Two-section arm multi-degree-of-freedom working device of mine roadway repairing machine

Abstract

This invention relates to the field of mine roadway repair machine technology, specifically disclosing a two-section boom multi-degree-of-freedom working device for a mine roadway repair machine, including an installation mechanism, a boom, a forearm, a forearm drive mechanism, a limit stop mechanism, and a deflection mechanism. An installation chassis is mounted on the installation mechanism, and the boom is rotatably connected to the installation chassis via a connecting chassis. A first swing cylinder and a second swing cylinder are respectively arranged on both sides of the connecting chassis and hinged to the installation mechanism, used to drive the boom to swing laterally in or out in front of the machine body. The forearm is hinged to the front end of the boom, and the forearm drive mechanism is used to drive the forearm to pitch relative to the boom. The deflection mechanism is located at the end of the forearm and includes left-right deflection components, up-down deflection components, and a limit component, enabling the working attachment to deflect left and right around the vertical axis and up and down around the horizontal axis, effectively solving the problems of insufficient degrees of freedom at the working end of existing roadway repair machines, the need for repeated adjustments to the overall machine posture, and the difficulty in maintaining the attachment's contact angle.

Description

Technical Field

[0001] This invention relates to the field of mine roadway repair machine technology, and in particular to a two-section boom multi-degree-of-freedom working device for a mine roadway repair machine. Background Technology

[0002] During the excavation, transportation, and mining processes of mine roadways, phenomena such as floor heave, sidewall spalling, under-excavation of shoulder depressions, floor bulges, and localized cross-sectional shrinkage may occur. Roadway repair machines are typically equipped with buckets, breakers, bottom shovels, and milling heads to excavate, break, repair, and level localized areas of the roadway floor, sidewalls, shoulders, and face. Due to the confined space of underground roadways, the degree of freedom of the working mechanism and the posture of the end attachments directly determine the operating range.

[0003] Most existing roadway repair machines use a single outreach boom structure, and the working end mainly relies on the machine's movement and attachment tilting to adjust its position. When working at the sidewall root, roadway shoulder, or in areas where one side of the equipment is obstructed by obstacles, it is difficult to swing the boom laterally into the target position, and the working attachments need to be adjusted multiple times to get the machine's posture closer to the work surface.

[0004] Therefore, we propose a two-section boom multi-degree-of-freedom working device for a mine roadway repair machine to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a two-section boom multi-degree-of-freedom working device for a mine roadway repair machine, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a two-section boom multi-degree-of-freedom working device for a mine roadway repair machine, comprising an installation mechanism, a boom, a forearm, a forearm drive mechanism, a limit stop mechanism, and a deflection mechanism.

[0007] The mounting mechanism supports the boom and allows it to swing left and right relative to the mounting mechanism. The boom includes a box beam and a connecting chassis, which is stacked on the mounting mechanism and rotatably connected to the mounting mechanism around its vertical centerline. The forearm includes a front side plate and a rear side plate arranged opposite each other. The forearm is hinged to the front end of the boom via a transverse hinge shaft. The forearm drive mechanism is connected between the boom and the forearm and is used to drive the forearm to pitch and swing relative to the boom. The limiting stop mechanism is located near the hinge joint of the boom and the forearm and is used to limit the maximum folding angle of the forearm relative to the boom. The deflection mechanism is located at the end of the forearm away from the boom. The deflection mechanism includes a left-right deflection component, a right-up-down deflection component, and a limiting component. The left-right deflection component forms a first degree of deflection freedom through a vertical shaft pin, and the right-up-down deflection component forms a second degree of deflection freedom through a transverse shaft pin. The limiting component is correspondingly arranged to the left-right deflection component and is used to adjustably limit the deflection endpoint of the left-right deflection component.

[0008] Furthermore, it includes a base frame upright plate, a left connecting crossbeam, a right connecting crossbeam, a central mounting frame, a mounting chassis, a first swing cylinder, and a second swing cylinder. The left and right connecting crossbeams are connected between the base frame upright plate. The central mounting frame is located between the left and right connecting crossbeams. The mounting chassis is located on the upper part of the central mounting frame. The first and second swing cylinders are located on both sides of the mounting chassis, and one end of the first and second swing cylinders is hinged to the mounting mechanism, and the other end is hinged to the mounting chassis.

[0009] The mounting mechanism further includes a first left swing cylinder hinge seat, a second left swing cylinder hinge seat, a first right swing cylinder hinge seat, and a second right swing cylinder hinge seat. The first left swing cylinder hinge seat and the second left swing cylinder hinge seat are respectively disposed on the outer side of the mounting chassis. The first right swing cylinder hinge seat is fixedly installed on the top of the right connecting crossbeam. The second right swing cylinder hinge seat is fixedly installed on the outer side of the top of the left connecting crossbeam. The first swing cylinder is connected between the first left swing cylinder hinge seat and the first right swing cylinder hinge seat. The second swing cylinder is connected between the second right swing cylinder hinge seat and the second left swing cylinder hinge seat.

[0010] Furthermore, the installation mechanism also includes a mounting base, which is disposed on the outside of the left and right connecting beams. The mounting base has a fixing hole for connecting with the main unit of the roadway repair machine. The bottom of the mounting chassis is provided with a slewing bearing that cooperates with the central mounting frame. The first and second swing cylinders drive the mounting chassis to rotate through the slewing bearing. The mounting chassis is fixedly connected to the connecting chassis of the boom by fixing bolts, and the mounting chassis and the connecting chassis are coaxially arranged.

[0011] Furthermore, the box girder is an arched box-shaped welded beam. The bottom end of the box girder is fixedly connected to the connecting base plate. The front end of the box girder is provided with a connecting part that is hinged to the top of the forearm. The inner side of the box girder is provided with a central reinforcing rib. The central reinforcing rib is arranged along the length direction of the box girder and welded to the side wall of the box girder.

[0012] Furthermore, the forearm drive mechanism includes a first drive cylinder seat, a forearm drive cylinder, a fixed connecting plate, and a second drive cylinder seat. The first drive cylinder seat is located at the bottom of the front end of the boom. The fixed connecting plate is fixedly connected between the front side plate and the rear side plate. The second drive cylinder seat is located on the fixed connecting plate. One end of the forearm drive cylinder is hinged to the first drive cylinder seat, and the other end is hinged to the second drive cylinder seat.

[0013] Furthermore, the limiting and stopping mechanism includes a stop plate, a stop pad, a connecting block, a stop block, and a mounting plate. The mounting plate is fixedly installed between the front and rear side plates above the fixed connecting plate. The stop plate is disposed above the mounting plate and fixedly connected to the bottom of the boom. The stop pad is disposed on the force-bearing surface of the stop plate. The connecting block is fixedly connected to the upper surface of the mounting plate. The stop block is fixedly installed on the top of the connecting block and opposite to the stop pad.

[0014] Furthermore, the left and right deflection assembly includes an attachment connector, an attachment lug, a vertical shaft pin, a bottom connecting plate, a vertical pin sleeve, a left deflection cylinder hinge seat, a right deflection cylinder hinge seat, and left and right deflection cylinders. The attachment connector is located between the bottom sides of the front and rear side plates. The bottom connecting plate is located below the forearm. The vertical pin sleeve is fixed to the side of the bottom connecting plate. The attachment lug is fixed to the side of the attachment connector. A pin hole is formed in the middle of the attachment lug. The vertical pin sleeve is coaxially arranged with the pin hole of the attachment connector. The vertical shaft pin passes through the attachment connector. The connector has a pin hole and a vertical pin sleeve. The vertical shaft pin is rotatably connected to the pin hole of the accessory connector. The vertical shaft pin is fixedly connected to the vertical pin sleeve. The left deflection cylinder hinge seat is located on the upper surface of the bottom connecting plate and is fixedly connected to the bottom connecting plate. The right deflection cylinder hinge seat is fixedly connected to the side of the rear side plate. One end of the left and right deflection cylinders is hinged to the left deflection cylinder hinge seat, and the other end is hinged to the right deflection cylinder hinge seat to drive the bottom connecting plate to deflect left and right around the vertical shaft pin. The bottom connecting plate has a through hole in the middle for connecting with the upper and lower deflection components.

[0015] Furthermore, the upper and lower deflection assembly includes a top mounting block, an upper deflection cylinder hinge seat, a lower deflection cylinder hinge seat, upper and lower deflection cylinders, a side positioning plate, a transverse shaft pin, a lug seat, a mounting shaft pin, a shaft pin mounting hole, and a lower mounting plate. The top mounting block is fixedly connected to the top end of the vertical shaft pin. The lower mounting plate is located below the bottom connecting plate. The side positioning plate is fixedly installed on the side of the lower mounting plate, and there are two side positioning plates. The transverse shaft pin is installed between the two side positioning plates, and the transverse shaft pin passes through the through hole in the middle of the bottom connecting plate and is rotatably connected to the through hole.

[0016] Furthermore, the lug seat is fixedly connected to the bottom of the lower mounting plate, and there are two lug seats. A mounting pin is provided between the two lug seats. The upper deflection cylinder hinge seat is fixedly connected to the side of the top mounting block, and the lower deflection cylinder hinge seat is fixedly connected to the top of the lower mounting plate. One end of the upper and lower deflection cylinders is hinged to the upper deflection cylinder hinge seat, and the other end is hinged to the lower deflection cylinder hinge seat. Each lug seat has a pin mounting hole on its surface. The mounting pin and the pin mounting hole are used to connect the bucket, breaker, bottom cleaning shovel, or milling head.

[0017] Furthermore, two limiting components are provided. Each limiting component includes a tail mounting block, a limiting block connector, a limiting block, a moving groove, a limiting baffle, a moving seat, a threaded rod, and a drive handwheel. The tail mounting block is fixed to the tail of the front or rear side plate. The moving groove is opened in the tail mounting block. The moving seat is slidably disposed in the moving groove. The threaded rod is threadedly connected to the moving seat. The drive handwheel is fixedly connected to the threaded rod. The limiting baffle is fixedly connected to the moving seat. The limiting block is fixedly connected to the attachment lug through the limiting block connector, and the limiting block is opposite to the limiting baffle.

[0018] Furthermore, the first swing cylinder, the second swing cylinder, the boom drive cylinder, the left and right deflection cylinder, and the up and down deflection cylinder are all connected to the hydraulic control valve group of the mine roadway repair machine. The hydraulic control valve group is equipped with a balance valve or hydraulic lock in the oil circuit corresponding to the first swing cylinder and the second swing cylinder, and a throttling buffer valve is equipped in the oil circuit corresponding to the left and right deflection cylinder and the up and down deflection cylinder.

[0019] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention, by setting a mounting chassis on the mounting mechanism, and having the connecting chassis drive the boom to swing left and right around the vertical centerline under the cross-pushing action of the first and second swing cylinders, allows the two-section boom to be laterally swung into the side root, shoulder socket and obstacle-blocked area without frequent machine relocation. This solves the problem that the existing single forward boom structure mainly relies on the overall machine posture adjustment and the working end is difficult to laterally approach the target working surface.

[0020] 2. This invention, by hinged the forearm to the front end of the boom and setting a forearm drive cylinder to drive the forearm to pitch and swing, and setting a left-right deflection component and a right-down deflection component formed by a vertical shaft pin and a horizontal shaft pin at the end of the forearm, allows the bucket, breaker, bottom clearing shovel or milling head to simultaneously obtain multiple degrees of freedom such as base side swing, forearm pitch, end left-right deflection and end up-down deflection, thus solving the problem of the difficulty in maintaining the fitting angle of the working attachment in the transition area of ​​the base plate, side wall and shoulder socket.

[0021] 3. This invention, by setting a stop plate, a stop pad, a connecting block, a stop block and a mounting plate near the hinge of the boom and forearm, can allow the mechanical stop to bear the collision load first when the forearm approaches the limit folding angle, thus solving the problem that the forearm drive cylinder, hinge pin and side plate are easily damaged by impact at the end of the stroke.

[0022] 4. The present invention, by setting a limiting component consisting of a tail mounting block, a moving groove, a moving seat, a threaded rod, a drive handwheel, a limiting block, and a limiting baffle on the left and right deflection component, can pre-determine the left and right deflection angle according to different attachment lengths, different roadway cross sections, and different repair procedures, thus solving the problems that fixed limiting cannot adapt to multiple working conditions and that the end attachment is prone to collision with support components or pipelines after excessive swing. Attached Figure Description

[0023] 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.

[0024] Figure 1 This is a structural diagram of the main body of the present invention; Figure 2 This is a schematic diagram of the installation mechanism in this invention; Figure 3 This is a schematic diagram of the assembly structure of the upper arm, lower arm, lower arm drive mechanism and deflection mechanism in this invention; Figure 4 This is a schematic diagram of the installation structure of the forearm drive mechanism and the limiting stop mechanism in this invention; Figure 5 This is a schematic diagram of the overall structure of the deflection mechanism in this invention; Figure 6 This is a schematic diagram of the left and right deflection components in this invention. Figure 1 ; Figure 7 This is a schematic diagram of the left and right deflection components in this invention. Figure 2 ; Figure 8 This is a partially enlarged structural diagram of the limiting component in this invention; Figure 9 This is a schematic diagram of the structure of the up-down deflection component in this invention.

[0025] Explanation of reference numerals in the attached figures: 1. Installation mechanism; 11. Base frame upright; 12. Left connecting crossbeam; 13. Right connecting crossbeam; 14. Middle mounting frame; 15. Mounting chassis; 16. First left swing cylinder hinge seat; 17. Second left swing cylinder hinge seat; 18. First swing cylinder; 19. Second swing cylinder; 110. First right swing cylinder hinge seat; 111. Second right swing cylinder hinge seat; 112. Mounting base; 2. Boom; 21. Box girder; 22. Connecting chassis; 23. Central reinforcing rib; 3. Forearm; 31. Front side plate; 32. Rear side plate; 4. Arm drive mechanism; 41. First drive cylinder base; 42. Arm drive cylinder; 43. Fixed connecting plate; 44. Second drive cylinder base; 5. Limiting and stopping mechanism; 51. Stop plate; 52. Stop pad; 53. Connecting block; 54. Stop block; 55. Mounting plate; 6. Deflection mechanism; 61. Left and right deflection assembly; 611. Attachment connector; 612. Attachment lug; 613. Vertical shaft pin; 614. Bottom connecting plate; 615. Vertical pin sleeve; 616. Through hole; 617. Left deflection cylinder hinge seat; 618. Right deflection cylinder hinge seat; 619. Left and right deflection cylinders; 62. Up and down deflection assembly; 621. Top mounting block; 622. Upper deflection cylinder hinge seat; 623. Lower deflection cylinder hinge seat 624. Connector; 625. Upward and downward deflection cylinder; 626. Side positioning plate; 627. Lateral shaft pin; 628. Hanging ear seat; 629. Mounting shaft pin; 6210. Shaft pin mounting hole; 62210. Lower mounting plate; 63. Limiting assembly; 631. Tail mounting block; 632. Limiting stop connecting piece; 633. Limiting stop; 634. Moving groove; 635. Limiting baffle; 636. Moving seat; 637. Threaded rod; 638. Drive handwheel. Detailed Implementation

[0026] 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 embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Please see Figures 1 to 9 The present invention provides a technical solution: A two-section boom multi-degree-of-freedom working device for a mine roadway repair machine includes an installation mechanism 1, a boom 2, a forearm 3, a forearm drive mechanism 4, a limit stop mechanism 5, and a deflection mechanism 6; the installation mechanism 1 is located at the front end of the main unit of the mine roadway repair machine and is used to connect the entire working device to the main unit and support the boom 2. The bottom of the upper arm 2 is rotatably connected to the mounting mechanism 1 around the vertical centerline, allowing the upper arm 2 to swing left and right in the horizontal plane relative to the mounting mechanism 1; the front end of the upper arm 2 is hinged to the top of the lower arm 3 via a transverse hinge axis, allowing the lower arm 3 to pitch and swing in the vertical plane around the transverse hinge axis; the lower arm drive mechanism 4 is connected between the upper arm 2 and the lower arm 3, and is used to drive the lower arm 3 to rotate relative to the upper arm 2 around the transverse hinge axis; the limit stop mechanism 5 is set at the hinge position of the upper arm 2 and the lower arm 3, and provides a mechanical stop when the lower arm 3 pitches and swings to the limit folding angle; the deflection mechanism 6 is set at the end of the lower arm 3 away from the upper arm 2, and provides two degrees of freedom for the end attachment: left and right deflection and up and down deflection.

[0028] like Figure 1 , Figure 2 and Figure 3 As shown, the installation mechanism 1 includes a base frame upright plate 11, a left connecting crossbeam 12, a right connecting crossbeam 13, a central mounting frame 14, a mounting base 15, a first swing cylinder 18, and a second swing cylinder 19. The base frame upright plate 11 is a vertically arranged plate-shaped component, and its bottom is provided with a mounting base 112 for connecting with the main unit of the roadway repair machine. The mounting base 112 has fixing holes, and the entire installation mechanism 1 is fixed to the front end of the main unit by bolts passing through the fixing holes. There are two base frame upright plates 11, and the two base frame upright plates 11 are arranged in the horizontal direction. The upper and lower connecting beams are arranged opposite each other; the left connecting beam 12 and the right connecting beam 13 are both horizontally arranged rectangular tube beams or I-beams, and their two ends are welded and fixed to the side walls of the two base frame uprights 11 respectively, forming the bottom frame of the installation mechanism 1; the middle mounting frame 14 is set in the middle position between the left connecting beam 12 and the right connecting beam 13, and the mounting base 15 is set on the upper part of the middle mounting frame 14, and a slewing bearing is provided at the center of its bottom, so that the mounting base 15 can rotate freely about the vertical center line relative to the middle mounting frame 14.

[0029] The mounting mechanism 1 also includes a first left swing cylinder hinge seat 16, a second left swing cylinder hinge seat 17, a first right swing cylinder hinge seat 110, and a second right swing cylinder hinge seat 111. The first left swing cylinder hinge seat 16 is fixedly installed on the left side of the outer wall of the mounting chassis 15, and the second left swing cylinder hinge seat 17 is fixedly installed on the top outer side of the right connecting crossbeam 13. The first right swing cylinder hinge seat 110 is fixedly installed on the right side of the outer wall of the mounting chassis 15, and the second right swing cylinder hinge seat 111... 111 is fixedly installed on the top outer side of the left connecting crossbeam 12; one end of the first swing cylinder 18 is hinged to the first left swing cylinder hinge seat 16, and the other end is hinged to the first right swing cylinder hinge seat 110, and the first swing cylinder 18 is arranged obliquely in the horizontal plane; one end of the second swing cylinder 19 is hinged to the second left swing cylinder hinge seat 17, and the other end is hinged to the second right swing cylinder hinge seat 111, and the second swing cylinder 19 is arranged obliquely in the horizontal plane in a direction intersecting with the first swing cylinder 18.

[0030] The first swing cylinder 18 and the second swing cylinder 19 are located on both sides of the mounting base 15, and their axes are arranged intersecting in the horizontal plane. When the first swing cylinder 18 extends and the second swing cylinder 19 retracts, the mounting base 15 rotates to one side around the vertical center line of the slewing bearing. When the first swing cylinder 18 retracts and the second swing cylinder 19 extends, the mounting base 15 rotates to the other side around the vertical center line of the slewing bearing. The cross-pushing and pulling action of the first swing cylinder 18 and the second swing cylinder 19 allows the mounting base 15 to swing left and right within a certain angle range. The upper surface of the mounting base 15 is provided with a plurality of bolt holes evenly distributed in a circle. The connecting base 22 of the boom 2 is stacked on top of the mounting base 15. The upper surface of the connecting base 22 is fixedly connected to the bottom end of the box beam 21 of the boom 2. The connecting base 22 is coaxially fixedly connected to the mounting base 15. When the mounting base 15 rotates around the vertical center line under the drive of the first swing cylinder 18 and the second swing cylinder 19, the connecting base 22 drives the boom 2 and all the components connected to the front end of the boom 2 to swing left and right synchronously.

[0031] like Figure 3 and Figure 4As shown, the boom 2 includes a box girder 21 and a connecting chassis 22. The box girder 21 is an upward-arched box-shaped welded beam. The bottom end of the box girder 21 is welded and fixed to the upper surface of the connecting chassis 22. The box girder 21 extends upward from the connecting chassis 22 and arches forward to form an upward-arched structure. This upward-arched structure gives the boom 2 a large ground clearance when it is in the lifting state. The front end of the box girder 21 is provided with a connecting part, which is a lug plate welded to both sides of the front end of the box girder 21. The box girder 21 has coaxially arranged hinge holes on both sides for hinge connection with the top of the forearm 3; the inner side of the box girder 21 is provided with a central reinforcing rib 23, which is a longitudinally arranged strip steel plate arranged along the length of the box girder 21. The upper and lower ends of the central reinforcing rib 23 are welded to the top and bottom walls of the box girder 21, respectively, and the side of the central reinforcing rib 23 is welded to the side wall of the box girder 21 to improve the bending stiffness and torsional stiffness of the box girder 21.

[0032] The forearm 3 includes a front side plate 31 and a rear side plate 32 arranged opposite to each other; the top of the front side plate 31 and the top of the rear side plate 32 are respectively hinged to the ear plate at the front end of the upper arm 2 through a transverse hinge shaft. The transverse hinge shaft passes through the hinge hole at the top of the front side plate 31, the hinge hole at the front end ear plate of the upper arm 2 and the hinge hole at the top of the rear side plate 32, so that the forearm 3 can pitch and rotate in a vertical plane around the transverse hinge shaft; the front side plate 31 and the rear side plate 32 are fixed together by welding multiple transverse connecting plates to maintain the parallel distance between them.

[0033] The forearm drive mechanism 4 includes a first drive cylinder seat 41, a forearm drive cylinder 42, a fixed connecting plate 43, and a second drive cylinder seat 44. The first drive cylinder seat 41 is fixedly disposed at the bottom of the front end of the boom 2. The fixed connecting plate 43 is welded and fixed to the middle position between the front side plate 31 and the rear side plate 32. The second drive cylinder seat 44 is fixedly disposed on the upper surface of the fixed connecting plate 43. One end of the forearm drive cylinder 42 is hinged to the first drive cylinder seat 41, and the other end of the forearm drive cylinder 42... The end is hinged to the second drive cylinder seat 44. The forearm drive cylinder 42 is located below the upper arm 2 and behind the forearm 3, and its axis intersects the length direction of the upper arm 2. When the piston rod of the forearm drive cylinder 42 extends, the forearm 3 tilts downward relative to the upper arm 2 around the transverse hinge axis, that is, the forearm 3 unfolds away from the upper arm 2. When the piston rod of the forearm drive cylinder 42 retracts, the forearm 3 tilts upward relative to the upper arm 2 around the transverse hinge axis, that is, the forearm 3 folds towards the upper arm 2.

[0034] The limiting stop mechanism 5 is located near the hinge joint between the upper arm 2 and the lower arm 3 to limit the maximum folding angle of the lower arm 3 relative to the upper arm 2. The limiting stop mechanism 5 includes a stop plate 51, a stop pad 52, a connecting block 53, a stop block 54, and a mounting plate 55. The mounting plate 55 is fixedly installed in the space above the fixed connecting plate 43, and the mounting plate 55 is located directly above the fixed connecting plate 43, with its surface parallel to the surface of the fixed connecting plate 43. The stop plate 51 is located above the mounting plate 55 and is an extension structure of the bottom of the upper arm 2, i.e., the stop plate 51 is a horizontal plate-shaped flange welded to the bottom of the front end of the box beam 21. The position of the stop plate 51 corresponds vertically to that of the mounting plate 55. The stop pad 52 is located on the force-bearing surface of the stop plate 51 and is a rectangular wear-resistant steel plate. The screw is fixed to the lower surface of the stop plate 51. The thickness of the stop pad 52 is 10mm to 20mm, and its lower surface is a hardened flat surface after quenching. The connecting block 53 is fixedly installed on the upper surface of the mounting plate 55, and its bottom is welded to the mounting plate 55. The stop block 54 is fixedly installed on the top of the connecting block 53. When the forearm 3 is folded upward relative to the boom 2 to the limit angle, the lower surface of the stop pad 52 and the upper surface of the stop block 54 come into contact with each other. The stop block 54 and the connecting block 53 bear the folding impact load of the forearm 3, and avoid rigid collision when the piston rod of the forearm drive cylinder 42 reaches the end of its stroke. The contact gap between the stop pad 52 and the stop block 54 is 5mm to 15mm when the forearm 3 is in the normal working angle range. When the forearm 3 is folded to the limit angle, the gap disappears.

[0035] The deflection mechanism 6 is located at the end of the forearm 3 away from the upper arm 2. The deflection mechanism 6 includes a left-right deflection component 61, a right-right deflection component 62, and a limiting component 63. The left-right deflection component 61 forms a first degree of deflection freedom through a vertical shaft pin 613, allowing the end attachment to deflect left and right in the horizontal plane. The right-right deflection component 62 forms a second degree of deflection freedom through a transverse shaft pin 626, allowing the end attachment to deflect up and down in the vertical plane. The limiting component 63 is correspondingly provided with the left-right deflection component 61 and is used to adjustably limit the deflection endpoint of the left-right deflection component 61.

[0036] like Figure 5 , Figure 6 and Figure 7As shown, the left and right deflection assembly 61 includes an attachment connector 611, an attachment lug 612, a vertical shaft pin 613, a bottom connecting plate 614, a vertical pin sleeve 615, a left deflection cylinder hinge seat 617, a right deflection cylinder hinge seat 618, and a left and right deflection cylinder 619. The attachment connector 611 is located between the bottom sides of the front side plate 31 and the rear side plate 32. Its front edge is welded and fixed to the inner wall of the front side plate 31, and its rear edge is welded and fixed to the inner wall of the rear side plate 32. The attachment connector 611 connects the bottom ends of the front side plate 31 and the rear side plate 32 into one unit. The attachment lug 612 is fixed to the attachment connector. On the side of component 611, a vertical pin hole is coaxially arranged in the middle of the accessory lug 612; the bottom connecting plate 614 is located below the forearm 3, and the vertical pin sleeve 615 is fixed to the side of the bottom connecting plate 614. The vertical pin sleeve 615 is a vertically arranged cylindrical component, and its bottom is welded to the upper surface of the bottom connecting plate 614. The inner hole of the vertical pin sleeve 615 is coaxially arranged with the vertical pin hole of the accessory lug 612; the vertical shaft pin 613 passes through the vertical pin hole of the accessory lug 612 and the inner hole of the vertical pin sleeve 615. The vertical shaft pin 613 is a cylindrical pin, and its outer diameter is the same as that of the accessory lug 612. The vertical pin 613 has a clearance fit with the inner diameter of the vertical pin hole, allowing it to rotate within the vertical pin hole. The outer diameter of the vertical pin 613 and the inner diameter of the vertical pin sleeve 615 have an interference fit, fixing the vertical pin 613 to the vertical pin sleeve 615. When the bottom connecting plate 614 rotates around the vertical pin 613, the vertical pin sleeve 615 drives the vertical pin 613 to rotate synchronously within the vertical pin hole of the accessory lug 612. The left deflection cylinder hinge seat 617 is located on the upper surface of the bottom connecting plate 614, and the right deflection cylinder hinge seat 618 is fixedly connected to the side of the rear side plate 32. One end of the deflection cylinder 619 is hinged to the left deflection cylinder hinge seat 617, and the other end of the left and right deflection cylinder 619 is hinged to the right deflection cylinder hinge seat 618. When the left deflection cylinder 619 on the left extends, the bottom connecting plate 614 deflects to the right around the vertical shaft pin 613; when the left deflection cylinder 619 on the left retracts, the bottom connecting plate 614 deflects to the left around the vertical shaft pin 613. A through hole 616 is provided in the middle of the bottom connecting plate 614. The through hole 616 is a circular through hole that penetrates the upper and lower surfaces of the bottom connecting plate 614. The through hole 616 is used to connect with the upper and lower deflection components 62.

[0037] like Figure 9As shown, the upper and lower deflection assembly 62 includes a top mounting block 621, an upper deflection cylinder hinge seat 622, a lower deflection cylinder hinge seat 623, an upper and lower deflection cylinder 624, a side positioning plate 625, a transverse shaft pin 626, a lug seat 627, a mounting shaft pin 628, a shaft pin mounting hole 629, and a lower mounting plate 6210. The top mounting block 621 is a rectangular block component, and its bottom is fixedly connected to the top of the vertical shaft pin 613. The top mounting block 621 is located above the attachment connector 611. The lower mounting plate 6210 is located below the bottom connecting plate 614. The side positioning plate 625 is fixedly installed on the side of the lower mounting plate 6210. The side positioning plate 625 is provided with... There are two side positioning plates 625, located on the front and rear sides of the lower mounting plate 6210 respectively, forming a space between the two side positioning plates 625 to accommodate the bottom connecting plate 614; a transverse pin 626 is installed between the two side positioning plates 625, the transverse pin 626 is a cylindrical pin with its axis extending horizontally, and both ends of the transverse pin 626 are fixedly connected to the two side positioning plates 625 respectively; the transverse pin 626 passes through the through hole 616 in the middle of the bottom connecting plate 614, and the outer diameter of the transverse pin 626 and the inner diameter of the through hole 616 are in clearance fit, so that the bottom connecting plate 614 can rotate relative to the lower mounting plate 6210 around the transverse pin 626.

[0038] The upper deflection cylinder hinge seat 622 is fixedly connected to the side of the top mounting block 621, and the lower deflection cylinder hinge seat 623 is fixedly connected to the top of the lower mounting plate 6210. One end of the upper and lower deflection cylinders 624 is hinged to the upper deflection cylinder hinge seat 622, and the other end of the upper and lower deflection cylinders 624 is hinged to the lower deflection cylinder hinge seat 623. When the piston rod of the upper and lower deflection cylinders 624 extends, the lower mounting plate 6210 deflects downward relative to the bottom connecting plate 614 around the transverse shaft pin 626, that is, the front end of the lower mounting plate 6210 swings downward. When the piston rod of the upper and lower deflection cylinders 624 retracts, the lower mounting plate 6210 deflects upward relative to the bottom connecting plate 614 around the transverse shaft pin 626, that is, the front end of the lower mounting plate 6210 swings upward.

[0039] The lug seat 627 is fixedly connected to the bottom of the lower mounting plate 6210. There are two lug seats 627, located on the left and right sides of the bottom of the lower mounting plate 6210 respectively. A mounting pin 628 is provided between the two lug seats 627. The mounting pin 628 is a cylindrical pin, and its two ends are fixedly connected to the pin holes of the two lug seats 627 respectively. Each lug seat 627 has a pin mounting hole 629 on its surface. The pin mounting hole 629 is a circular through hole. The mounting pin 628 and the pin mounting hole 629 are used to connect the bucket, breaker, bottom cleaning shovel or milling head. When connecting the bucket, the connecting lug of the bucket is located outside the mounting pin 628 and is locked by a fixing pin through the pin mounting hole 629. When connecting the breaker or milling head, the attachment is hinged to the lug seat 627 by a connecting pin through the pin mounting hole 629.

[0040] like Figure 8As shown, there are two limiting components 63, which are located on the left and right sides of the forearm 3, respectively, and are used to adjust the left and right deflection endpoints of the left and right deflection components 61. Each limiting component 63 includes a tail mounting block 631, a limiting stop block connector 632, a limiting stop block 633, a moving groove 634, a limiting baffle 635, a moving seat 636, a threaded rod 637, and a drive handwheel 638. The tail mounting block 631 is fixed to the tail of the front side plate 31 or the rear side plate 32. Specifically, the tail mounting block 631 of the limiting component 63 located on the left side of the forearm 3 is fixed to the tail of the left outer wall of the front side plate 31, and the tail mounting block 631 of the limiting component 63 located on the right side of the forearm 3 is fixed to the tail of the right outer wall of the rear side plate 32. A movable groove 634 is formed inside the tail mounting block 631, extending along the length of the tail mounting block 631. A movable seat 636 is slidably disposed within the movable groove 634, its external dimensions matching the internal dimensions of the movable groove 634. The movable seat 636 can reciprocate within the movable groove 634 along the length of the tail mounting block 631. A threaded rod 637 is threadedly connected to the movable seat 636. The threaded rod 637 is an externally threaded rod, one end of which passes through the end wall of the tail mounting block 631 and extends into the movable groove 634, engaging with the internal threaded hole of the movable seat 636. The other end of the threaded rod 637 extends out of the tail mounting block 631. A drive handwheel 638 is fixedly connected to the outer end of the threaded rod 637. The drive handwheel 638 is... A circular handwheel is keyed or welded to the end of a threaded rod 637 at its center; a limiting baffle 635 is fixedly connected to a movable seat 636, with its bottom welded to the upper surface of the movable seat 636. The limiting baffle 635 extends upward from the movable seat 636 and protrudes from the upper surface of the tail mounting block 631. The side surface of the limiting baffle 635 facing the attachment lug 612 is the limiting working surface; a limiting block 633 is fixedly connected to the attachment lug 612 via a limiting block connector 632. The limiting block 633 is a rectangular steel block, positioned opposite the limiting baffle 635, meaning the side surface of the limiting block 633 facing the limiting baffle 635 is horizontally opposite the limiting working surface of the limiting baffle 635; when the left and right deflection cylinder 619 drives... When the bottom connecting plate 614 deflects left and right around the vertical shaft pin 613, the attachment lug 612 drives the limit stop 633 to deflect synchronously. When the limit stop 633 deflects to contact the limiting working surface of the limit baffle 635, the limit baffle 635 transmits the deflection torque to the side plate of the forearm 3 through the moving seat 636 and the tail mounting block 631, preventing the left and right deflection assembly 61 from continuing to deflect in that direction. By rotating the drive handwheel 638, the threaded rod 637 is driven to rotate. The threaded rod 637 drives the moving seat 636 to move along the length direction of the tail mounting block 631 in the moving groove 634, thereby changing the initial position of the limiting working surface of the limit baffle 635 relative to the limit stop 633, realizing the adjustable limit of the deflection endpoint of the left and right deflection assembly 61.When the moving seat 636 moves toward the limit stop 633, the allowable deflection angle of the left and right deflection component 61 decreases; when the moving seat 636 moves away from the limit stop 633, the allowable deflection angle of the left and right deflection component 61 increases.

[0041] The first swing cylinder 18, the second swing cylinder 19, the boom drive cylinder 42, the left and right deflection cylinder 619, and the up and down deflection cylinder 624 are all connected to the hydraulic control valve group of the mine roadway repair machine via hydraulic pipelines. A balance valve or hydraulic lock is installed in the hydraulic control valve group corresponding to the oil circuits of the first swing cylinder 18 and the second swing cylinder 19. The two ends of the balance valve or hydraulic lock are respectively connected to the rodless chamber and the rod chamber of the first swing cylinder 18 or the second swing cylinder 19. When the hydraulic pipeline ruptures unexpectedly, the balance valve or hydraulic lock will trip. The hydraulic passage between the two chambers of the hydraulic cylinder is cut off, locking the cylinder in its current working position and preventing the boom 2 from suddenly falling under gravity. A throttling buffer valve is installed in the hydraulic control valve group corresponding to the oil circuit of the left and right deflection cylinder 619 and the up and down deflection cylinder 624. The throttling buffer valve is connected in series between the oil inlet and outlet of the cylinder and the hydraulic control valve group. The throttling buffer valve has a throttling damping orifice inside. When the cylinder piston moves to near the end of its stroke, the throttling damping orifice reduces the return oil flow, so that the piston movement speed gradually decreases, buffering the impact between the piston and the cylinder head.

[0042] The following combination Figures 1 to 9 The working principle and operation process of this invention are described in detail.

[0043] The two-section boom multi-degree-of-freedom working device of the mine roadway repair machine of the present invention is fixedly connected to the front end of the main body of the roadway repair machine through the mounting base 112. In the initial installation state, the first swing cylinder 18, the second swing cylinder 19, the forearm drive cylinder 42, the left and right deflection cylinder 619 and the up and down deflection cylinder 624 are all in the retracted or neutral position. The box beam 21 of the boom 2 extends forward along the longitudinal center line of the main body of the roadway repair machine. The forearm 3 hangs down naturally under its own weight or is supported in the folded position by the forearm drive cylinder 42.

[0044] When operators need to repair the sidewall of the tunnel, oil is first supplied to the rodless chamber of the first swing cylinder 18 through the hydraulic control valve group, while oil is returned to the rod chamber of the second swing cylinder 19. The piston rod of the first swing cylinder 18 extends, pushing the hinge seat 16 of the first left swing cylinder to move relative to the hinge seat 110 of the first right swing cylinder. This thrust is transmitted to the mounting base 15 through the hinge seat 16, causing the mounting base 15 to rotate to one side around the vertical centerline of the slewing bearing at the top of the central mounting frame 14. At the same time, the piston rod of the second swing cylinder 19 is passively retracted under the drive of the mounting base 15, and the hydraulic oil in its rod chamber flows back to the oil tank through the hydraulic control valve group. The rotation of the mounting base 15 drives the fixed mounting base 15 to rotate. The connecting chassis 22 rotates synchronously on the surface, and the connecting chassis 22 drives the box beam 21 of the boom 2 and all the components connected to the front end of the box beam 21 to swing to that side around the vertical center line; the lateral swing angle of the boom 2 is determined by the stroke of the first swing cylinder 18 and the second swing cylinder 19. When the boom 2 swings to the target side wall position, the balance valve or hydraulic lock in the hydraulic control valve group closes the oil circuit of the first swing cylinder 18 and the second swing cylinder 19, locking the boom 2 at the current lateral swing angle; through the cross push and pull action of the first swing cylinder 18 and the second swing cylinder 19, the boom 2 can swing within a range of 20° to 30° to the left and right, so that the working center of the entire working equipment is laterally shifted to the root area of ​​the roadway side wall, without the need to frequently adjust the posture of the main machine.

[0045] After the boom 2 swings laterally into position, the operator supplies oil to the rodless chamber of the boom drive cylinder 42 via the hydraulic control valve group. The piston rod of the boom drive cylinder 42 extends. Since the two ends of the boom drive cylinder 42 are respectively hinged to the first drive cylinder seat 41 located at the bottom of the front end of the boom 2 and the second drive cylinder seat 44 located on the boom 3, when the piston rod extends, it pushes the boom 3 to pitch and rotate downward relative to the boom 2 around the lateral hinge axis at the top of the front side plate 31 and the rear side plate 32. During the pitch rotation, the front end of the boom 3 gradually descends and extends forward, so that the deflection mechanism 6 located at the end of the boom 3 and the attachment connected below the deflection mechanism 6 gradually approach the repair area on the side wall of the tunnel. During the downward pitch extension of the boom 3, the gap between the stop pad 52 and the stop block 54 of the limit stop mechanism 5 gradually increases, and the two do not produce When the boom 3 needs to be folded upwards and retracted after the operation is completed, the operator supplies oil to the rod chamber of the boom drive cylinder 42 through the hydraulic control valve group. The piston rod of the boom drive cylinder 42 retracts, pulling the boom 3 to rotate upwards around the transverse hinge axis. When the boom 3 is raised to near the limit folding angle, the stop plate 51 fixed to the bottom of the boom 2 gradually approaches the stop block 54 above the mounting plate 55 installed on the boom 3. When the boom 3 is raised to the limit folding angle, the lower surface of the stop pad 52 and the upper surface of the stop block 54 come into contact and fit together. The stop pad 52 transfers the folding impact load of the boom 3 to the stop plate 51, and then the load is distributed through the box beam 21 of the boom 2, preventing the boom 3 from continuing to fold upwards and avoiding rigid impact caused by the piston rod of the boom drive cylinder 42 moving to the end of its stroke.

[0046] After the forearm 3 is extended to the target working angle, the operator supplies oil to the left and right deflection cylinders 619 via the hydraulic control valve group to adjust the deflection angle of the end attachment in the horizontal plane. When the attachment needs to deflect to the left, oil is supplied to the rod chamber of the left-side deflection cylinder 619 to retract its piston rod, while oil is supplied to the rodless chamber of the right-side deflection cylinder 619 to extend its piston rod. When the piston rod of the left-side deflection cylinder 619 retracts, it pulls the left deflection cylinder hinge seat 617 towards the right deflection cylinder hinge seat 618. This pulling force is transmitted to the left side of the bottom connecting plate 614. When the piston rod of the right-side deflection cylinder 619 extends, it pushes the right deflection cylinder hinge seat 618 away from the left deflection cylinder hinge seat 617. This thrust is transmitted to the right side of the bottom connecting plate 614. Under the action of opposite forces on the left and right sides, the bottom connecting plate 614 rotates around the vertical pivot pin. Rotation of 613 causes the vertical pin sleeve 615 to drive the vertical shaft pin 613 to rotate synchronously within the vertical pin hole of the attachment lug 612, causing the front end of the bottom connecting plate 614 to deflect to the left. This deflection of the bottom connecting plate 614 is transmitted to the lower mounting plate 6210 via the transverse shaft pin 626 at the through hole 616. The lower mounting plate 6210 then drives the hanging lug 627 and the attachment mounted on it to deflect synchronously to the left. The bottom connecting plate 614 deflects to the left... During the process, the limiting block connector 632 and the limiting block 633 fixed on the attachment lug 612 rotate in the same direction as the attachment lug 612; when the limiting block 633 rotates to contact the limiting working surface of the limiting baffle 635 of the limiting component 63 on the left, the limiting block 633 is blocked by the limiting baffle 635, and the left and right deflection cylinder 619 can no longer push the bottom connecting plate 614 to deflect to the left, thus achieving the mechanical limit of the left deflection endpoint.

[0047] When the attachment needs to deflect to the right, oil is supplied to the rod chamber of the right-side deflection cylinder 619 to retract its piston rod, while oil is supplied to the rodless chamber of the left-side deflection cylinder 619 to extend its piston rod. Under the action of the opposite force, the bottom connecting plate 614 deflects to the right around the vertical shaft pin 613 until the limit stop 633 contacts and limits the limit baffle 635 of the right-side limit assembly 63.

[0048] The operator can pre-adjust the allowable deflection angle of the left and right deflection components 61 according to the length of different attachments and the requirements of different working conditions. The specific adjustment method is as follows: rotate the drive handwheel 638, which drives the threaded rod 637 to rotate synchronously. The threaded rod 637 drives the moving seat 636 to slide along the length direction of the tail mounting block 631 in the moving groove 634 through the threaded engagement. When the moving seat 636 slides, it drives the limiting baffle 635 fixed on it to move synchronously, changing the limiting working surface of the limiting baffle 635 relative to the limiting block 633. Initial distance; when it is necessary to increase the allowable deflection angle, rotate the drive handwheel 638 to move the moving seat 636 away from the limit stop 633, the limiting working surface of the limit baffle 635 moves backward, and the limit stop 633 needs to rotate a larger angle to contact the limit baffle 635; when it is necessary to decrease the allowable deflection angle, rotate the drive handwheel 638 to move the moving seat 636 closer to the limit stop 633, the limiting working surface of the limit baffle 635 moves forward, and the limit stop 633 can contact the limit baffle 635 by rotating a smaller angle.

[0049] After adjusting the left and right deflection angles, the operator supplies oil to the up and down deflection cylinders 624 via the hydraulic control valve group to adjust the pitch angle of the end attachment in the vertical plane. When the attachment needs to deflect downwards, oil is supplied to the rodless chamber of the up and down deflection cylinders 624, causing the piston rod of the up and down deflection cylinders 624 to extend. Since the two ends of the up and down deflection cylinders 624 are respectively hinged to the upper deflection cylinder hinge seat 622 fixed to the top mounting block 621 and the lower deflection cylinder hinge seat 623 fixed to the lower mounting plate 6210, when the piston rod extends, it pushes the lower mounting plate 6210 to deflect downwards relative to the bottom connecting plate 614 around the transverse pivot pin 626, causing the front end of the lower mounting plate 6210 to swing downwards. The attachment 627 and the attachment mounted on the attachment 627 are driven to deflect downwards synchronously. When the attachment needs to deflect upwards, oil is supplied to the rod chamber of the up-down deflection cylinder 624, the piston rod of the up-down deflection cylinder 624 retracts, and pulls the lower mounting plate 6210 to deflect upwards around the transverse shaft pin 626. The front end of the lower mounting plate 6210 swings upwards, driving the attachment to deflect upwards synchronously. The stroke of the up-down deflection cylinder 624 determines the range of the up-down deflection angle of the attachment in the vertical plane. The operator can continuously adjust the extension of the piston rod of the up-down deflection cylinder 624 according to the height of the working surface and the posture requirements of the attachment, so that the working surface of the attachment is in contact with the surface to be repaired on the roadway floor, side wall or shoulder.

[0050] After all the angle adjustments for each degree of freedom are completed, the bucket, breaker, bottom clearing shovel, or milling head is connected to the lower part of the lug seat 627 via mounting pin 628 and pin mounting hole 629. The operator operates the working hydraulic system of the main unit to drive the attachment for digging, breaking, trimming, or milling operations. During operation, if it is necessary to adjust the angle of the attachment relative to the working surface, the operator can adjust the piston rod extension of the left and right deflection cylinder 619 or the up and down deflection cylinder 624 separately through the hydraulic control valve group, so that the attachment can make local posture adjustments around the vertical pin 613 or the horizontal pin 626 while keeping the overall position of the boom 2 and the forearm 3 unchanged. The adjustment of the left and right deflection cylinder 619 changes the orientation of the attachment in the horizontal plane, so that the shovel teeth or milling head of the attachment are aligned with different positions of the side wall. The adjustment of the up and down deflection cylinder 624 changes the pitch angle of the attachment in the vertical plane, so that the bottom working surface of the attachment is aligned with the raised area of ​​the bottom plate or the chisel of the breaker is vertically aligned with the breaking surface.

[0051] All contents not described in detail in the specification are existing technologies known to those skilled in the art, and the model parameters of each hydraulic component are not specifically limited, and conventional equipment can be used. Hydraulic control components not mentioned in this technical solution are existing technologies and are therefore not shown in the figures, and will not be described here.

[0052] All contents not described in detail in the specification are existing technologies known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited; conventional equipment can be used. Electrical control components not mentioned in this technical solution are not shown in the figures because they are existing technologies, and will not be described here.

[0053] 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 two-section boom multi-degree-of-freedom working device for a mine roadway repair machine, characterized in that: It includes an installation mechanism (1), a boom (2), a forearm (3), a forearm drive mechanism (4), a limit stop mechanism (5), and a deflection mechanism (6). The mounting mechanism (1) is used to support the boom (2) and allow the boom (2) to swing left and right relative to the mounting mechanism (1); the boom (2) includes a box beam (21) and a connecting chassis (22), the connecting chassis (22) is stacked on the mounting mechanism (1) and rotated around the vertical center line of the mounting mechanism (1); the forearm (3) includes a front side plate (31) and a rear side plate (32) arranged opposite to each other, the forearm (3) is hinged to the front end of the boom (2) through a transverse hinge axis, the forearm drive mechanism (4) is connected between the boom (2) and the forearm (3) and is used to drive the forearm (3) to pitch and swing relative to the boom (2); the limiting stop mechanism (5) is set on the boom. (2) The hinge position adjacent to the forearm (3) is used to limit the extreme folding angle of the forearm (3) relative to the upper arm (2); the deflection mechanism (6) is set at the end of the forearm (3) away from the upper arm (2). The deflection mechanism (6) includes a left and right deflection component (61), an up and down deflection component (62) and a limiting component (63). The left and right deflection component (61) forms a first deflection degree of freedom through a vertical shaft pin (613). The up and down deflection component (62) forms a second deflection degree of freedom through a horizontal shaft pin (626). The limiting component (63) is set correspondingly to the left and right deflection component (61) and is used to adjust the deflection endpoint of the left and right deflection component (61).

2. The two-section boom multi-degree-of-freedom working device of a mine roadway repair machine according to claim 1, characterized in that: The system includes a base plate (11), a left connecting beam (12), a right connecting beam (13), a central mounting frame (14), a mounting chassis (15), a first swing cylinder (18), and a second swing cylinder (19). The left connecting beam (12) and the right connecting beam (13) are connected between the base plate (11). The central mounting frame (14) is located between the left connecting beam (12) and the right connecting beam (13). The mounting chassis (15) is located on the upper part of the central mounting frame (14). The first swing cylinder (18) and the second swing cylinder (19) are located on both sides of the mounting chassis (15). One end of the first swing cylinder (18) and the second swing cylinder (19) are respectively hinged to the mounting mechanism (1), and the other end is respectively hinged to the mounting chassis (15). The mounting mechanism (1) further includes a first left swing cylinder hinge seat (16), a second left swing cylinder hinge seat (17), a first right swing cylinder hinge seat (110), and a second right swing cylinder hinge seat (111). The first left swing cylinder hinge seat (16) and the second left swing cylinder hinge seat (17) are respectively disposed on the outside of the mounting chassis (15). The first right swing cylinder hinge seat (110) is fixedly installed on the top of the right connecting crossbeam (13). The second right swing cylinder hinge seat (111) is fixedly installed on the outside of the top of the left connecting crossbeam (12). The first swing cylinder (18) is connected between the first left swing cylinder hinge seat (16) and the first right swing cylinder hinge seat (110). The second swing cylinder (19) is connected between the second right swing cylinder hinge seat (111) and the second left swing cylinder hinge seat (17).

3. The two-section boom multi-degree-of-freedom working device of a mine roadway repair machine according to claim 2, characterized in that: The installation mechanism (1) also includes a mounting base (112), which is located on the outside of the left connecting beam (12) and the right connecting beam (13). The mounting base (112) has a fixing hole for connecting with the main unit of the roadway repair machine. The bottom of the mounting chassis (15) is provided with a slewing bearing that cooperates with the middle mounting frame (14). The first swing cylinder (18) and the second swing cylinder (19) drive the mounting chassis (15) to rotate through the slewing bearing. The mounting chassis (15) is fixedly connected to the connecting chassis (22) of the boom (2) by fixing bolts. The mounting chassis (15) and the connecting chassis (22) are coaxially arranged.

4. The two-section boom multi-degree-of-freedom working device of a mine roadway repair machine according to claim 1, characterized in that: The box girder (21) is an arched box-shaped welded beam. The bottom end of the box girder (21) is fixedly connected to the connecting base plate (22). The front end of the box girder (21) is provided with a connecting part that is hinged to the top of the forearm (3). The inner side of the box girder (21) is provided with a central reinforcing rib (23). The central reinforcing rib (23) is arranged along the length direction of the box girder (21) and welded to the side wall of the box girder (21).

5. The two-section boom multi-degree-of-freedom working device of a mine roadway repair machine according to claim 1, characterized in that: The forearm drive mechanism (4) includes a first drive cylinder seat (41), a forearm drive cylinder (42), a fixed connecting plate (43), and a second drive cylinder seat (44). The first drive cylinder seat (41) is located at the bottom of the front end of the boom (2). The fixed connecting plate (43) is fixedly connected between the front side plate (31) and the rear side plate (32). The second drive cylinder seat (44) is located on the fixed connecting plate (43). One end of the forearm drive cylinder (42) is hinged to the first drive cylinder seat (41), and the other end is hinged to the second drive cylinder seat (44).

6. The two-section boom multi-degree-of-freedom working device of a mine roadway repair machine according to claim 5, characterized in that: The limiting stop mechanism (5) includes a stop plate (51), a stop pad (52), a connecting block (53), a stop block (54), and a mounting plate (55). The mounting plate (55) is fixedly installed between the front side plate (31) and the rear side plate (32) above the fixed connecting plate (43). The stop plate (51) is located above the mounting plate (55) and is fixedly connected to the bottom of the upper arm (2). The stop pad (52) is located on the force-bearing surface of the stop plate (51). The connecting block (53) is fixedly connected to the upper surface of the mounting plate (55). The stop block (54) is fixedly installed on the top of the connecting block (53) and is opposite to the stop pad (52).

7. The two-section boom multi-degree-of-freedom working device of a mine roadway repair machine according to claim 3, characterized in that: The left and right deflection assembly (61) includes an attachment connector (611), an attachment lug (612), a vertical shaft pin (613), a bottom connecting plate (614), a vertical pin sleeve (615), a left deflection cylinder hinge seat (617), a right deflection cylinder hinge seat (618), and a left and right deflection cylinder (619). The attachment connector (611) is located between the bottom sides of the front side plate (31) and the rear side plate (32). The bottom connecting plate (614) is located below the forearm (3). The vertical pin sleeve (615) is fixed to the side of the bottom connecting plate (614). The attachment lug (612) is fixed to the side of the attachment connector (611). A pin hole is provided in the middle of the attachment lug (612). The vertical pin sleeve (615) is coaxially arranged with the pin hole of the attachment connector (611). The vertical shaft pin (613) passes through... Through the pin hole of the attachment connector (611) and the vertical pin sleeve (615), the vertical shaft pin (613) is rotatably connected to the pin hole of the attachment connector (611), and the vertical shaft pin (613) is fixedly connected to the vertical pin sleeve (615). The left deflection cylinder hinge seat (617) is located on the upper surface of the bottom connecting plate (614) and is fixedly connected to the bottom connecting plate (614). The right deflection cylinder hinge seat (618) is fixedly connected to the side of the rear side plate (32). One end of the left and right deflection cylinders (619) is hinged to the left deflection cylinder hinge seat (617), and the other end is hinged to the right deflection cylinder hinge seat (618) to drive the bottom connecting plate (614) to deflect left and right around the vertical shaft pin (613). The bottom connecting plate (614) has a through hole (616) in the middle for connecting with the upper and lower deflection components (62).

8. The two-section boom multi-degree-of-freedom working device of a mine roadway repair machine according to claim 7, characterized in that: The upper and lower deflection assembly (62) includes a top mounting block (621), an upper deflection cylinder hinge seat (622), a lower deflection cylinder hinge seat (623), an upper and lower deflection cylinder (624), a side positioning plate (625), a transverse shaft pin (626), a lug seat (627), a mounting shaft pin (628), a shaft pin mounting hole (629), and a lower mounting plate (6210). The top mounting block (621) is fixedly connected to the top end of the vertical shaft pin (613). The lower mounting plate (6210) is located below the bottom connecting plate (614). The side positioning plate (625) is fixedly installed on the side of the lower mounting plate (6210). There are two side positioning plates (625). The transverse shaft pin (626) is installed between the two side positioning plates (625). The transverse shaft pin (626) passes through the through hole (616) in the middle of the bottom connecting plate (614) and is rotatably connected to the through hole (616).

9. The two-section boom multi-degree-of-freedom working device of a mine roadway repair machine according to claim 8, characterized in that: The lug seat (627) is fixedly connected to the bottom of the lower mounting plate (6210), and there are two lug seats (627). A mounting pin (628) is provided between the two lug seats (627). The upper deflection cylinder hinge seat (622) is fixedly connected to the side of the top mounting block (621). The lower deflection cylinder hinge seat (623) is fixedly connected to the top of the lower mounting plate (6210). One end of the upper and lower deflection cylinders (624) is hinged to the upper deflection cylinder hinge seat (622), and the other end is hinged to the lower deflection cylinder hinge seat (623). Each lug seat (627) has a pin mounting hole (629) on its surface. The mounting pin (628) and the pin mounting hole (629) are used to connect the bucket, breaker, bottom cleaning shovel or milling head.

10. The two-section boom multi-degree-of-freedom working device of a mine roadway repair machine according to claim 7, characterized in that: Two limiting components (63) are provided. Each limiting component (63) includes a tail mounting block (631), a limiting stop block connector (632), a limiting stop block (633), a moving groove (634), a limiting baffle (635), a moving seat (636), a threaded rod (637), and a drive handwheel (638). The tail mounting block (631) is fixed to the tail of the front side plate (31) or the rear side plate (32). The moving groove (634) is formed in the tail mounting block (631). Inside the movable seat (636), the movable seat (636) is slidably disposed in the movable groove (634), the threaded rod (637) is threadedly connected to the movable seat (636), the drive handwheel (638) is fixedly connected to the threaded rod (637), the limiting baffle (635) is fixedly connected to the movable seat (636), and the limiting block (633) is fixedly connected to the attachment ear seat (612) through the limiting block connector (632), and the limiting block (633) is opposite to the limiting baffle (635); The first swing cylinder (18), the second swing cylinder (19), the boom drive cylinder (42), the left and right deflection cylinder (619), and the up and down deflection cylinder (624) are all connected to the hydraulic control valve group of the mine roadway repair machine. The hydraulic control valve group is equipped with a balance valve or hydraulic lock in the oil circuit corresponding to the first swing cylinder (18) and the second swing cylinder (19), and a throttling buffer valve is equipped in the oil circuit corresponding to the left and right deflection cylinder (619) and the up and down deflection cylinder (624).

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