of making the top frame 302 swing.

[0050] The multi-directional hanger assembly 303 includes a fixed block A3031, a fixed block B3032, a boom 3033 and a hydraulic cylinder E3034. The fixed block A3031 and the fixed block B3032 are respectively fixed on the left and right ends of the upper surface of the top frame 302. There are three booms 3033. One end of the boom 3033 is hinged to the fixed block A3031. The number and position of the hydraulic cylinder E3034 correspond to the boom 3033. The fixed end of the hydraulic cylinder E3034 is hinged to the fixed block B3032, and the output end thereof is hinged to the boom 3033 for lifting and lowering the boom 3033. A winch 3035 is fixedly installed on the upper end of the boom 3033.

[0051] The winch 3035 on the top of the boom 3033 is a traction device for deceleration. Its output end can output multiple steel cables. The ends of the steel cables can be connected to hooks or metal rings, or to the connecting hangers of exclusive comprehensive mining equipment. The winch 3035 only applies a small part of the traction force, and its main purpose is to change the distance between the comprehensive mining equipment and the end of the boom 3033.

[0052] The middle suspension rod 3033 is located on a vertical plane relative to the top frame 302, and the suspension rods 3033 on the front and rear sides form an angle of forty-five degrees with the vertical plane.

[0053] The three hoisting rods 3033 connect three points of the comprehensive mining equipment at one time. The hoisting rods 3033 at different positions can be controlled individually, and the movement of the connected comprehensive mining equipment is more stable without the problem of being pulled down.

[0054] The rollers 103 are embedded in the transport platform 101 and are rotatably connected thereto. The upper ends of the rollers 103 protrude from the upper surface of the transport platform 101 . Each group of rollers 103 is provided with a plurality of rollers 103 which are arranged front to back at equal distances.

[0055] When the comprehensive mining equipment moves onto the transport plate 101 , the roller 103 can roll under force, and the roller 103 can reduce the resistance of the comprehensive mining equipment when it moves, ensuring that it moves smoothly onto the transport plate 101 .

[0056] The arc-shaped structural surface of the pry plate 104 is provided with a plurality of friction grooves 107 .

[0057] When in use, the output steel cables of the hoists 3035 on the three suspension rods 3033 are respectively connected to one end of the top of the large-scale coal mine comprehensive mining equipment, which can be connected by hooks or steel rings. After the connection, the three hydraulic cylinders E3034 are gradually controlled to extend, and the front and rear hydraulic cylinders E3034 cooperate with the middle hydraulic cylinder E3034 to lift one end of the comprehensive mining equipment as much as possible. If the equipment is difficult to move, an extension force is applied to the hydraulic cylinder E3034 at one end alone, so that different positions are intermittently stressed to ensure that the comprehensive mining equipment can be released from the fixed state. When repeatedly dragging, the hydraulic cylinder D305 is staggered to extend, so that the top frame 302 swings back and forth. With two-way cooperation, comprehensive mining equipment of general tonnage can be shaken until one end of the comprehensive mining equipment is lifted up a gap.

[0058] Subsequently, the hydraulic cylinder C2024 is controlled to extend so that the top frame 2023 contacts the side wall of the shaft. At this time, the four lateral fixing mechanisms 202 can be fixed on the side wall of the shaft. If the side wall of the shaft is wide, a positioning pin rod can be inserted into the pin hole 2027 of the vertical plate 2026 and the pin rod can be driven into the rock to fix the top frame 2023. Compared with the prior art method of using hydraulic pressure to support the ground, this method has a better fixing effect and is more difficult to move.

[0059] Again, the front and rear lateral fixing mechanisms 202 are fixed alternately, and the contraction force of the hydraulic cylinder B203 is used to drag the pendulum dragging assembly 3 onto the transport flat plate 101. The hydraulic cylinder B203 exerts the main pulling force. When dragging the comprehensive mining equipment, the comprehensive mining equipment approaches the transport flat plate 101 step by step until the pry plate 104 moves into the bottom of one end of the comprehensive mining equipment, and applies a stretching force to the hydraulic cylinder A105. When the pry plate 104 stretches, the end of the equipment can be lifted and transferred to the transport flat plate 101. When the comprehensive mining equipment is kept stationary by the pulling force, the pry plate 104 moves back and forth to push the comprehensive mining equipment onto the transport flat plate 101 step by step. Heavier equipment can be more easily transferred to the transport flat plate 101 in this way. During this process, the hydraulic cylinder B203 and the lateral fixing mechanism 202 continue to operate, so that the equipment is completely moved onto the transport flat plate 101.

[0060] Finally, the transport flatbed 101 is connected to an external tractor and can be pulled out of the shaft. The support legs 106 at the bottom of the transport flatbed 101 can slide against the ground, and the friction between the comprehensive mining equipment and the ground is smaller.

[0061] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification.

[0062] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0063] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A coal mine fully mechanized mining equipment withdrawal robot, characterized in that: The invention comprises a chassis component (1), a traveling component (2) and a swing-type drag component (3), wherein the traveling component (2) is mounted on the chassis component (1) and is laterally slidably connected thereto, and the swing-type drag component (3) is fixedly mounted on the traveling component (2); The chassis assembly (1) comprises a transport platform (101), one end of the surface of the transport platform (101) is provided with a plurality of long rails (102), and the other end is provided with two groups of rollers (103) arranged in parallel, the travel assembly (2) cooperates with the long rails (102) to slide, one end of the transport platform (101) away from the long rails (102) is hinged with a plurality of pry plates (104), the upper end surface of the pry plate (104) is an arc-shaped structure, the arc-shaped end of the pry plate (104) is lower than the surface height of the transport platform (101), and the bottom surface of the transport platform (101) is hinged with a hydraulic cylinder A (105) ), the number and position of the hydraulic cylinders A (105) correspond to the skid plate (104), the movable end of the hydraulic cylinder A (105) is hinged to the bottom end of the skid plate (104), and the hydraulic cylinder A (105) can lift the arc-shaped end of the skid plate (104) when it is extended, and a plurality of support legs (106) distributed front and back are fixedly installed on the bottom surface of the transport platform (101), the support legs (106) are equal in length to the transport platform (101), and the support legs (106) and the hydraulic cylinders A (105) and the skid plate (104) are staggered, and the bottom ends of the support legs (106) are inclined structures front and back.

2. The coal mine fully mechanized mining equipment withdrawal robot according to claim 1, characterized in that: The traveling assembly (2) comprises a moving plate (201), the moving plate (201) being arranged on the transport plate (101) and slidingly cooperating with the long rail (102), two lateral fixing mechanisms (202) being installed at both the front and rear ends of the moving plate (201), the lateral fixing mechanism (202) close to the pry plate (104) being fixed to the moving plate (201), a hydraulic cylinder B (203) being arranged between the lateral fixing mechanism (202) on the other side and the moving plate (201), the fixed end of the hydraulic cylinder B (203) being fixed to the lateral fixing mechanism (202), and the movable end thereof being fixed to the moving plate (201).

3. The coal mine fully mechanized mining equipment withdrawal robot according to claim 2 is characterized in that: The lateral fixing mechanism (202) comprises a fixing plate (2021), a rocker arm (2022), a top frame (2023) and a hydraulic cylinder C (2024); a plurality of rocker arms (2022) are provided and are arranged in parallel; one end of the rocker arm (2022) is hinged to the fixing plate (2021); the other end of the rocker arm (2022) is hinged to the top frame (2023); the fixed end of the hydraulic cylinder C (2024) is hinged to the top frame (2023); the movable end of the hydraulic cylinder C (2024) is hinged to the top frame (2023); when the hydraulic cylinder C (2024) is extended, the top frame (2023) can be moved in a direction away from the fixing plate (2021); The fixing plate (2021) included in the lateral fixing mechanism (202) fixed to the moving plate (201) is fixed to the moving plate (201); A fixed plate (2021) included in a lateral fixing mechanism (202) movably connected to the movable plate (201) is connected to the movable plate (201) by a telescopic rail (2025), and the fixed plate (2021) is fixed to a fixed end of a hydraulic cylinder B (203).

4. The coal mine fully mechanized mining equipment withdrawal robot according to claim 3 is characterized in that: A plurality of vertical plates (2026) are fixedly mounted on a side of the top frame (2023) away from the fixed plate (2021), and a plurality of vertically penetrating pin holes (2027) are provided on the vertical plates (2026).

5. The coal mine fully mechanized mining equipment withdrawal robot according to claim 2, characterized in that: The pendulum-type dragging assembly (3) comprises a bottom frame (301), a top frame (302) and a multi-directional hanger assembly (303); the bottom frame (301) is fixed to the mobile flat plate (201); the top frame (302) is arranged on the bottom frame (301); the two are rotatably connected by a center plate (304); two symmetrically distributed hydraulic cylinders D (305) are arranged between the bottom frame (301) and the top frame (302); the fixed ends of the hydraulic cylinders D (305) are hinged to the bottom frame (301); the top frame (302) is fixedly mounted with supporting arms (306) at the output ends corresponding to the hydraulic cylinders D (305); the movable ends of the hydraulic cylinders D (305) are hinged to one end of the supporting arm (306) away from the top frame (302).

6. The coal mine fully mechanized mining equipment withdrawal robot according to claim 5, characterized in that: The multi-directional hanger assembly (303) comprises a fixed block A (3031), a fixed block B (3032), a suspension rod (3033) and a hydraulic cylinder E (3034). The fixed block A (3031) and the fixed block B (3032) are respectively fixed to the left and right ends of the upper surface of the top frame (302). Three suspension rods (3033) are provided. One end of the suspension rod (3033) is hinged to the fixed block A (3031). The number and position of the hydraulic cylinders E (3034) correspond to the suspension rods (3033). The fixed end of the hydraulic cylinder E (3034) is hinged to the fixed block B (3032), and the output end thereof is hinged to the suspension rod (3033) for lifting and lowering the suspension rod (3033). A winch (3035) is fixedly installed at the upper end of the suspension rod (3033).

7. The coal mine fully mechanized mining equipment withdrawal robot according to claim 6, characterized in that: The middle suspension rod (3033) is located on a vertical plane relative to the top frame (302), and the suspension rods (3033) on both the front and rear sides form an angle of 45 degrees with the vertical plane.

8. The coal mine fully mechanized mining equipment withdrawal robot according to claim 1, characterized in that: The rollers (103) are embedded in the transport flat plate (101) and are rotatably connected thereto. The upper ends of the rollers (103) protrude from the upper surface of the transport flat plate (101). Each group of rollers (103) is provided with a plurality of rollers arranged in front and back at equal distances.

9. The coal mine fully mechanized mining equipment withdrawal robot according to claim 1, characterized in that: The arc-shaped structural surface of the pry plate (104) is provided with a plurality of friction grooves (107).

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