A multifunctional modular bottom-laying machine

Abstract

The application provides a multifunctional modularized floor laying machine, and belongs to the technical field of roadway repair, and comprises a rack, a rotary table, a rotary oil cylinder, a mechanical arm, a mechanical arm left swing oil cylinder, a mechanical arm right swing oil cylinder and a tool unit. An oil pipe assembly is arranged on the cantilever, the arrangement of the oil pipe is modularized, the quick-change plug I at the front end of the oil pipe frame is connected with the oil pipe of the tool unit, the quick-change plugs II on the two sides are connected with the oil pipes on the rack, the oil pipes on the mechanical arm are neat and uniform, the quick-change plug I of the corresponding tool unit is clear and obvious, the replacement efficiency of the tool unit can be effectively improved, the perfect hydraulic oil way corresponding to each tool unit is provided, and hydraulic control is realized.

Description

Technical Field

[0001] This invention belongs to the technical field of tunnel repair, and specifically discloses a multifunctional modular undercarriage machine. Background Technology

[0002] Underground drilling rigs, also known as tunnel repair rigs, are comprehensive intelligent equipment specifically designed for underground mining operations. They integrate drilling, crushing, loading, and transportation functions, featuring a compact structure, high mobility, and a high degree of automation. For example, CN213392160U discloses a multi-functional underground drilling rig with a robotic arm equipped with several tool units, enabling diverse functions. However, because each tool unit requires a different hydraulic circuit, the hydraulic lines on the robotic arm are haphazardly arranged, affecting the efficiency of tool unit replacement; furthermore, each tool unit lacks a complete hydraulic circuit. Summary of the Invention

[0003] This invention provides a multifunctional modular undercover machine to solve the technical problems described in the background section.

[0004] The aforementioned multi-functional modular undercover machine includes a frame, a rotary table, a rotary cylinder, a robotic arm, a left swing cylinder for the robotic arm, a right swing cylinder for the robotic arm, and a tool unit. The rotary table is rotatably mounted on the frame. The rotary cylinder is located on one side of the rotary table, with both ends rotatably connected to the frame and the rotary table, respectively. The robotic arm includes cantilever I, cantilever II, a telescopic cylinder, and a hose assembly. Cantilever I is hinged to the rotary table via a horizontally arranged connector, and a left swing cylinder and a right swing cylinder are arranged on both sides, with both ends of the swing cylinders hinged to cantilever I and the frame, respectively. Cantilever II is slidably connected to cantilever I, and cantilever II is driven by the telescopic cylinder to extend and retract along cantilever I. The front end of cantilever II is connected to the tool unit. The hose assembly includes a hose rack and a quick-change hose. The system includes a plug I, a quick-change plug II, an oil pipe, connecting lugs, and a sliding block. The front end of the oil pipe rack has multiple quick-change plugs I, and each side has an equal number of quick-change plugs II. The total number of quick-change plugs I and the total number of quick-change plugs II on both sides are equal. Quick-change plugs I connect to the oil pipe of the tool unit, and quick-change plugs II connect to the oil pipe on the frame. The oil pipe is L-shaped, with both ends connected to quick-change plugs I and II respectively. Connecting lugs and sliding blocks are located on both sides of the oil pipe rack. The upper end of the connecting lug is hinged to the oil pipe rack, and the lower end is fixedly connected to the cantilever II. The sliding block is fixed to the oil pipe rack and slidably connected to the cantilever I. The tool unit is one of the following: a crushing unit, a box-type shovel and conveyor unit, a drilling unit, or a side-discharge shovel and conveyor unit.

[0005] The aforementioned multi-functional modular undercarriage machine also includes a tracked walking mechanism, a quick-change mechanism, and a quick-change mechanism swing cylinder. The tracked walking mechanism is located on both sides of the frame and includes a drive wheel, a driven wheel, a track, a left travel motor, and a right travel motor. The drive wheel and the driven wheel are rotatably connected to the frame. The track is fitted onto the drive wheel and the driven wheel. The drive wheels on both sides of the frame are driven to rotate by the left travel motor and the right travel motor, respectively. The quick-change mechanism is hinged to the front end of the cantilever II via a horizontally arranged connector for connecting the tool unit. The two ends of the quick-change mechanism swing cylinder are hinged to the quick-change mechanism and the cantilever II, respectively.

[0006] The aforementioned multi-functional modular undercut machine includes a crushing unit connecting frame, a swing frame, a left swing cylinder for the breaker, a right swing cylinder for the breaker, a lifting plate, a lifting cylinder, a breaker, and a breaker protective frame. The crushing unit connecting frame is equipped with fitting parts that cooperate with the quick-change mechanism. The front side of the crushing unit connecting frame is rotatably connected to the rear side of the swing frame. The left and right swing cylinders for the breaker are symmetrically arranged on both sides of the rotation point, with both ends of the swing cylinders hinged to the crushing unit connecting frame and the swing frame, respectively. The lifting plate is slidably connected to the front side of the swing frame. Both ends of the lifting cylinder are hinged to the swing frame and the lifting plate, respectively. The breaker protective frame includes a front baffle, a rear baffle, a top plate, and side plates. The front and rear baffles are connected via side plates on both sides, and the top plate is positioned above the front, rear, and side plates. The breaker's housing is connected to the breaker protective frame, and the chisel extends from below the breaker protective frame. The box-type shovel unit includes a box-type bucket, a rotating shaft, a box-type shovel unit connecting frame, a left swing cylinder for the box-type bucket, a right swing cylinder for the box-type bucket, a discharge plate, and a discharge cylinder. The box-type bucket includes a top plate, a bottom plate, a left side plate, and a right side plate, with the top and bottom plates connected by the left and right side plates. The box-type shovel unit connecting frame is equipped with fitting parts that cooperate with the quick-change mechanism. The box-type shovel unit connecting frame includes a top plate, a bottom plate, a left side plate, and a right side plate, with the top and bottom plates connected by the left and right side plates. The top plate of the box-type bucket and the top plate of the box-type shovel unit connecting frame are connected by... The bottom plate of the box-type bucket and the bottom plate of the box-type shoveling unit connecting frame are rotatably connected via the rotating shaft; the left and right swing cylinders of the box-type bucket are symmetrically arranged on the left and right sides of the rotating shaft, and the two ends of the swing cylinders are rotatably connected to the box-type bucket and the box-type shoveling unit connecting frame, respectively; the unloading plate is located inside the box-type bucket, and the upper, lower, left, and right edges of the unloading plate are slidably connected to the top, bottom, left, and right sides of the box-type bucket, respectively; the two ends of the unloading cylinder are connected to the box-type shoveling unit connecting frame and the unloading plate, respectively. The drilling unit includes a drilling unit connecting frame, a connecting shaft, an impact drill left and right swing cylinder I, a connecting plate II, a rotary motor, a drill frame I, a fixed plate, a drill frame II, an impact drill left and right swing cylinder II, a push-pull plate, a drill frame III, a feed cylinder, a drilling rig fixed plate, an impact drill, a chain assembly, and a chain drive motor. The drilling unit connecting frame is equipped with fitting parts that cooperate with the quick-change mechanism. The first end of the connecting shaft is hinged to the drilling unit connecting frame via a vertically arranged connecting part, and the second end of the connecting shaft is equipped with a connecting plate I. The two ends of the impact drill left and right swing cylinder I are respectively hinged to the drilling unit connecting frame and the connecting plate I. The connecting plate II is fixedly connected to the connecting plate I. The rotary motor... The housing is fixedly connected to drill frame I, and the output shaft passes through drill frame I and is fixedly connected to connecting plate II; the fixed plate is fixed on drill frame I, and a rotating shaft is set at the center position, which is fixedly connected to drill frame II; the cylinder body of the impact drill's left and right swing cylinder II is fixed on drill frame I, and the piston is hinged to the first end of the push-pull plate through a vertically set connector; the second end of the push-pull plate is fixedly sleeved on the rotating shaft of the fixed plate; drill frame III is slidably connected to drill frame II; the two ends of the feed cylinder are hinged to drill frame II and drill frame III respectively; the drill rig fixed plate is slidably connected to drill frame III, and slides along drill frame III through chain assembly traction, which is driven by a chain drive motor; the impact drill is fixed on the drill rig fixed plate; The side-dumping shovel unit includes a bucket body, a side-dumping shovel unit connecting frame, a connecting pin, a side-dumping cylinder, and a side baffle. Pin holder I and pin holder II are located on the back of the bucket body. The side-dumping shovel unit connecting frame has mating parts that cooperate with a quick-change mechanism. Pin holder I and pin holder II are located on both sides of the side-dumping shovel unit connecting frame; pin holder I engages with pin holder I, and pin holder II engages with pin holder II. The connecting pin passes through the engaging pin holder I and pin holder II, allowing the bucket body and the side-dumping shovel unit connecting frame to rotate. The front end of the side-dumping cylinder is hinged to the outer side of the bucket body and located on the axis of symmetry of pin holder I and pin holder II. The rear end of the side-dumping cylinder is hinged to the side-dumping shovel unit connecting frame and located between pin holder I and pin holder II. The side baffle is located on the same side as pin holder II and pin holder II, closing the opening of the bucket body located on the side of pin holder II.

[0007] In the aforementioned multi-functional modular bottom-loading machine, the inner walls of the left and right side plates of the box-shaped bucket are respectively equipped with limit rails, and the bottom plate is equipped with shovel teeth; the left and right edges of the unloading plate are respectively equipped with limit grooves, which slide and engage with the limit rails; the unloading plate is equipped with two sets of reinforcing structures, which are symmetrically arranged on both sides of the unloading cylinder; the front end of the drill frame III is equipped with a centering frame, which is equipped with a centering hole and a fixing tooth at the front end; the side-discharge shovel unit also includes a guide plate, which is set on the same side as the pin frame I and the pin cylinder I, and is connected to the opening of the bucket body located on the side of the pin frame I.

[0008] The aforementioned multi-functional modular undercover machine also includes an oil tank, a pump, and a multi-way valve I. The pump delivers hydraulic oil from the oil tank to port P of multi-way valve I, while ports T and R of multi-way valve I are connected back to the oil tank. In multi-way valve I, valve core I corresponds to ports A1 and B1, valve core II to ports A2 and B2, valve core III to ports A3 and B3, valve core IV to ports A4 and B4, valve core V to ports A5 and B5, and valve core VI to ports A6 and B6. Ports A1 and B1 of multi-way valve I are connected to ports A and B of the left travel motor, respectively, while ports A2 and B2 are connected to... Do not connect to ports A and B of the right travel motor. Connect port A3 to the rodless chamber of the rotary cylinder. Connect port B3 to the rod chamber of the rotary cylinder. Connect port A4 to the rodless chambers of the left and right swing cylinders of the robotic arm, respectively. Connect port B4 to the rod chambers of the left and right swing cylinders of the robotic arm, respectively. Connect port A5 to the rodless chamber of the telescopic cylinder. Connect port B5 to the rod chamber of the telescopic cylinder. Connect port A6 to the rodless chamber of the quick-change mechanism swing cylinder. Connect port B6 to the rod chamber of the quick-change mechanism swing cylinder.

[0009] The aforementioned multi-functional modular hydraulic breaker also includes an oil tank, a pump, a multi-way valve II, and a crushing unit overflow valve. The pump pumps hydraulic oil from the oil tank to port P of multi-way valve II, while ports T and R of multi-way valve II are connected back to the oil tank. In multi-way valve II, valve core I corresponds to ports A1 and B1, valve core II corresponds to ports A2 and B2, and valve core III corresponds to ports A3 and B3. Port A1 of multi-way valve II is connected to the rodless chamber of the left swing cylinder of the hydraulic breaker and the rod chamber of the right swing cylinder of the hydraulic breaker, respectively. Port B1 is connected to the rod chamber of the left swing cylinder of the hydraulic breaker and the rodless chamber of the right swing cylinder of the hydraulic breaker, respectively. Port A2 is connected to the rodless chamber of the lifting cylinder, and port B2 is connected to the rod chamber of the lifting cylinder. Port A3 is connected to the inlet of the hydraulic breaker and the inlet of the crushing unit overflow valve, and port B3 is connected to the outlet of the hydraulic breaker and the outlet of the crushing unit overflow valve.

[0010] The aforementioned multi-functional modular bottom-laying machine also includes an oil tank, a pump, and a multi-way valve II. The pump pumps the hydraulic oil in the oil tank to the P port of the multi-way valve II, and the T and R ports of the multi-way valve II are connected back to the oil tank. In the multi-way valve II, valve core IV corresponds to ports A4 and B4, and valve core V corresponds to ports A5 and B5. Port A4 of the multi-way valve II is connected to the rodless chamber of the left swing cylinder of the box-type bucket and the rod chamber of the right swing cylinder of the box-type bucket, respectively. Port B4 is connected to the rod chamber of the left swing cylinder of the box-type bucket and the rodless chamber of the right swing cylinder of the box-type bucket, respectively. Port A5 is connected to the rodless chamber of the unloading cylinder, and port B5 is connected to the rod chamber of the unloading cylinder.

[0011] The aforementioned multi-functional modular drilling machine also includes an oil tank, a pump, a multi-way valve III, a pressure reducing valve, a drilling unit switching valve, and a hydraulically controlled directional valve. The pump delivers hydraulic oil from the oil tank to the P port of the multi-way valve III, while the T and R ports of the multi-way valve III are connected back to the oil tank. In the multi-way valve III, valve core I corresponds to ports A1 and B1, valve core II corresponds to ports A2 and B2, valve core III corresponds to ports A3 and B3, and valve core IV corresponds to ports A4 and B4. Port A1 of the multi-way valve III is connected to the rodless chamber of the left and right swing cylinder I of the impact drill, port B1 is connected to the rod chamber of the left and right swing cylinder I of the impact drill, and port A2... The rodless chamber of the left and right swing cylinder II of the impact drill is connected to port B2; port A3 is connected to the inlet of the pressure reducing valve; port B3 is connected to port B of the drilling unit switch valve; port A4 is connected to the control port of the hydraulic directional valve and the rodless chamber of the feed cylinder; port B4 is connected to the rod chamber of the feed cylinder. The outlet of the pressure reducing valve and port A of the drilling unit switch valve are both connected to port P of the hydraulic directional valve. Port A of the hydraulic directional valve is connected back to the oil tank. Port B of the hydraulic directional valve is connected to the inlet of the impact drill, and the outlet of the impact drill is connected back to the oil tank.

[0012] The aforementioned multi-functional modular undercarriage machine also includes an oil tank, a pump, a multi-way valve III, a two-position three-way directional valve, an accumulator, a side-discharge shovel unit switch valve, a side-discharge shovel unit overflow valve, and a proximity switch. The pump delivers hydraulic oil from the oil tank to the P port of the multi-way valve III, while the T and R ports of the multi-way valve III are connected back to the oil tank. In the multi-way valve III, valve core V corresponds to ports A5 and B5. Port A5 is connected to the rod chamber of the side-discharge cylinder, and port B5 is connected to the two-position three-way directional valve. The P port of the directional valve is connected; the rodless chamber of the side-discharge cylinder is connected to the A port of the two-position three-way directional valve; the T port of the two-position three-way directional valve, the accumulator interface, the A port of the side-discharge shovel unit switch valve, and the inlet of the side-discharge shovel unit overflow valve are connected together; the B port of the side-discharge shovel unit switch valve and the outlet of the side-discharge shovel unit overflow valve are connected back to the oil tank; the proximity switch is used to detect the distance between the bucket body and the side-discharge shovel unit connecting frame.

[0013] In the aforementioned multi-functional modular undercover machine, a power compartment is installed on the frame, and the oil tank, pump, and valves are all located in the power compartment. The valves connected to the tool unit are connected to the quick-change plug II via oil pipes.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The multifunctional modular hydraulic manipulator provided by this invention modularizes the arrangement of hydraulic pipes by setting up hydraulic pipe assemblies on the cantilever. The quick-change plug I at the front end of the hydraulic pipe rack connects to the hydraulic pipes of the tool unit, and the quick-change plugs II on both sides connect to the hydraulic pipes on the frame. This makes the hydraulic pipes on the robotic arm neat and uniform, and clearly distinguishes the quick-change plugs I of the corresponding tool units. This can effectively improve the replacement efficiency of tool units, and provides a complete hydraulic circuit for each tool unit, realizing hydraulic control. Attached Figure Description

[0015] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a structural diagram of a multi-functional modular undercover machine; Figure 2 This is a front view of the main body of the multi-functional modular undercover machine; Figure 3 A top view of the main body of the multi-functional modular undercover machine; Figure 4 This is a schematic diagram of a robotic arm; Figure 5 This is a front view of the oil pipe assembly; Figure 6 This is a left view of the tubing assembly; Figure 7 This is a top view of the oil pipe assembly; Figure 8 This is a bottom view of the oil pipe assembly; Figure 9 This is a schematic diagram of the crushing unit; Figure 10 This is a schematic diagram of a box-type shovel and conveyor unit; Figure 11 This is the front view of the box-type shovel and loader unit; Figure 12 This is a top view of the box-type shovel and conveyor unit; Figure 13 This is a schematic diagram of the drilling unit; Figure 14 This is a perspective view of the side-discharge shovel unit in the first direction; Figure 15 This is a perspective view of the side-discharge shovel unit in the second direction; Figure 16 This is a three-dimensional view of the side-discharge shovel unit from a third-dimensional perspective. Figure 17 This is a top view of the side-discharge shovel unit; Figure 18 This is a hydraulic schematic diagram of a multi-functional modular undercover machine.

[0017] In the diagram: 1-Frame; 2-Rotary table; 3-Rotary cylinder; 4-Robotic arm; 4.1-Cantilever I; 4.2-Cantilever II; 4.3-Telescopic cylinder; 4.4-Hydraulic hose assembly; 4.4.1-Hydraulic hose bracket; 4.4.2-Quick-change plug I; 4.4.3-Quick-change plug II; 4.4.4-Hydraulic hose; 4.4.5-Connecting lug; 4.4.6-Sliding block; 4.4.7-Dust cover; 4.5-Plug bracket; 4.5.1-Quick-change plug III; 5 - Left swing cylinder of robotic arm; 6 - Right swing cylinder of robotic arm; 7-Crushing unit; 7.1-Crushing unit connecting frame; 7.2-Swing frame; 7.3-Left swing cylinder of the breaker hammer; 7.4-Right swing cylinder of the breaker hammer; 7.5-Lifting plate; 7.6-Lifting cylinder; 7.7-Breaker hammer; 7.8-Breaker hammer protective frame; 8-Box-type shovel unit; 8.1-Box-type bucket; 8.1.1-Limiting slide rail; 8.1.2-Shovel teeth; 8.2-Rotating shaft; 8.3-Box-type shovel unit connecting frame; 8.4-Box-type bucket left swing cylinder; 8.5-Box-type bucket right swing cylinder; 8.6-Unloading plate; 8.6.1-Limiting slide groove; 8.6.2-Reinforcing structure; 8.7-Unloading cylinder; 8.8-Connecting side frame; 9-Drilling unit; 9.1-Drilling unit connecting frame; 9.2-Connecting shaft; 9.2.1-Connecting disc I; 9.3-Impact drill left and right swing cylinder I; 9.4-Connecting disc II; 9.5-Rotary motor; 9.6-Drill frame I; 9.7-Fixed disc; 9.8-Drill frame II; 9.9-Impact drill left and right swing cylinder II; 9.10-Push-pull plate; 9.11-Drill frame III; 9.12-Feed cylinder; 9.13-Drill rig fixed plate; 9.14-Impact drill; 9.15-Chain assembly; 9.16-Chain drive motor; 9.17-Centering frame; 9.18-Fixed tooth; 10-Side-dumping shovel unit; 10.1-Bucket body; 10.2-Side-dumping shovel unit connecting frame; 10.3-Connecting pin; 10.4-Side-dumping cylinder; 10.5-Side baffle; 10.6-Pin holder I; 10.7-Pin holder II; 10.8-Pin holder I; 10.9-Pin holder II; 10.10-Guide plate; 10.11-Wear-resistant plate; 10.12-Bucket teeth; 10.13-Cylinder connecting frame; 10.14-Lifting ring; 11- Tracked travel mechanism; 11.1- Drive wheel; 11.2- Driven wheel; 11.3- Track; 11.4- Left travel motor; 11.5- Right travel motor; 12-Quick change mechanism; 13-Quick change mechanism swing cylinder; 14-Fuel tank; 15-Pump; 16-Multi-way valve I; 17-Multi-way valve II; 18-Crushing unit overflow valve; 19-Multi-way valve III; 20-Pressure reducing valve; 21-Drilling unit switch valve; 22-Hydraulic directional valve; 23-Two-position three-way directional valve; 24-Accumulator; 25-Side-discharge shovel unit switch valve; 26-Side-discharge shovel unit overflow valve; 27-Power compartment; 28-Cockpit; 29-Support frame. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0020] This embodiment provides a multi-functional modular undercover machine, including a frame 1, a rotary table 2, a rotary cylinder 3, a robotic arm 4, a left swing cylinder 5, a right swing cylinder 6, and a tool unit; the rotary table 2 is rotatably mounted on the frame 1; the rotary cylinder 3 is located on one side of the rotary table 2, with both ends rotatably connected to the frame 1 and the rotary table 2 respectively; the robotic arm 4 includes cantilever I 4.1, cantilever II 4.2, a telescopic cylinder 4.3, and a hydraulic pipe assembly 4.4; cantilever I 4.1 is connected by a horizontally arranged... The component is hinged to the rotary table 2, and has a left swing cylinder 5 and a right swing cylinder 6 on both sides. The two ends of the swing cylinders are hinged to cantilever I 4.1 and frame 1 respectively. Cantilever II 4.2 is slidably connected to cantilever I 4.1. Cantilever II 4.2 is driven by telescopic cylinder 4.3 to extend and retract along cantilever I 4.1, and the front end of cantilever II 4.2 is connected to the tool unit. The oil pipe assembly 4.4 includes an oil pipe bracket 4.4.1, quick-change plug I 4.4.2, quick-change plug II 4.4.3, and oil pipes 4.4.4. Connecting lugs 4.4.5 and sliding blocks 4.4.6; the front end of the oil pipe rack 4.4.1 is equipped with multiple quick-change plugs I 4.4.2, and each side is equipped with an equal number of quick-change plugs II 4.4.3. The number of quick-change plugs I 4.4.2 is equal to the total number of quick-change plugs II 4.4.3 on both sides. Quick-change plugs I 4.4.2 are connected to the oil pipes of the tool unit, and quick-change plugs II 4.4.3 are connected to the oil pipes on the frame 1; the oil pipe 4.4.4 is an L-shaped oil pipe, with both ends connected to quick-change plugs. Connector I 4.4.2 and quick-change plug II 4.4.3; both sides of the tubing rack 4.4.1 are provided with connecting ears 4.4.5 and sliding blocks 4.4.6; the upper end of the connecting ear 4.4.5 is hinged to the tubing rack 4.4.1, and the lower end is fixedly connected to the cantilever II 4.2; the sliding block 4.4.6 is fixed on the tubing rack 4.4.1 and slidably connected to the cantilever I 4.1; the tool unit is one of the following: crushing unit 7, box-type shovel and transport unit 8, drilling unit 9, and side-discharge shovel and transport unit 10.

[0021] The upper and lower surfaces of the tubing rack 4.4.1 are equipped with heat dissipation windows for effective heat dissipation. A dust cover 4.7 is rotatably connected to the upper surface of the tubing rack 4.4.1.

[0022] Plug brackets 4.5 are provided on both sides of cantilever I 4.1, and quick-change plugs III 4.5.1 corresponding to quick-change plugs II 4.4.3 are provided on plug brackets 4.5. Oil pipes led out from frame 1 are transferred to quick-change plugs II 4.4.3 through quick-change plugs III 4.5.1.

[0023] By installing the oil pipe assembly 4.4 on the cantilever, the oil pipe arrangement is modularized. The quick-change plug I 4.4.2 at the front end of the oil pipe rack 4.4.1 connects to the oil pipe of the tool unit, and the quick-change plugs II 4.4.3 on both sides connect to the oil pipe on the frame 1. This makes the oil pipes on the robotic arm 4 neat and uniform, and clearly distinguishes them from the quick-change plugs I 4.4.2 of the corresponding tool units, which can effectively improve the replacement efficiency of the tool units. The oil pipe length of the tool unit is usually fixed, so a connecting lug 4.4.5 and a sliding block 4.4.6 are provided. When the tool unit extends or retracts with the cantilever II 4.2, the oil pipe assembly 4.4 moves accordingly.

[0024] The aforementioned multi-functional modular undercarriage machine also includes a tracked walking mechanism 11, a quick-change mechanism 12, and a quick-change mechanism swing cylinder 13. The tracked walking mechanism 11 is located on both sides of the frame 1 and includes a drive wheel 11.1, a driven wheel 11.2, a track 11.3, a left travel motor 11.4, and a right travel motor 11.5. The drive wheel 11.1 and the driven wheel 11.2 are rotatably connected to the frame 1. The track 11.3 is fitted onto the drive wheel 11.1 and the driven wheel 11.2. The drive wheels 11.1 on both sides of the frame 1 are driven to rotate by the left travel motor 11.4 and the right travel motor 11.5, respectively. The quick-change mechanism 12 is hinged to the front end of the cantilever II 4.2 via a horizontally arranged connector for tool unit connection. The two ends of the quick-change mechanism swing cylinder 13 are hinged to the quick-change mechanism 12 and the cantilever II 4.2, respectively.

[0025] The crushing unit 7 includes a crushing unit connecting frame 7.1, a swing frame 7.2, a left swing cylinder for the breaker hammer 7.3, a right swing cylinder for the breaker hammer 7.4, a lifting plate 7.5, a lifting cylinder 7.6, a breaker hammer 7.7, and a breaker hammer protective frame 7.8. The crushing unit connecting frame 7.1 is equipped with fitting parts that cooperate with the quick-change mechanism 12. The front side of the crushing unit connecting frame 7.1 is rotatably connected to the rear side of the swing frame 7.2. The left swing cylinder for the breaker hammer 7.3 and the right swing cylinder for the breaker hammer 7.4 are symmetrically arranged on both sides of the rotation point. The two ends of the hydraulic breaker 76 are hinged to the crushing unit connecting frame 7.1 and the swing frame 7.2 respectively; the lifting plate 7.5 is slidably connected to the front side of the swing frame 7.2; the two ends of the lifting cylinder 7.6 are hinged to the swing frame 7.2 and the lifting plate 7.5 respectively; the hydraulic breaker protection frame 7.8 includes a front baffle, a rear baffle, a top plate and a side plate, the front baffle and the rear baffle are connected by the side plates on both sides, and the top plate is set above the front baffle, the rear baffle and the side plates; the housing of the hydraulic breaker 7.7 is connected to the hydraulic breaker protection frame 7.8, and the chisel extends from the bottom of the hydraulic breaker protection frame 7.8.

[0026] The aforementioned crushing unit 7 protects the breaker 7.7 by setting a breaker protection frame 7.8, which can effectively prevent damage to the breaker 7.7; the left and right swing of the breaker 7.7 can be directly adjusted by the left swing cylinder 7.3 and the right swing cylinder 7.4 of the breaker, and the lifting cylinder 7.6 controls the lifting of the breaker 7.7, which can effectively reduce the difficulty of control and improve the adjustment accuracy.

[0027] The box-type shovel unit 8 includes a box-type bucket 8.1, a rotating shaft 8.2, a box-type shovel unit connecting frame 8.3, a box-type bucket left swing cylinder 8.4, a box-type bucket right swing cylinder 8.5, a discharge plate 8.6, and a discharge cylinder 8.7. The box-type bucket 8.1 includes a top plate, a bottom plate, a left side plate, and a right side plate, with the top and bottom plates connected by the left and right side plates. The box-type shovel unit connecting frame 8.3 is equipped with mating parts that cooperate with the quick-change mechanism 12. The box-type shovel unit connecting frame 8.3 includes a top plate, a bottom plate, a left side plate, and a right side plate, with the top and bottom plates connected by the left and right side plates. The top plate of the box-type bucket 8.1 and the top plate of the box-type shovel unit connecting frame 8.3 are connected by the rotating shaft 8.2. .2 Rotary connection: The bottom plate of the box-type bucket 8.1 and the bottom plate of the box-type shoveling unit connecting frame 8.3 are rotatably connected via a rotating shaft 8.2; the left swing cylinder 8.4 and the right swing cylinder 8.5 of the box-type bucket are symmetrically arranged on the left and right sides of the rotating shaft 8.2, and the two ends of the swing cylinders are rotatably connected to the box-type bucket 8.1 and the box-type shoveling unit connecting frame 8.3, respectively; the unloading plate 8.6 is located inside the box-type bucket 8.1, and the upper edge, lower edge, left edge, and right edge of the unloading plate 8.6 are slidably connected to the top plate, bottom plate, left side plate, and right side plate of the box-type bucket 8.1, respectively; the two ends of the unloading cylinder 8.7 are connected to the box-type shoveling unit connecting frame 8.3 and the unloading plate 8.6, respectively.

[0028] In this embodiment, the box-type shovel unit connecting frame 8.3 is connected to the quick-change mechanism 12. The orientation of the box-type bucket 8.1 is controlled by the left and right swing cylinder of the box-type bucket, so that the box-type bucket 8.1 swings left and right relative to the box-type shovel unit connecting frame 8.3, instead of relying solely on the mechanical arm 4 to drive the box-type bucket 8.1 to swing as a whole. This makes it easier to adjust the position when working at corners. When unloading, the unloading cylinder 8.7 pushes the unloading plate 8.6 forward to push the material out of the box-type bucket 8.1. When unloading in narrow underground roadways of coal mines, the adjustment of the whole machine posture is reduced, which effectively solves the problem of limited space in corner construction and the problem of unloading in narrow underground roadways of coal mines. It is particularly suitable for construction in narrow underground roadways, roadway opening, roadway connection, side widening, and opening of reversing gates. It can also realize lateral construction and lateral unloading.

[0029] In the box-type bucket 8.1, the inner walls of the left and right side plates are respectively provided with limit slide rails 8.1.1, and the bottom plate is provided with shovel teeth 8.1.2; the left and right edges of the unloading plate 8.6 are respectively provided with limit slide grooves 8.6.1, which slide and fit into the limit slide rails 8.1.1; the unloading plate 8.6 is provided with two sets of reinforcing structures 8.6.2, which are symmetrically arranged on both sides of the unloading cylinder 8.7.

[0030] The box-type bucket 8.1 has connecting lugs on its left and right sides; the box-type shovel unit connecting frame 8.3 has connecting side frames 8.8 on both sides; the front end of the left and right swing cylinder of the box-type bucket is rotatably connected to the connecting lugs of the box-type bucket 8.1, and the rear end is rotatably connected to the connecting side frame 8.8.

[0031] The drilling unit 9 includes a drilling unit connecting frame 9.1, a connecting shaft 9.2, an impact drill left-right swing cylinder I 9.3, a connecting plate II 9.4, a rotary motor 9.5, a drill frame I 9.6, a fixed plate 9.7, a drill frame II 9.8, an impact drill left-right swing cylinder II 9.9, a push-pull plate 9.10, a drill frame III 9.11, a feed cylinder 9.12, a drilling rig fixing plate 9.13, an impact drill 9.14, a chain assembly 9.15, and a chain drive motor 9.16. The drilling unit connecting frame 9.1 is equipped with a mating part that cooperates with the quick-change mechanism 12; the first end of the connecting shaft 9.2 is hinged to the drilling unit connecting frame 9.1 through a vertically arranged connecting part, and the second end of the connecting shaft 9.2 is equipped with a connecting plate I 9.2.1; the two ends of the impact drill left and right swing cylinder I 9.3 are respectively hinged to the drilling unit connecting frame 9.1 and the connecting plate I 9.2.1; the connecting plate II 9.4 is fixedly connected to the connecting plate I 9.2.1; the housing of the rotary motor 9.5 is fixedly connected to the drill frame I 9.6, and the output shaft passes through the drill frame I 9.6 and is fixedly connected to the connecting plate II 9.4; the fixed plate 9.7 is fixed on the drill frame I 9.6, and a rotating shaft is arranged at the center position, which is fixedly connected to the drill frame II 9.8; the cylinder body of the impact drill left and right swing cylinder II 9.9 is fixed on the drill frame I 9.6, and the piston is hinged to the first end of the push-pull plate 9.10 through a vertically arranged connecting part; the second end of the push-pull plate 9.10 is fixed The rotating shaft is mounted on the fixed plate 9.7; the drill frame Ⅲ 9.11 is slidably connected to the drill frame Ⅱ 9.8; the two ends of the feed cylinder 9.12 are hinged to the drill frame Ⅱ 9.8 and the drill frame Ⅲ 9.11 respectively; the drill rig fixing plate 9.13 is slidably connected to the drill frame Ⅲ 9.11 and slides along the drill frame Ⅲ 9.11 through the chain assembly 9.15, which is driven by the chain drive motor 9.16; the impact drill 9.14 is fixed on the drill rig fixing plate 9.13.

[0032] The drilling unit 9 achieves a wide range of left and right swings through the extension and retraction of the impact drill's left and right swing cylinder I 9.3, while the impact drill's left and right swing cylinder II 9.9 achieves small-range fine adjustments. The rotary motor 9.5 achieves rotation, and the swing cylinders and rotary motor 9.5 work together to adjust the drilling angle. The extension and retraction of the feed cylinder 9.12 enables the drill frame III 9.11 to feed and retract.

[0033] The front end of the drill frame Ⅲ9.11 is equipped with a centering frame 9.17, which has a centering hole. The drill rod of the impact drill 9.14 passes through the centering hole to ensure centering.

[0034] The front end of the middle frame 9.17 is provided with fixing teeth 9.18; the fixing teeth 9.18 are inserted into the side wall or roof of the roadway to fix the drilling unit 9 to the side wall or roof of the roadway.

[0035] The side-dumping shovel unit 10 includes a bucket body 10.1, a side-dumping shovel unit connecting frame 10.2, a connecting pin 10.3, a side-dumping cylinder 10.4, and a side baffle 10.5. Pin holder I 10.6 and pin holder II 10.7 are provided on the back of the bucket body 10.1. The side-dumping shovel unit connecting frame 10.2 is provided with mating parts that cooperate with the quick-change mechanism 12. Pin holder I 10.8 and pin holder II 10.9 are provided on both sides of the side-dumping shovel unit connecting frame 10.2. Pin holder I 10.8 is used for engaging with pin holder I 10.6, and pin holder II 10.9 is used for engaging with pin holder II 10.7. The connecting pin 10.3... 0.3 Passing through the snap-fit ​​pin holder I 10.6 and pin holder I 10.8, the bucket body 10.1 and the side-dumping shovel unit connecting frame 10.2 are rotatably connected; the front end of the side-dumping cylinder 10.4 is hinged to the outside of the bucket body 10.1 and is located on the axis of symmetry of pin holder I 10.6 and pin holder II 10.7; the rear end of the side-dumping cylinder 10.4 is hinged to the side-dumping shovel unit connecting frame 10.2 and is located between pin holder I 10.8 and pin holder II 10.9; the side baffle 10.5 is set on the same side as pin holder II 10.7 and pin holder II 10.9, closing the opening of the bucket body 10.1 on the side of pin holder II 10.7.

[0036] The bucket body 10.1 is driven by the side-discharge cylinder 10.4, rotating around the pin cylinder I 10.8 and swinging left and right relative to the side-discharge shoveling unit connecting frame 10.2 to adjust the unloading angle. The material inside the bucket body 10.1 can be discharged from the opening on the side of the bucket body 10.1 located on the pin cylinder frame I 10.6. When the bottom-loading machine and the loading car are operating in parallel in narrow underground roadways of coal mines, the material in the bucket body 10.1 can be poured into the loading car without repeatedly adjusting the posture and position of the bottom-loading machine. It is particularly suitable for construction in narrow underground roadways, roadway opening, connecting roadways, widening sidewalls, and opening reverse access.

[0037] When pin holder I 10.6 and pin holder I 10.8 point to the left, the bucket body 10.1 unloads material from the left side; when pin holder I 10.6 and pin holder I 10.8 point to the right (i.e., ... Figures 14-17 As shown in the figure, the bucket body 10.1 unloads material on the right side.

[0038] The side-discharge shovel unit 10 also includes a guide plate 10.10, which is arranged on the same side as the pin holder I 10.6 and the pin holder I 10.8, and is connected to the opening of the bucket body 10.1 on the side of the pin holder I 10.6 (i.e. the discharge port of the bucket body 10.1).

[0039] The side baffle 10.5 and the guide plate 10.10 are both connected to the bucket body 1 by bolts. The detachable connection allows for the interchange of left-side and right-side unloading on the bucket body 10.1.

[0040] The bottom surface of the bucket body 10.1 is provided with a wear-resistant plate 10.11, and bucket teeth 10.12 are provided on the wear-resistant plate 10.11.

[0041] A cylinder connecting frame 10.13 is provided on the outer side of the bucket body 10.1; the cylinder connecting frame 10.13 is located between pin holder I 10.6 and pin holder II 10.7, and is hinged to the front end of the side unloading cylinder 10.4. A lifting ring 10.14 is provided on the bucket body 10.1 and the cylinder connecting frame 10.13.

[0042] The aforementioned multi-functional modular undercover machine also includes an oil tank 14, a pump 15, and a multi-way valve I 16. Pump 15 pumps hydraulic oil from the oil tank 14 to port P of multi-way valve I 16, while ports T and R of multi-way valve I 16 are connected back to the oil tank 14. In multi-way valve I 16, valve core I corresponds to ports A1 and B1, valve core II corresponds to ports A2 and B2, valve core III corresponds to ports A3 and B3, valve core IV corresponds to ports A4 and B4, valve core V corresponds to ports A5 and B5, and valve core VI corresponds to ports A6 and B6. Ports A1 and B1 of multi-way valve I 16 are connected to ports A and B of the left travel motor 11.4, respectively, while ports A2 and B2... Ports A3 and B3 are connected to ports A and B of the right travel motor 11.5, respectively. Port A4 is connected to the rodless chamber of the rotary cylinder 3, and port B3 is connected to the rod chamber of the rotary cylinder 3. Port A4 is connected to the rodless chambers of the left swing cylinder 5 and the right swing cylinder 6 of the robotic arm, respectively. Port B4 is connected to the rod chambers of the left swing cylinder 5 and the right swing cylinder 6 of the robotic arm, respectively. Port A5 is connected to the rodless chamber of the telescopic cylinder 4.3, and port B5 is connected to the rod chamber of the telescopic cylinder 4.3. Port A6 is connected to the rodless chamber of the quick-change mechanism swing cylinder 13, and port B6 is connected to the rod chamber of the quick-change mechanism swing cylinder 13.

[0043] By switching the valve core in the multi-way valve I16, the rotation of the walking motor is controlled, and the extension and retraction of the rotary cylinder 3, the left and right swing cylinder of the robotic arm, and the swing cylinder of the quick-change mechanism are achieved, thus realizing the walking of the whole machine, the horizontal rotation and vertical swing of the robotic arm 4, and the vertical swing of the quick-change mechanism 12.

[0044] The aforementioned multi-functional modular hydraulic breaker also includes a multi-way valve II 17 and a crushing unit overflow valve 18; pump 15 pumps hydraulic oil from oil tank 14 to port P of multi-way valve II 17, and ports T and R of multi-way valve II 17 are connected back to oil tank 14; in multi-way valve II 17, valve core I corresponds to ports A1 and B1, valve core II corresponds to ports A2 and B2, and valve core III corresponds to ports A3 and B3; port A1 of multi-way valve II 17 is connected to the rodless chamber of the left swing cylinder 7.3 of the hydraulic breaker and the crushing unit overflow valve 18. The rod chamber of the right swing cylinder 7.4 of the breaker is connected, port B1 is connected to the rod chamber of the left swing cylinder 7.3 of the breaker and the rodless chamber of the right swing cylinder 7.4 of the breaker, port A2 is connected to the rodless chamber of the lifting cylinder 7.6, port B2 is connected to the rod chamber of the lifting cylinder 7.6, port A3 is connected to the inlet of the breaker 7.7 and the inlet of the overflow valve 18 of the breaker unit, and port B3 is connected to the outlet of the breaker 7.7 and the outlet of the overflow valve 18 of the breaker unit.

[0045] By switching the valve cores I and II in the multi-way valve II17, the extension and retraction of the left and right swing cylinders and the lifting cylinder 7.6 of the hydraulic breaker are controlled, thereby realizing the left and right swing and lifting of the hydraulic breaker 7.7. Valve core III controls the operation of the hydraulic breaker 7.7. When the pressure in the hydraulic breaker 7.7 inlet pipe increases to the preset value of the hydraulic breaker unit overflow valve 18, the hydraulic breaker unit overflow valve 18 opens, and part of the working oil in the hydraulic breaker 7.7 inlet pipe flows back to the oil tank 14 from the hydraulic breaker unit overflow valve 18, ensuring that the hydraulic breaker 7.7 operates within a safe pressure range.

[0046] In multi-way valve II17, valve core IV corresponds to port A4 and port B4, and valve core V corresponds to port A5 and port B5. Port A4 of multi-way valve II17 is connected to the rodless chamber of the left swing cylinder 8.4 of the box-type bucket and the rod chamber of the right swing cylinder 8.5 of the box-type bucket, respectively. Port B4 is connected to the rod chamber of the left swing cylinder 8.4 of the box-type bucket and the rodless chamber of the right swing cylinder 8.5 of the box-type bucket, respectively. Port A5 is connected to the rodless chamber of the unloading cylinder 8.7, and port B5 is connected to the rod chamber of the unloading cylinder 8.7.

[0047] By switching valve cores IV and V in multi-way valve II17, the extension and retraction of the box-type bucket left and right swing cylinder and the unloading cylinder 8.7 are controlled, thereby realizing the left and right swing of the box-type bucket 8.1 and the pushing out and retraction of the unloading plate 8.6.

[0048] The aforementioned multi-functional modular drilling machine also includes a multi-way valve III 19, a pressure reducing valve 20, a drilling unit switching valve 21, and a hydraulically controlled directional valve 22. Pump 15 pumps hydraulic oil from oil tank 14 to port P of multi-way valve III 19, while ports T and R of multi-way valve III 19 are connected back to oil tank 14. In multi-way valve III 19, valve core I corresponds to ports A1 and B1, valve core II corresponds to ports A2 and B2, valve core III corresponds to ports A3 and B3, and valve core IV corresponds to ports A4 and B4. Port A1 of multi-way valve III 19 is connected to the rodless chamber of the left-right swing cylinder I 9.3 of the impact drill, port B1 is connected to the rod chamber of the left-right swing cylinder I 9.3 of the impact drill, and port A2 is connected to the left-right swing cylinder... The rodless chamber of II9.9 is connected; port B2 is connected to the rod chamber of the left and right swing cylinder II9.9 of the impact drill; port A3 is connected to the inlet of the pressure reducing valve 20; port B3 is connected to port B of the drilling unit switch valve 21; port A4 is connected to the control port of the hydraulic directional valve 22 and the rodless chamber of the feed cylinder 9.12; port B4 is connected to the rod chamber of the feed cylinder 9.12. The outlet of the pressure reducing valve 20 and port A of the drilling unit switch valve 21 are both connected to port P of the hydraulic directional valve 22. Port A of the hydraulic directional valve 22 is connected back to the oil tank 14; port B of the hydraulic directional valve 22 is connected to the inlet of the impact drill 9.14; and the outlet of the impact drill 9.14 is connected back to the oil tank 14.

[0049] The extension and retraction of the left and right swing cylinders of the impact drill are controlled by the multi-way valve III19 valve core I and valve core II, so as to realize the large-range swing and small-range fine adjustment of the impact drill 9.14. Valve cores III and IV work together to achieve feed and impact. Under normal conditions, the P port of the hydraulic directional valve 22 is connected to the A port, and the A port and B port of the drilling unit switch valve 21 are disconnected under normal conditions. Valve core IV controls the piston rod of the feed cylinder 9.12 to extend. When the drill rod of the impact drill 9.14 does not contact the rock formation, the working oil pressure flowing out from the A4 port of valve core IV is relatively small and does not reach the opening pressure of the hydraulic directional valve 22. The hydraulic directional valve 22 is in normal condition. If oil is supplied through the A3 port of valve core III, the working oil flows back to the oil tank 14 through the pressure reducing valve 20 and the P and A ports of the hydraulic directional valve 22. If oil is supplied through the B3 port of valve core III, the oil circuit is blocked. That is, when the drill rod of the impact drill 9.14 does not contact the rock formation, the impact drill 9.14 cannot start, thus avoiding dry drilling. When the drill rod of the impact drill 9.14 contacts the rock formation, the pressure of the working oil flowing from port A4 of valve core IV increases to the opening pressure of the hydraulic control directional valve 22. The hydraulic control directional valve 22 then switches the connection between port P and port B, allowing selection of low-speed or high-speed mode according to drilling requirements. In low-speed mode, oil is supplied through port A3 of valve core III. The working oil is depressurized by pressure reducing valve 20 and enters the impact drill 9.14 through the hydraulic control directional valve 22. In high-speed mode, oil is supplied through port B3 of valve core III. The drilling unit switch valve 21 switches the connection between ports A and B, and the working oil enters the impact drill 9.14 through the drilling unit switch valve 21 and the hydraulic control directional valve 22.

[0050] The aforementioned multi-functional modular undercarriage machine also includes a two-position three-way directional valve 23, an accumulator 24, a side-discharge shovel unit switching valve 25, a side-discharge shovel unit overflow valve 26, and a proximity switch; in the multi-way valve III 19, valve core V corresponds to ports A5 and B5, port A5 is connected to the rod-side chamber of the side-discharge cylinder 10.4, and port B5 is connected to port P of the two-position three-way directional valve 23; the rodless chamber of the side-discharge cylinder 10.4 is connected to the two-position three-way directional valve 23. The A port of 3 is connected; the T port of the two-position three-way reversing valve 23, the interface of the accumulator 24, the A port of the side-discharge shovel unit switching valve 25, and the inlet of the side-discharge shovel unit overflow valve 26 are connected together; the B port of the side-discharge shovel unit switching valve 25 and the outlet of the side-discharge shovel unit overflow valve 26 are connected back to the oil tank 14; the proximity switch is used to detect the distance between the bucket body 10.1 and the side-discharge shovel unit connecting frame 10.2.

[0051] Under normal conditions, in multi-way valve Ⅲ19, neither port A5 nor port B5 of valve core Ⅴ is supplied with oil, the two-position three-way directional valve 23 is in the left position (port P is closed, port A and port T are connected), and the side-discharge shovel unit switch valve 25 is in the left position (port A and port B are connected). When the bucket body 10.1 is unloading, the control valve core Ⅴ's port B5 is supplied with oil, the two-position three-way directional valve 23 is in the right position (port P and port A are connected, port T is closed), and the working oil enters port P of the two-position three-way directional valve 23 through port B5, and enters the rodless chamber of the side-discharge cylinder 10.4 through port A of the two-position three-way directional valve 23, pushing the piston to extend. When the bucket body 10.1 is reset and the starting distance of the proximity switch has not been reached, oil is supplied through port A5 of the control valve core V, and the two-position three-way directional valve 23 is in the left position (port P is closed, port A and port T are connected). The working oil enters the rod chamber of the side unloading cylinder 10.4 through port A5 of the valve core V, and the working oil in the rodless chamber of the side unloading cylinder 10.4 enters port T through port A of the two-position three-way directional valve 23, and then flows back to the oil tank 14 through ports A and B of the side unloading shovel unit switch valve 25, realizing rapid piston retraction; when the bucket body 10.1 is reset, the oil is supplied through port A5 of the control valve core V, and the oil is supplied through port T ... V, and the oil is supplied through port A5 of the control valve core V, and the oil is supplied through port T of the two-position three-way directional valve V, and the oil is supplied through port A5 of the two-position three-way directional valve V, and the oil is supplied through port T of the two-position three-way directional valve V, and then flows back to the oil tank 14 through ports A and B of the side unloading shovel unit switch valve 25, realizing rapid piston retraction; when the bucket body 10.1 is reset, the oil is supplied through port A5 of the control valve core V, and the oil is supplied through port T5 of the two-position three-way directional valve V, and the oil is supplied through port A5 of the two-position three-way directional valve V, and the oil is supplied through When the distance between 0.1 and the side-dump shovel unit connecting frame 10.2 reaches the activation distance of the proximity switch, the proximity switch is activated, and the side-dump shovel unit switching valve 25 is in the right position (ports A and B are disconnected). The working oil in the rodless chamber of the side-dump cylinder 10.4 flows into the accumulator 24 from the T port of the two-position three-way reversing valve 23, slowing down the piston contraction speed, thereby reducing the collision impact between the bucket body 10.1 and the side-dump shovel unit connecting frame 10.2, and between the pin holder II 10.7 and the pin cylinder II 10.9. After the bucket body 10.1 is reset, neither port A5 nor port B5 of valve core V supplies oil, and the side-dump shovel unit switching valve 25 is in the left position. The hydraulic oil in the accumulator 24 flows back to the oil tank 14 through the side-dump shovel unit switching valve 25. During the slow piston contraction process, when the oil pressure in the hydraulic control circuit exceeds the safety value, it flows back to the oil tank 14 from the side-dump shovel unit overflow valve 26.

[0052] In the above-mentioned multi-functional modular undercover machine, the frame 1 is equipped with a power compartment 27 and a driver's cab 28. The oil tank 14, pump 15 and valve are all located in the power compartment 27. The valve connected to the tool unit is connected to the quick-change plug II 4.4.3 through an oil pipe.

[0053] The aforementioned multi-functional modular undercover machine also includes a support frame 29 for supporting the robotic arm 4.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-functional modular undercover machine, characterized in that, It includes a frame (1), a rotary table (2), a rotary cylinder (3), a robotic arm (4), a left swing cylinder of the robotic arm (5), a right swing cylinder of the robotic arm (6), and a tool unit; The rotary table (2) is rotatably mounted on the frame (1); The rotary cylinder (3) is located on one side of the rotary table (2), and its two ends are rotatably connected to the frame (1) and the rotary table (2) respectively; The robotic arm (4) includes cantilever I (4.1), cantilever II (4.2), telescopic cylinder (4.3), and hydraulic pipe assembly (4.4). The cantilever I (4.1) is hinged to the rotary table (2) through a horizontally arranged connector. The left swing cylinder (5) and the right swing cylinder (6) of the mechanical arm are arranged on both sides. The two ends of the swing cylinder are respectively hinged to the cantilever I (4.1) and the frame (1). The cantilever II (4.2) and cantilever I (4.1) are slidably connected. The cantilever II (4.2) is driven by the telescopic cylinder (4.3) to extend and retract along the cantilever I (4.1). The front end of the cantilever II (4.2) is connected to the tool unit. The oil pipe assembly (4.4) includes an oil pipe bracket (4.4.1), quick-connect plug I (4.4.2), quick-connect plug II (4.4.3), oil pipe (4.4.4), connecting lug (4.4.5), and sliding block (4.4.6). The front end of the oil pipe rack (4.4.1) is provided with multiple quick-change plugs I (4.4.2), and the two sides are provided with an equal number of quick-change plugs II (4.4.3). The number of quick-change plugs I (4.4.2) and the total number of quick-change plugs II (4.4.3) on both sides are equal. The quick-change plugs I (4.4.2) are connected to the oil pipes of the tool unit, and the quick-change plugs II (4.4.3) are connected to the oil pipes on the frame (1). The oil pipe (4.4.4) is an L-shaped oil pipe, with its two ends connected to quick-change plug I (4.4.2) and quick-change plug II (4.4.3) respectively; The tubing rack (4.4.1) is provided with connecting lugs (4.4.5) and sliding blocks (4.4.6) on both sides. The upper end of the connecting lug (4.4.5) is hinged to the oil pipe bracket (4.4.1), and the lower end is fixedly connected to the cantilever II (4.2); The sliding block (4.4.6) is fixed on the oil pipe rack (4.4.1) and is slidably connected to the cantilever I (4.1); The tool unit is one of the following: crushing unit (7), box-type shovel and transport unit (8), drilling unit (9), and side-discharge shovel and transport unit (10).

2. The multifunctional modular undercover machine according to claim 1, characterized in that, It also includes a tracked walking mechanism (11), a quick-change mechanism (12), and a quick-change mechanism swing cylinder (13). The tracked walking mechanism (11) is located on both sides of the frame (1) and includes a drive wheel (11.1), a driven wheel (11.2), a track (11.3), a left walking motor (11.4) and a right walking motor (11.5). The driving wheel (11.1) and the driven wheel (11.2) are rotatably connected to the frame (1); The track (11.3) is fitted onto the drive wheel (11.1) and the driven wheel (11.2); The drive wheels (11.1) on both sides of the frame (1) are driven to rotate by the left travel motor (11.4) and the right travel motor (11.5) respectively; The quick-change mechanism (12) is hinged to the front end of the cantilever II (4.2) via a horizontally arranged connector for connecting the tool unit; The two ends of the quick-change mechanism swing cylinder (13) are respectively hinged to the quick-change mechanism (12) and the cantilever II (4.2).

3. The multifunctional modular undercover machine according to claim 2, characterized in that, The crushing unit (7) includes a crushing unit connecting frame (7.1), a swing frame (7.2), a left swing cylinder for the breaker hammer (7.3), a right swing cylinder for the breaker hammer (7.4), a lifting plate (7.5), a lifting cylinder (7.6), a breaker hammer (7.7), and a breaker hammer protection frame (7.8). The crushing unit connecting frame (7.1) is provided with a mating part that cooperates with the quick-change mechanism (12); The front side of the crushing unit connecting frame (7.1) is rotatably connected to the rear side of the swing frame (7.2). The left swing cylinder (7.3) and the right swing cylinder (7.4) of the breaker are symmetrically arranged on both sides of the rotation point. The two ends of the swing cylinder are hinged to the crushing unit connecting frame (7.1) and the swing frame (7.2) respectively. The lifting plate (7.5) is slidably connected to the front side of the swing frame (7.2); The two ends of the lifting cylinder (7.6) are respectively hinged to the swing frame (7.2) and the lifting plate (7.5); The hydraulic breaker protection frame (7.8) includes a front baffle, a rear baffle, a top plate, and side plates. The front baffle and the rear baffle are connected by the side plates on both sides, and the top plate is located above the front baffle, the rear baffle, and the side plates. The housing of the hydraulic breaker (7.7) is connected to the hydraulic breaker guard (7.8), and the chisel extends from below the hydraulic breaker guard (7.8); The box-type shovel unit (8) includes a box-type bucket (8.1), a rotating shaft (8.2), a box-type shovel unit connecting frame (8.3), a box-type bucket left swing cylinder (8.4), a box-type bucket right swing cylinder (8.5), a discharge plate (8.6), and a discharge cylinder (8.7). The box-type bucket (8.1) includes a top plate, a bottom plate, a left side plate, and a right side plate, with the top plate and bottom plate connected by the left side plate and the right side plate; The box-type shovel unit connecting frame (8.3) is provided with a mating part that cooperates with the quick-change mechanism (12); The box-type shovel and transport unit connecting frame (8.3) includes a top plate, a bottom plate, a left side plate, and a right side plate, with the top plate and bottom plate connected by the left side plate and the right side plate; The top plate of the box-type bucket (8.1) and the top plate of the box-type shovel unit connecting frame (8.3) are rotatably connected by a rotating shaft (8.2), and the bottom plate of the box-type bucket (8.1) and the bottom plate of the box-type shovel unit connecting frame (8.3) are rotatably connected by a rotating shaft (8.2). The left swing cylinder (8.4) and right swing cylinder (8.5) of the box-type bucket are symmetrically arranged on the left and right sides of the rotating shaft (8.2), and the two ends of the swing cylinder are rotatably connected to the box-type bucket (8.1) and the box-type shovel unit connecting frame (8.3), respectively. The unloading plate (8.6) is located inside the box-shaped bucket (8.1), and the upper edge, lower edge, left edge and right edge of the unloading plate (8.6) are slidably connected to the top plate, bottom plate, left side plate and right side plate of the box-shaped bucket (8.1), respectively. The two ends of the unloading cylinder (8.7) are respectively connected to the box-type shovel unit connecting frame (8.3) and the unloading plate (8.6); The drilling unit (9) includes a drilling unit connecting frame (9.1), a connecting shaft (9.2), an impact drill left and right swing cylinder I (9.3), a connecting plate II (9.4), a rotary motor (9.5), a drill frame I (9.6), a fixed plate (9.7), a drill frame II (9.8), an impact drill left and right swing cylinder II (9.9), a push-pull plate (9.10), a drill frame III (9.11), a feed cylinder (9.12), a drilling rig fixed plate (9.13), an impact drill (9.14), a chain assembly (9.15), and a chain drive motor (9.16). The drilling unit connecting frame (9.1) is provided with a mating part that cooperates with the quick-change mechanism (12); The first end of the connecting shaft (9.2) is hinged to the drilling unit connecting frame (9.1) by a vertically arranged connector, and the second end of the connecting shaft (9.2) is provided with a connecting plate I (9.2.1). The two ends of the left and right swing cylinder I (9.3) of the impact drill are respectively hinged to the drilling unit connecting frame (9.1) and the connecting plate I (9.2.1); The connecting plate II (9.4) is fixedly connected to the connecting plate I (9.2.1); The housing of the rotary motor (9.5) is fixedly connected to the drill frame I (9.6), and the output shaft passes through the drill frame I (9.6) and is fixedly connected to the connecting plate II (9.4); The fixed plate (9.7) is fixed on the drill frame I (9.6), and a rotating shaft is provided at the center position. The rotating shaft is fixedly connected to the drill frame II (9.8). The cylinder body of the left and right swing cylinder II (9.9) of the impact drill is fixed on the drill frame I (9.6), and the piston is hinged to the first end of the push-pull plate (9.10) through a vertically set connector; The second end of the push-pull plate (9.10) is fixedly sleeved on the rotating shaft of the fixed plate (9.7); The drill frame III (9.11) is slidably connected to the drill frame II (9.8); The two ends of the feed cylinder (9.12) are hinged to drill frame II (9.8) and drill frame III (9.11) respectively; The drilling rig fixing plate (9.13) is slidably connected to the drilling frame III (9.11) and slides along the drilling frame III (9.11) by the traction of the chain assembly (9.15). The chain assembly (9.15) is driven by the chain drive motor (9.16). The impact drill (9.14) is fixed on the drill rig mounting plate (9.13); The side-dumping shovel unit (10) includes a bucket body (10.1), a side-dumping shovel unit connecting frame (10.2), a connecting pin (10.3), a side-dumping cylinder (10.4), and a side baffle (10.5). Pin holder I (10.6) and pin holder II (10.7) are provided on the back of the bucket body (10.1). The side-discharge shovel unit connecting frame (10.2) is provided with a mating part that cooperates with the quick-change mechanism (12); The side-discharge shovel unit connecting frame (10.2) is provided with pin cylinder I (10.8) and pin cylinder II (10.9) on both sides. Pin cylinder I (10.8) is used to engage with pin cylinder frame I (10.6), and pin cylinder II (10.9) is used to engage with pin cylinder frame II (10.7). The connecting pin (10.3) passes through the snap-fit ​​pin holder I (10.6) and pin holder I (10.8), so that the bucket body (10.1) and the side-discharge shovel unit connecting frame (10.2) are rotatably connected; The front end of the side unloading cylinder (10.4) is hinged to the outside of the bucket body (10.1) and is located on the axis of symmetry of pin holder I (10.6) and pin holder II (10.7); The rear end of the side-discharge cylinder (10.4) is hinged to the side-discharge shovel unit connecting frame (10.2) and is located between pin cylinder I (10.8) and pin cylinder II (10.9); The side baffle (10.5) is set on the same side as the pin holder II (10.7) and pin holder II (10.9), and closes the opening of the bucket body (10.1) on the side of the pin holder II (10.7).

4. The multifunctional modular undercover machine according to claim 3, characterized in that, In the box-type bucket (8.1), the inner walls of the left and right side plates are respectively provided with limit rails. 8.1.1), The base plate is provided with shovel teeth (8.1.2). The left and right edges of the unloading plate (8.6) are respectively provided with limiting grooves. 8.6.1), the limiting slide groove (8.6.1) and the limiting slide rail (8.1.1) slide into each other; The unloading plate (8.6) is provided with two sets of reinforcing structures (8.6.2), which are symmetrically arranged on both sides of the unloading cylinder (8.7); The drill frame Ⅲ (9.11) is equipped with a centering frame (9.17) at its front end. The centering frame (9.17) has a centering hole and a fixing tooth (9.18) at its front end. The side-discharge shovel unit (10) also includes a guide plate (10.10), which is set on the same side as the pin holder I (10.6) and the pin holder I (10.8) and is connected to the opening of the bucket body (10.1) on the side of the pin holder I (10.6).

5. The multifunctional modular undercover machine according to claim 2, characterized in that, It also includes an oil tank (14), a pump (15), and a multi-way valve I (16); The pump (15) pumps the hydraulic oil in the oil tank (14) to the P port of the multi-way valve I (16), and the T port and R port of the multi-way valve I (16) are connected back to the oil tank (14). In the multi-way valve I (16), valve core I corresponds to port A1 and port B1, valve core II corresponds to port A2 and port B2, valve core III corresponds to port A3 and port B3, valve core IV corresponds to port A4 and port B4, valve core V corresponds to port A5 and port B5, and valve core VI corresponds to port A6 and port B6. The A1 and B1 ports of the multi-way valve I (16) are connected to the A and B ports of the left travel motor (11.4) respectively, the A2 and B2 ports are connected to the A and B ports of the right travel motor (11.5) respectively, the A3 port is connected to the rodless chamber of the rotary cylinder (3), the B3 port is connected to the rod chamber of the rotary cylinder (3), the A4 port is connected to the rodless chamber of the left swing cylinder (5) of the robotic arm and the rodless chamber of the right swing cylinder (6) of the robotic arm respectively, the B4 port is connected to the rod chamber of the left swing cylinder (5) of the robotic arm and the rod chamber of the right swing cylinder (6) of the robotic arm respectively, the A5 port is connected to the rodless chamber of the telescopic cylinder (4.3), the B5 port is connected to the rod chamber of the telescopic cylinder (4.3), the A6 port is connected to the rodless chamber of the quick-change mechanism swing cylinder (13), and the B6 port is connected to the rod chamber of the quick-change mechanism swing cylinder (13).

6. The multifunctional modular undercover machine according to claim 3, characterized in that, It also includes an oil tank (14), a pump (15), a multi-way valve II (17), and a crushing unit overflow valve (18); The pump (15) pumps the hydraulic oil in the oil tank (14) to the P port of the multi-way valve II (17), and the T port and R port of the multi-way valve II (17) are connected back to the oil tank (14). In the multi-way valve II (17), valve core I corresponds to port A1 and port B1, valve core II corresponds to port A2 and port B2, and valve core III corresponds to port A3 and port B3; The A1 port of the multi-way valve II (17) is connected to the rodless chamber of the left swing cylinder (7.3) of the breaker and the rod chamber of the right swing cylinder (7.4) of the breaker, respectively. The B1 port is connected to the rod chamber of the left swing cylinder (7.3) of the breaker and the rodless chamber of the right swing cylinder (7.4) of the breaker, respectively. The A2 port is connected to the rodless chamber of the lifting cylinder (7.6). The B2 port is connected to the rod chamber of the lifting cylinder (7.6). The A3 port is connected to the inlet of the breaker (7.7) and the inlet of the overflow valve (18) of the breaker unit. The B3 port is connected to the outlet of the breaker (7.7) and the outlet of the overflow valve (18) of the breaker unit.

7. The multifunctional modular undercover machine according to claim 3, characterized in that, It also includes an oil tank (14), a pump (15), and a multi-way valve II (17); The pump (15) pumps the hydraulic oil in the oil tank (14) to the P port of the multi-way valve II (17), and the T port and R port of the multi-way valve II (17) are connected back to the oil tank (14). In multi-way valve II (17), valve core IV corresponds to port A4 and port B4, and valve core V corresponds to port A5 and port B5; The A4 port of the multi-way valve II (17) is connected to the rodless chamber of the left swing cylinder (8.4) of the box-type bucket and the rod chamber of the right swing cylinder (8.5) of the box-type bucket, respectively. The B4 port is connected to the rod chamber of the left swing cylinder (8.4) of the box-type bucket and the rodless chamber of the right swing cylinder (8.5) of the box-type bucket, respectively. The A5 port is connected to the rodless chamber of the unloading cylinder (8.7), and the B5 port is connected to the rod chamber of the unloading cylinder (8.7).

8. The multifunctional modular undercover machine according to claim 3, characterized in that, It also includes an oil tank (14), a pump (15), a multi-way valve III (19), a pressure reducing valve (20), a drilling unit switching valve (21), and a hydraulic control directional valve (22). The pump (15) pumps the hydraulic oil in the oil tank (14) to the P port of the multi-way valve III (19), and the T port and R port of the multi-way valve III (19) are connected back to the oil tank (14). In the multi-way valve Ⅲ (19), valve core Ⅰ corresponds to port A1 and port B1, valve core Ⅱ corresponds to port A2 and port B2, valve core Ⅲ corresponds to port A3 and port B3, and valve core Ⅳ corresponds to port A4 and port B4; The A1 port of the multi-way valve III (19) is connected to the rodless chamber of the left and right swing cylinder I (9.3) of the impact drill, the B1 port is connected to the rod chamber of the left and right swing cylinder I (9.3) of the impact drill, the A2 port is connected to the rodless chamber of the left and right swing cylinder II (9.9) of the impact drill, the B2 port is connected to the rod chamber of the left and right swing cylinder II (9.9) of the impact drill, the A3 port is connected to the inlet of the pressure reducing valve (20), the B3 port is connected to the B port of the drilling unit switch valve (21), the A4 port is connected to the control port of the hydraulic control reversing valve (22) and the rodless chamber of the feed cylinder (9.12) respectively, and the B4 port is connected to the rod chamber of the feed cylinder (9.12). The outlet of the pressure reducing valve (20) and the A port of the drilling unit switching valve (21) are both connected to the P port of the hydraulic control directional valve (22). The A port of the hydraulic control directional valve (22) is connected back to the oil tank (14). The B port of the hydraulic control directional valve (22) is connected to the inlet of the impact drill (9.14). The outlet of the impact drill (9.14) is connected back to the oil tank (14).

9. The multifunctional modular undercover machine according to claim 3, characterized in that, It also includes an oil tank (14), a pump (15), a multi-way valve III (19), a two-position three-way directional valve (23), an accumulator (24), a side-discharge shovel unit switch valve (25), a side-discharge shovel unit overflow valve (26), and a proximity switch; The pump (15) pumps the hydraulic oil in the oil tank (14) to the P port of the multi-way valve III (19), and the T port and R port of the multi-way valve III (19) are connected back to the oil tank (14). In the multi-way valve Ⅲ (19), valve core Ⅴ corresponds to port A5 and port B5. Port A5 is connected to the rod chamber of the side unloading cylinder (10.4), and port B5 is connected to port P of the two-position three-way directional valve (23). The rodless chamber of the side unloading cylinder (10.4) is connected to port A of the two-position three-way directional valve (23); The T port of the two-position three-way directional valve (23), the interface of the accumulator (24), the A port of the side-discharge shovel unit switch valve (25), and the inlet of the side-discharge shovel unit overflow valve (26) are connected together. The B port of the side-discharge shovel unit switch valve (25) and the outlet of the side-discharge shovel unit overflow valve (26) are connected back to the oil tank (14). The proximity switch is used to detect the distance between the bucket body (10.1) and the side-discharge shovel unit connecting frame (10.2).

10. The multifunctional modular undercover machine according to any one of claims 6-9, characterized in that, The frame (1) is equipped with a power compartment (27), and the oil tank (14), pump (15) and valve are all located in the power compartment (27). The valve connected to the tool unit is connected to the quick-change plug II (4.4.3) through the oil pipe.

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