A coal mine fully mechanized mining equipment withdrawing robot

Abstract

The present application provides a kind of coal mine fully mechanized mining equipment withdrawal robot, it is related to coal mine equipment field.The coal mine fully mechanized mining equipment withdrawal robot, including chassis assembly, travelling assembly and pendulum tow component, travelling assembly is installed on chassis assembly and is transversely sliding connection with it, pendulum tow component is fixedly installed on travelling assembly described chassis assembly includes transport flat plate, the surface of transport flat plate one end is equipped with several long tracks, the other end is installed with two groups of parallel distribution's gyro wheel, travelling assembly is cooperated with long track and slides, the end of transport flat plate away from long track is hinged with multiple pry board, the upper end surface of pry board is arc structure.The coal mine fully mechanized mining equipment withdrawal robot, by setting chassis assembly, pendulum tow component and travelling assembly, can realize low resistance, high efficiency withdrawal fully mechanized mining equipment, and tow self fixation degree is high, not easy to slip in underground.In the mine way with slope, withdrawal equipment is also applicable.

Description

Technical Field

[0001] This invention relates to the field of coal mining equipment, specifically to a retraction robot for fully mechanized coal mining equipment. Background Technology

[0002] With the continuous development of modern manufacturing, high-power, high-extraction equipment has been widely used in fully mechanized mining faces. The speed of installation, dismantling, and transportation of fully mechanized mining equipment such as hydraulic supports and scraper conveyors is crucial for improving coal mining efficiency. Hydraulic supports range in weight from tens to twenty tons, and dismantling and transporting them underground is challenging. Currently, winches are still the primary tool for hydraulic support removal in China. There are two main methods for removal and dismantling: 1. Pulling them out with a winch and towing them into the roadway for hoisting and loading onto trucks; 2. Pulling them out with a winch and towing them onto a flatbed truck on the working face loading platform. These methods are inefficient and labor-intensive. With increasingly frequent stopovers, the speed of hydraulic support removal has become a weak link restricting coal mining efficiency.

[0003] Existing patent CN212337319U discloses a coal mine fully mechanized mining equipment retraction robot, including a fixed platform comprising a base placed on the ground and a connecting frame fixed on the base; a centralized Hooke hinge unit comprising an X-axis rotating frame, a second rotating hinge disposed on the X-axis rotating frame, and two third rotating hinges disposed on the X-axis rotating frame; the X-axis rotating frame is hinged to the connecting frame along the X-axis; a hydraulic telescopic boom, the lower end of which is hinged to the second rotating hinge; a moving platform fixedly connected to the main boom, and the moving platform is provided with two first rotating hinges; two swinging hydraulic telescopic cylinders arranged on both sides of the hydraulic telescopic boom, the fixed end of which is hinged to a first rotating hinge, and the telescopic end of which is hinged to a third rotating hinge; and a lifting hydraulic telescopic cylinder, the fixed end of which is hinged to a lifting Hooke hinge, and the telescopic end of which is hinged to the hydraulic telescopic boom. This utility model has high rigidity, higher load-bearing capacity, more stable structure, good flexibility and compliance of mechanism movement, and high safety.

[0004] The proposed solution involves repeatedly dragging the coal mining equipment to retract it. However, many coal mining machines are large in tonnage and have high friction with the ground. Even with hydraulic cylinders supporting the ground, the solution still cannot meet the friction requirements. Moreover, the friction of the equipment is always present during retraction. If the distance to the loading platform is far, this dragging method is inefficient and cannot meet the actual needs. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a coal mine fully mechanized mining equipment retraction robot, which solves the problems mentioned in the background section.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a coal mine fully mechanized mining equipment retraction robot, comprising a chassis assembly, a traveling assembly, and a swing-type dragging assembly, wherein the traveling assembly is mounted on the chassis assembly and is laterally slidably connected to it, and the swing-type dragging assembly is fixedly mounted on the traveling assembly.

[0007] The chassis assembly includes a transport flatbed. One end of the transport flatbed surface is provided with several long tracks, and the other end is equipped with two sets of parallel rollers. The traveling component slides in cooperation with the long tracks. The end of the transport flatbed away from the long tracks is hinged with multiple skids. The upper surface of the skids is an arc-shaped structure, and the arc-shaped end of the skids is lower than the surface height of the transport flatbed. The bottom surface of the transport flatbed is hinged with hydraulic cylinders A. The number and position of hydraulic cylinders A correspond to the skids. The movable end of hydraulic cylinder A is hinged to the bottom end of the skid. When hydraulic cylinder A extends, it can lift the arc-shaped end of the skid. The bottom surface of the transport flatbed is fixedly installed with multiple front and rear distributed support legs. The support legs are the same length as the transport flatbed on both sides, and the support legs are staggered with hydraulic cylinders A and skids. The bottom ends of the support legs are both inclined structures.

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

[0009] Preferably, the lateral fixing mechanism includes a fixed plate, rocker arms, a top frame, and a hydraulic cylinder C. Multiple rocker arms are provided and arranged in parallel. One end of the rocker arm is hinged to the fixed plate, and 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, and the movable end of the hydraulic cylinder C is hinged to the top frame. When the hydraulic cylinder C extends, it can move the top frame away from the fixed plate.

[0010] The lateral fixing mechanism, which is fixed to the moving plate, includes a fixing plate that is fixed to the moving plate.

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

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

[0013] Preferably, the swing-type drag assembly includes a bottom frame, a top frame, and a multi-directional hanger assembly. The bottom frame is fixed to the moving plate, and the top frame is located on the bottom frame. The two are connected by a central disc. Two symmetrically distributed hydraulic cylinders D are provided between the bottom frame and the top frame. The fixed end of the hydraulic cylinder D is hinged to the bottom frame. Support arms are fixedly installed on the top frame corresponding to the output ends of the hydraulic cylinder D. The movable end of the hydraulic cylinder D is hinged to the end of the support arm away from the top frame.

[0014] Preferably, the multi-directional hanger assembly includes a fixed block A, a fixed block B, a hanger rod, and a hydraulic cylinder E. Fixed blocks A and B are respectively fixed to the left and right ends of the upper surface of the top frame. There are three hanger rods, one end of which is hinged to the fixed block A. The number and position of the hydraulic cylinders E correspond to the hanger rods. The fixed end of the hydraulic cylinder E is hinged to the fixed block B, and its output end is hinged to the hanger rod, which is used to lift and lower the hanger rod. A winch is fixedly installed on the upper end of each hanger rod.

[0015] Preferably, the middle hanger is in a vertical plane relative to the top frame, and the hangers on the front and rear sides are at a 45-degree angle to the vertical plane.

[0016] Preferably, the rollers are embedded in and rotatably connected to the transport plate, with the upper end of the rollers protruding from the upper surface of the transport plate. Each group of rollers has multiple rollers arranged at equal intervals.

[0017] Preferably, the arc-shaped structural surface of the skid 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. This fully mechanized coal mining equipment retraction robot, through the configuration of a chassis assembly, a swing-type towing assembly, and a traveling assembly, utilizes a swing-type towing assembly to pull the fully mechanized coal mining equipment. During towing, fixed and movable lateral fixing mechanisms are used alternately and fixed to the shaft sidewall. Using the contraction force of hydraulic cylinder B, the swing-type towing assembly pulls the fully mechanized coal mining equipment onto the transport platform until the outer ring of the equipment is pulled onto the platform. Subsequently, external equipment is used to tow the transport platform to retract the fully mechanized coal mining equipment. This achieves low-resistance, high-efficiency retraction of the equipment, and the towing mechanism itself has a high degree of fixation, making it less prone to slippage underground. It is also suitable for retracting equipment in sloping mine tunnels.

[0020] 2. This coal mine fully mechanized mining equipment retraction robot, through the setting of a swing-type dragging component, uses winches on three booms to act on the middle and both ends of the top of the large mining equipment. The three winches, together with hydraulic cylinder E, can lift one end of the ton-class mining equipment, allowing it to tilt slightly at an angle. The two tilted booms can alternately apply tension, so that different parts of the equipment are subjected to force independently. Thus, if one direction is stuck, 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 swing direction can act on the fully mechanized mining equipment, making it less likely to get stuck during retraction, reducing the resistance to pulling, and making the retraction of large-tonnage fully mechanized mining equipment smoother.

[0021] 3. This coal mine fully mechanized mining equipment retraction robot, through the setting of a chassis component, allows the skid plate to be positioned below the equipment as the fully mechanized mining equipment moves little by little towards the transport plate. Under the extension force of hydraulic cylinder A, the skid plate can lift the end of the equipment and transfer it onto the transport plate. When the fully mechanized mining equipment is held still by the tension, the back-and-forth movement of the skid plate can gradually push the fully mechanized mining equipment onto the transport plate. Heavier equipment can be transferred to the transport plate more easily using this method. Moreover, the support legs at the bottom of the transport plate greatly reduce the friction between the equipment and the ground, making it easier for external towing equipment to pull the transport plate. Attached Figure Description

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

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

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

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

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

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

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

[0029] Figure 8 This is a top view of the swing-type drag component of the present invention;

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

[0031] In the diagram: 1. Chassis assembly; 101. Transport flatbed; 102. Long track; 103. Roller; 104. Skid; 105. Hydraulic cylinder A; 106. Support leg; 107. Friction groove; 2. Traveling assembly; 201. Moving flatbed; 202. Lateral fixing mechanism; 2021. Fixing 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. Swing towing assembly; 301. Bottom frame; 302. Top frame; 303. Hanger assembly; 3031. Fixing block A; 3032. Fixing block B; 3033. Lifting rod; 3034. Hydraulic cylinder E; 3035. Winch; 304. Center plate; 305. Hydraulic cylinder D; 306. Outrigger. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0033] It should be noted that all directional indications in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0034] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0035] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0036] like Figure 1-9 As shown, a coal mine fully mechanized mining equipment retraction robot includes a chassis component 1, a traveling component 2, and a swing-type dragging component 3. The traveling component 2 is mounted on the chassis component 1 and is laterally slidably connected to it, and the swing-type dragging component 3 is fixedly mounted on the traveling component 2.

[0037] The chassis assembly 1 includes a transport flatbed 101. One end of the surface of the transport flatbed 101 is provided with several long tracks 102, and the other end is equipped with two sets of parallel rollers 103. The traveling assembly 2 slides in cooperation with the long tracks 102. Multiple skids 104 are hinged to the end of the transport flatbed 101 away from the long tracks 102. The upper surface of each skid 104 has an arc-shaped structure, and the arc-shaped end of the skid 104 is lower than the surface height of the transport flatbed 101. A hydraulic cylinder A105 is hinged to the bottom surface of the transport flatbed 101. The number and position of hydraulic cylinders A105 correspond to the skid plate 104. The movable end of hydraulic cylinder A105 is hinged to the bottom end of skid plate 104. When hydraulic cylinder A105 extends, it can lift the arc-shaped end of skid plate 104. Multiple support legs 106 distributed front and back are fixedly installed on the bottom surface of transport plate 101. The support legs 106 are the same length as transport plate 101 on the left and right. The support legs 106 are staggered with hydraulic cylinders A105 and skid plate 104. The bottom end of support legs 106 has a sloping structure at both the front and back.

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

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

[0040] The traveling component 2 includes a movable plate 201, which is mounted on the transport plate 101 and slides in cooperation with the long track 102. Two lateral fixing mechanisms 202 are installed at both the front and rear ends of the movable plate 201. The lateral fixing mechanism 202 near the pry bar 104 is fixed to the movable plate 201, and a hydraulic cylinder B203 is provided between the other lateral fixing mechanism 202 and the movable 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 movable plate 201.

[0041] The bottom of the mobile flat plate 201 is equipped with a T-shaped slider, which is a ball bearing slider. When it slides with the long track 102, the friction is small, and the mobile flat plate 201 will not detach 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 drag 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. Multiple rocker arms 2022 are provided 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 extends, it can move the top frame 2023 away from the fixing plate 2021.

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

[0044] The lateral fixing mechanism 202, which is movably connected to the mobile flat plate 201, includes a fixing plate 2021 connected to the mobile flat plate 201 via a telescopic rail 2025, and the fixing plate 2021 is fixed to the fixing end of the hydraulic cylinder B203.

[0045] The fixed plate 2021 is a metal plate, and it is bolted to the moving plate 201 or the hydraulic cylinder B203, which strengthens the connection. The top frame 2023 is a U-shaped metal. When the hydraulic cylinder C2024 extends, the top frame 2023 gradually moves away from the fixed plate 2021 until it contacts the side wall of the shaft. The hydraulic cylinder C2024 can keep the top frame 2023 close to the side wall of the shaft, and the structure of the top frame 2023 is not easily deformed by pressure.

[0046] Multiple vertical plates 2026 are fixedly installed on the side of the top frame 2023 away from the fixed plate 2021. Multiple vertical pin holes 2027 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 ground in conjunction with the positioning pin. If the mine wall is difficult to reach, the pin can be inserted into the ground to fix the top frame 2023 by drilling. Generally, the length of the rocker arm 2022 can be of 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 swing-type drag 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 moving plate 201, and the top frame 302 is mounted on the bottom frame 301. The two are rotatably connected by a central disc 304. Two symmetrically distributed hydraulic cylinders D305 are provided 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. Support arms 306 are fixedly installed on the top frame 302 corresponding to the output ends of the hydraulic cylinders D305. 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] Both the bottom frame 301 and the top frame 302 are cage-type metal frames with high compressive strength. When subjected to vertical pressure above them, the structure of the bottom frame 301 and the top frame 302 is less likely to deform. The center plate 304 uses 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 fixing block A3031, a fixing block B3032, a hanger rod 3033, and a hydraulic cylinder E3034. The fixing blocks A3031 and B3032 are respectively fixed to the left and right ends of the upper surface of the top frame 302. There are three hanger rods 3033. One end of the hanger rod 3033 is hinged to the fixing block A3031. The number and position of the hydraulic cylinders E3034 correspond to the hanger rods 3033. The fixed end of the hydraulic cylinder E3034 is hinged to the fixing block B3032, and its output end is hinged to the hanger rod 3033. It is used to lift and lower the hanger rod 3033. A winch 3035 is fixedly installed on the upper end of each hanger rod 3033.

[0051] The winch 3035 at the top of the boom 3033 is a traction device for deceleration. Its output end can output multiple strands of steel cable. The end of the steel cable can be connected to a hook or metal ring, or it can be connected to the connecting bracket of the dedicated fully mechanized mining equipment. The winch 3035 only applies a small part of the traction force. Its main purpose is to change the distance between the fully mechanized mining equipment and the end of the boom 3033.

[0052] The middle hanger 3033 is on a vertical plane relative to the top frame 302, and the hangers 3033 on both the front and rear sides are at a 45-degree angle to the vertical plane.

[0053] The three booms 3033 connect to three points of the fully mechanized mining equipment at one time. Each boom 3033 at a different position can be controlled independently, making the movement of the connected fully mechanized mining equipment more stable and preventing it from being pulled over.

[0054] Rollers 103 are embedded in and rotatably connected to the transport plate 101. The upper end of rollers 103 protrudes from the upper surface of the transport plate 101. Each set of rollers 103 has multiple rollers arranged at equal distances.

[0055] When the fully mechanized mining equipment moves onto the transport plate 101, the roller 103 can roll under force, which can reduce the resistance when the fully mechanized mining equipment moves and ensure that it moves smoothly onto the transport plate 101.

[0056] The arc-shaped surface of the pry bar 104 is provided with several friction grooves 107.

[0057] During use, the output steel cables of the winches 3035 on the three booms 3033 are respectively connected to one end of the top of the large-scale coal mining equipment. The connection can be made using hooks or steel rings. After connection, the three hydraulic cylinders E3034 are gradually extended. The front and rear hydraulic cylinders E3034 cooperate with the middle hydraulic cylinder E3034 to lift one end of the mining equipment as much as possible. If the equipment is difficult to move, the extension force is applied to one of the hydraulic cylinders E3034 at one end, so that it is subjected to force intermittently at different positions, ensuring that the mining equipment can be released from the fixed state. When repeatedly dragging, the hydraulic cylinders D305 are extended alternately to make the top frame 302 swing back and forth. With bidirectional cooperation, mining equipment of general tonnage can be shaken until one end of the mining equipment is lifted by a gap.

[0058] Subsequently, the hydraulic cylinder C2024 is extended to make the top frame 2023 contact 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 can be inserted into the pin hole 2027 of the vertical plate 2026 and driven into the rock to fix the top frame 2023. Compared with the existing technology of using hydraulic pressure to hold the ground, this method has a better fixing effect and is more difficult to move.

[0059] Secondly, the front and rear lateral fixing mechanisms 202 are alternately fixed, and the contraction force of the hydraulic cylinder B203 can be used to drag the swing-type dragging assembly 3 onto the transport plate 101. The hydraulic cylinder B203 plays the main pulling force. When dragging the fully mechanized mining equipment, the fully mechanized mining equipment moves closer to the transport plate 101 step by step until the skid plate 104 moves into the bottom of one end of the fully mechanized mining equipment, applying an extension force to the hydraulic cylinder A105. When it extends, the skid plate 104 can lift the end of the equipment and transfer it onto the transport plate 101. When the fully mechanized mining equipment is held still by the pulling force, the skid plate 104 moves back and forth and can push the fully mechanized mining equipment onto the transport plate 101 step by step. Heavier equipment can be transferred onto the transport plate 101 more easily using this method. 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 plate 101.

[0060] Finally, by using an external tractor to connect the transport flatbed 101, the transport flatbed 101 can be pulled out of the shaft. The support legs 106 at the bottom of the transport flatbed 101 can slide with the ground, and the friction is smaller compared to that between the fully mechanized mining equipment and the ground.

[0061] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0062] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

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

Claims

1. A retraction robot for fully mechanized coal mining equipment, characterized in that: It includes a chassis assembly, a travel assembly, and a swing-type towing assembly. The travel assembly is mounted on the chassis assembly and is laterally slidably connected to it. The swing-type towing assembly is fixedly mounted on the travel assembly. The chassis assembly includes a transport flatbed. One end of the surface of the transport flatbed is provided with several long tracks, and the other end is equipped with two sets of parallel rollers. The traveling component slides in cooperation with the long tracks. The end of the transport flatbed away from the long tracks is hinged with multiple skids. The upper surface of the skids is an arc-shaped structure, and the arc-shaped end of the skids is lower than the surface height of the transport flatbed. The bottom surface of the transport flatbed is hinged with hydraulic cylinders A. The number and position of hydraulic cylinders A correspond to the skids. The movable end of hydraulic cylinder A is hinged to the bottom end of the skid. When hydraulic cylinder A extends, it can lift the arc-shaped end of the skid. The bottom surface of the transport flatbed is fixedly installed with multiple front and rear distributed support legs. The support legs are the same length as the transport flatbed on the left and right, and the support legs are staggered with hydraulic cylinders A and skids. The bottom ends of the support legs are both inclined structures. The traveling component includes a movable plate, which is mounted on a transport plate and slides in cooperation with a long track. Two lateral fixing mechanisms are installed at both the front and rear ends of the movable plate. The lateral fixing mechanism closer to the pry bar is fixed to the movable plate, and a hydraulic cylinder B is provided between the other lateral fixing mechanism and the movable plate. The fixed end of the hydraulic cylinder B is fixed to the lateral fixing mechanism, and its movable end is fixed to the movable plate. The lateral fixing mechanism includes a fixed plate, rocker arms, a top frame, and a hydraulic cylinder C. Multiple rocker arms are provided and arranged in parallel. One end of the rocker arm is hinged to the fixed plate, and 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, and the movable end of the hydraulic cylinder C is hinged to the top frame. When the hydraulic cylinder C extends, it can move the top frame away from the fixed plate. The lateral fixing mechanism, which is fixed to the moving plate, includes a fixing plate that is fixed to the moving plate. The lateral fixing mechanism, which is movably connected to the moving plate, includes a fixing plate connected to the moving plate by a telescopic rail, and the fixing plate is fixed to the fixing end of the hydraulic cylinder B. Multiple vertical plates are fixedly installed on the side of the top frame away from the fixed plate, and multiple through pin holes are provided on the vertical plates.

2. The coal mine fully mechanized mining equipment retraction robot according to claim 1, characterized in that: The swing-type drag assembly includes a bottom frame, a top frame, and a multi-directional hanger assembly. The bottom frame is fixed to the moving plate, and the top frame is located on the bottom frame. The two are connected by a central disc. Two symmetrically distributed hydraulic cylinders D are provided between the bottom frame and the top frame. The fixed end of the hydraulic cylinder D is hinged to the bottom frame. Support arms are fixedly installed on the top frame corresponding to the output ends of the hydraulic cylinder D. The movable end of the hydraulic cylinder D is hinged to the end of the support arm away from the top frame.

3. The coal mine fully mechanized mining equipment retraction robot according to claim 2, characterized in that: The multi-directional hanger assembly includes a fixed block A, a fixed block B, a hanger rod, and a hydraulic cylinder E. Fixed blocks A and B are fixed to the left and right ends of the upper surface of the top frame, respectively. There are three hanger rods, one end of which is hinged to the fixed block A. The number and position of the hydraulic cylinders E correspond to the hanger rods. The fixed end of the hydraulic cylinder E is hinged to the fixed block B, and its output end is hinged to the hanger rod, which is used to lift and lower the hanger rod. A winch is fixedly installed on the upper end of each hanger rod.

4. The coal mine fully mechanized mining equipment retraction robot according to claim 3, characterized in that: The middle hanger is in a vertical plane relative to the top frame, and the hangers on the front and rear sides are at a 45-degree angle to this vertical plane.

5. The coal mine fully mechanized mining equipment retraction robot according to claim 4, characterized in that: The rollers are embedded in and rotatably connected to the transport plate. The upper end of the rollers protrudes from the upper surface of the transport plate. Each group of rollers has multiple rollers arranged at equal intervals.

6. The coal mine fully mechanized mining equipment retraction robot according to claim 5, characterized in that: The arc-shaped surface of the skid plate is provided with several friction grooves.

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