A new hydraulic support removal and shifting integrated mechanical hand

Abstract

The application discloses a novel hydraulic support removal and adjustment integrated mechanical hand, relates to the field of fully-mechanized coal mining equipment removal equipment, and can be matched with a split type splicing base. Double lifting oil cylinders are used to realize balanced lifting of an external driving telescopic arm. The telescopic arm is provided with an external telescopic oil cylinder to break through the stroke limit. A posture adjustment function is realized by an emulsion motor fixed to a top support of the mechanical hand, and can also be realized by a hydraulic hoist, an oil cylinder and the like. A base front end integrated welding type pushing and moving resistance reduction structure is provided. The application effectively solves the problems of uneven stress, base sinking and large pushing resistance of the traditional equipment lifting, simplifies the equipment structure, improves the space adaptability and structural stability, guarantees large traction force output, significantly improves the working condition adaptability and operation reliability, can complete the hydraulic support removal and adjustment integrated operation, and is suitable for various fully-mechanized coal mining working faces of different types of hydraulic supports.

Description

Technical Field

[0001] This invention relates to the field of coal mine fully mechanized mining equipment retraction technology, specifically a new type of integrated hydraulic support removal and relocation manipulator. It can be used in conjunction with a split-type splicing base. The front end of the base has an integrated welded push-and-reduce structure. The posture adjustment function is achieved by an emulsion motor. It can also be adapted to hydraulic hoists, oil cylinders and other actuators. It is suitable for the mechanized removal and relocation of hydraulic supports in underground fully mechanized mining faces, especially for support operations in fully mechanized mining faces with low support space and harsh floor conditions. Background Technology

[0002] In the final and succession phases of fully mechanized coal mining faces, the removal and relocation of hydraulic supports are core construction procedures. The structural design and performance of related equipment directly determine construction efficiency, safety, and adaptability to working conditions. Currently, existing hydraulic support operation robots have limited functionality and several key technical defects, making them difficult to adapt to complex and changing underground working conditions: First, the equipment has a large number of components and complex connection nodes, making it prone to wear at hinge points and structural deformation. Furthermore, the overall size of the equipment is too large, resulting in poor adaptability to low-profile spaces. Second, the robot's base and the adapter base are integrated, lacking an independent cooperating structure, making it impossible to flexibly match split-type splicing bases according to working face parameters, thus limiting adaptability to working conditions. Third, the lifting drive uses a single cylinder arrangement, leading to uneven force distribution. Fourth, the telescopic boom is driven by an internal hydraulic cylinder, and its stroke and traction are limited by the chamber, which cannot meet the operational needs of different types of supports. Fifth, there is no attitude adjustment drive component, so it is difficult to get out of the base quickly and smoothly after it sinks to the bottom, interrupting the construction progress. Sixth, the pushing and drag-reducing structure is an independent component, which is detachably connected to the base. The connection strength is insufficient and the drag-reducing effect is limited. It is easy to chip the bottom and accumulate material, which increases energy consumption. Moreover, the existing equipment is difficult to achieve integrated removal and relocation operations, requiring the cooperation of multiple equipment, resulting in low construction efficiency.

[0003] While existing technologies have made minor improvements to the local structure of the manipulator, they have not systematically optimized aspects such as drive balancing, external telescopic extension, fixed posture adjustment structure and diversified drive forms, integrated welding of the drag-reducing structure base, and compatibility with various components. These technologies still suffer from structural complexity, poor adaptability to different working conditions, low structural reliability, and low operational efficiency, failing to meet the demands of efficient, safe, and integrated support construction in modern fully mechanized mining faces. Therefore, there is an urgent need to develop a hydraulic support removal and relocation integrated manipulator that can be used with a split-type splicing base, has its drag-reducing structure integrated and welded to the front end of the base, and offers diverse posture adjustment drive forms. Summary of the Invention

[0004] Aiming at the technical defects and engineering application pain points of the existing hydraulic support operation manipulator, the present invention proposes a novel integrated manipulator for hydraulic support removal and adjustment. The manipulator can be flexibly used in cooperation with a split splicing base, and carries out specialized and systematic optimization design on the core structures such as the lifting drive, telescopic boom drive and auxiliary posture adjustment of the equipment. A posture adjustment emulsion motor is additionally arranged and fixed on the top of the turnover shaft system support, and is compatible with various forms such as hydraulic hoists and oil cylinders to realize the posture adjustment function. Moreover, the push drag reduction structure is integrally welded at the front end of the base without an independent push mechanism component, which solves the key technical problems of the existing equipment, such as complex structure, multiple connection nodes, uneven lifting force, limited stroke of the built-in oil cylinder, unstable installation of posture adjustment components and single driving form, the base being trapped in the bottom and unable to get out, low connection strength of the push drag reduction structure and single operation function, so as to realize the integrated operation of hydraulic support removal and adjustment, and improve the structural reliability, working condition adaptability and operation efficiency of the equipment.

[0005] To achieve the above invention objectives, the present invention adopts the following technical solutions: A novel integrated manipulator for hydraulic support removal and adjustment is provided, which includes a base, a turnover shaft system mounting seat, double lifting oil cylinders, double swing oil cylinders, an externally driven telescopic boom and a posture adjustment executing mechanism. The posture adjustment executing mechanism adopts a posture adjustment emulsion motor, and can also adopt a hydraulic hoist, an oil cylinder and a chain in cooperation to realize the same nose-raising posture adjustment function. The manipulator can be used in cooperation with a split splicing base to adapt to the construction conditions of different fully mechanized mining faces, and the front end of the base is provided with an integrally welded push drag reduction structure.

[0006] The front end of the base in the pushing direction is welded with a circular arc transition type drag reduction guide structure, which is composed of a circular arc transition type bottom plate and reinforcing ribs. The base is provided with a turnover mounting lug plate and a side hinge seat, and hinge structures are arranged on both sides of the manipulator for realizing hinge cooperation with the split splicing base or the supporting equipment of the working face. The circular arc transition type drag reduction guide structure is used for reducing the bottom plate contact resistance and the disturbance resistance of accumulated materials during the pushing process of the base. The turnover shaft system mounting seat is fixed on the lug plate of the base through a pin shaft, can swing horizontally, and is fixedly provided with a posture adjustment support at the top and a side hinge seat.

[0007] The root of the external drive telescopic arm is connected to the top of the tilting shaft mounting base via a pin. Two lifting cylinders are symmetrically arranged on the lower side of the external drive telescopic arm. The cylinder end and rod end of the two lifting cylinders are respectively hinged to the lifting hinge support of the tilting shaft mounting base and the lower ear plate assembly of the external drive telescopic arm. The external drive telescopic arm completes the tilting and lifting action around the tilting shaft system by the synchronous extension and retraction of the two lifting cylinders. The lifting and tilting angle of the external drive telescopic arm is ±15°. Two swing cylinders are symmetrically arranged on both sides of the external drive telescopic arm. The cylinder end and rod end of the two swing cylinders are respectively hinged to the side hinge support of the base and the side ear plate assembly of the tilting shaft mounting base. The external drive telescopic arm completes the horizontal swinging action around the tilting shaft system by the differential extension and retraction of the two swing cylinders. The horizontal swinging angle of the external drive telescopic arm is ±35°.

[0008] The attitude adjustment actuator is fixedly installed on the attitude adjustment support. The matching chain of the attitude adjustment mechanism can be fixed on the shield support. The action of the chain driven by the attitude adjustment actuator drives the flip shaft mounting seat to achieve a small-amplitude lifting and lowering, forming the tilting attitude adjustment action of the equipment, which is used to remove the bottoming state of the working surface of the base.

[0009] The tilting shaft mounting base has a tilting shaft mounting hole, and the root of the external drive telescopic arm has a tilting shaft mating hole coaxial with the tilting shaft mounting hole. The tilting shaft passes through the tilting shaft mating hole and the tilting shaft mounting hole to realize the rotational joint connection between the external drive telescopic arm and the base. The rod end of the double lifting cylinder is hinged to the lower ear plate assembly of the external drive telescopic arm, and the cylinder end is hinged to the lifting hinge support of the tilting shaft mounting base to form a lifting arm structure.

[0010] The axis of the double swing cylinder is parallel to the swing plane of the external drive telescopic arm, and the side hinge seat of the base is arranged adjacent to the tilting shaft mounting seat to ensure that the force is balanced when the double swing cylinder drives the external drive telescopic arm to swing.

[0011] The externally driven telescopic boom includes an outer boom body, an inner boom body, and an external telescopic cylinder. The outer boom body is connected to the tilting shaft mounting base and the double lifting cylinder. The inner boom body is slidably fitted onto the inner side of the outer boom body via a linear slide rail pair. The cylinder end and rod end of the external telescopic cylinder are respectively hinged to the rear hinge seat of the outer boom body and the front hinge seat of the inner boom body. The extension and retraction of the external telescopic cylinder drives the inner boom body to slide axially back and forth along the outer boom body.

[0012] The arc transition type drag reduction leading structure consists of an arc transition type base plate and reinforcing ribs, which are seamlessly welded to the main body of the base. The split splicing base is a multi-unit modular splicing structure, and the overall length can be adjusted according to the width of the working surface and the number of shield support groups. The robot arm can be detachably hinged to the split splicing base through the hinge structure on both sides.

[0013] The attitude-adjusting emulsion motor is a bidirectional quantitative emulsion motor. Its output shaft is connected to the sprocket via a spline pair. The attitude-adjusting emulsion motor drives the sprocket to drive the chain to achieve small-amplitude tilting and lifting, and can achieve stepless attitude adjustment according to the degree of base sinking. If a hydraulic hoist or oil cylinder is used as the attitude-adjusting actuator, the hook end of the hydraulic hoist is connected to the shield bracket and the fixed end is fixed to the attitude-adjusting support. The cylinder end and rod end of the oil cylinder are respectively hinged to the attitude-adjusting support and the shield bracket, which can achieve small-amplitude tilting and attitude adjustment of the externally driven telescopic arm. The attitude-adjusting support is a steel structure support that is integrally welded or bolted to the tilting shaft mounting base. Its connection surface with the attitude-adjusting actuator is equipped with positioning pins, fastening bolts or lifting lugs and hinge seats, which can be adapted to the installation and fixing of different attitude-adjusting actuators to ensure the coaxiality, stability and transmission reliability of the installation.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The attitude adjustment drive is diversified and has better adaptability: the core attitude adjustment function can be realized by a variety of actuators such as emulsion motor, hydraulic hoist, and oil cylinder. The attitude adjustment support is equipped with an adaptable connection structure, which can be flexibly selected according to the downhole construction conditions and equipment matching. It can also be flexibly adjusted according to the degree of base sinking, quickly and smoothly relieve the base sinking fault, and improve the continuity of support operation and construction efficiency.

[0015] It can be equipped with a split-type splicing base, which greatly improves the adaptability of working conditions: the robot arm is equipped with an independent base, which can be flexibly matched with the split-type splicing base through the hinge structure on both sides. The length of the split-type splicing base can be adjusted according to the width of the working face and the number of shield support groups. It can also be directly connected to the working face supporting equipment, adapting to various fully mechanized mining working face construction conditions and solving the problem of the single adaptability of traditional equipment.

[0016] The dual lifting and dual swing cylinders provide balanced drive, significantly enhancing structural reliability: The symmetrical arrangement of the dual lifting cylinders enables balanced lifting of the externally driven telescopic boom, while the dual swing cylinders, arranged parallel to the swing plane, achieve balanced swinging. This completely solves the problems of structural deformation and fatigue damage at hinge points caused by uneven force distribution in traditional single cylinders, greatly improving the overall stability and service life of the equipment.

[0017] Externally driven telescopic boom design achieves breakthrough in traction performance: The telescopic boom adopts an external telescopic cylinder drive, breaking the stroke limitation of the internal cylinder due to the internal cavity space of the boom, effectively improving the axial traction stroke and traction force output of the telescopic boom, which can meet the operation requirements of a full range of different models of hydraulic supports and is compatible with a wider range of support models.

[0018] The integrated welding of the drag-reducing structure enhances both drag reduction and structural strength: The drag-reducing structure is integrated and welded to the front end of the base. The arc-shaped drag-reducing leading structure is welded to the main body of the base, which not only ensures the high strength and impact resistance of the connection structure, but also helps to flatten the sludge on the bottom plate and cross the undulations of the bottom plate, greatly reducing the pushing resistance and reducing the energy consumption of operation. At the same time, it avoids problems such as loose connection of independent components and bottom accumulation.

[0019] Integrated operation design significantly improves construction efficiency: The integrated hydraulic support removal and relocation function replaces the traditional method of multi-equipment cooperation and step-by-step operation, realizing integrated construction of support removal and relocation, greatly reducing equipment connection and manual adjustment time, and significantly improving the overall efficiency of support operation in fully mechanized mining face.

[0020] Standardized design of key components ensures high ease of maintenance: Standardized pin groups, bolt groups, and other detachable connection methods are used between the core components of the equipment. Various attitude adjustment actuators can be quickly disassembled and assembled based on the support. When components are worn or malfunction, they can be quickly replaced and maintained without disassembling the entire equipment, thus reducing downhole maintenance costs and time. Attached Figure Description

[0021] 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.

[0022] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the integrated hydraulic support removal and relocation manipulator of the present invention; Figure 2 This is a schematic diagram of the cooperation structure between the robotic arm and the split-type splicing base of the present invention; Figure 3 This is a schematic diagram showing the connection between the base, the flipping shaft mounting base, and the external drive telescopic arm of the present invention. Figure 4 This is a schematic diagram of the hydraulic support removal process of the present invention; Figure 5 This is a schematic diagram of the hydraulic support pushing process of the present invention. Figure 1 ; Figure 6 This is a schematic diagram of the hydraulic support pushing process of the present invention. Figure 2 ; Figure 7 This is a schematic diagram of the hydraulic support pushing process of the present invention. Figure 3 ; The diagram shows the following markings: 1-Integrated hydraulic support removal and relocation robot, 2-Base, 21-Arc transition type drag reduction guide structure, 22-Side hinge seat, 3-Tilting shaft mounting seat, 31-Lifting hinge support, 32-Side ear plate assembly, 4-Double lifting cylinder, 5-Double swing cylinder, 6-External drive telescopic arm, 61-Outer arm body, 62-Inner arm body, 63-External telescopic cylinder, 64-Lower ear plate assembly, 7-Attitude adjustment actuator, 8-Split-type splicing base, 9-Cover support, 10-Support to be removed. Detailed Implementation

[0023] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0024] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] Those skilled in the art should understand that the following specific embodiments or implementation methods are a series of optimized configurations listed to further explain the specific content of the invention. These configuration methods can be combined or used in conjunction with each other, unless the invention explicitly states that some or a specific embodiment or implementation method cannot be associated with or used in conjunction with other embodiments or implementation methods. Furthermore, the following specific embodiments or implementation methods are merely optimized configurations and are not intended to limit the scope of protection of the invention.

[0026] The present invention will be further explained below with reference to specific embodiments.

[0027] This invention relates to a fully mechanized mining face support rotation and reversing platform suitable for confined working spaces such as fully mechanized mining faces and roadways in underground coal mines. Utilizing a transmission method involving a hydraulic cylinder and rack and pinion gears, and a structural design that integrates the gear, turntable bearing outer ring, and rotating support platform, it achieves a smooth 90° rotation of heavy-duty hydraulic supports and precise track alignment. Each mechanism adopts a modular assembly design, facilitating easy installation and disassembly. It is compatible with conventional explosion-proof hydraulic pump stations and existing support transport equipment in underground mines. The following details the specific implementation process for underground installation, support rotation and reversing, and underground disassembly of this platform: Example 1: As shown in the figure, this embodiment provides a novel integrated hydraulic support removal and relocation manipulator 1, including a base 2, a flipping shaft mounting seat 3, a double lifting cylinder 4, a double swing cylinder 5, an external drive telescopic arm 6, and an attitude adjustment actuator 7; the base 2 is an integral steel structure, and the front end of the pushing direction is welded with a circular arc transition type drag reduction guide structure composed of a circular arc transition type base plate and reinforcing ribs; the flipping shaft mounting seat 3 is provided with a lifting hinge support 31; the base 2 is provided with a side hinge seat 22 and hinge structures on both sides.

[0028] The flip shaft mounting base 3 is fixed to the ear plate of the base 2 by a pin and can swing horizontally. The top is fixed with an attitude adjustment support and a side ear plate assembly 32. The flip shaft mounting base 3 has a flip shaft mounting hole. The root of the external drive telescopic arm 6 has a coaxial flip shaft mating hole. The flip shaft passes through to realize the rotational pair connection between the two. The root of the external drive telescopic arm 6 is also connected to the top of the flip shaft mounting base 3 by a pin.

[0029] Dual lifting cylinders 4 are symmetrically arranged on the lower side of the external drive telescopic arm 6. The cylinder end is hinged to the lifting hinge support 31 of the tilting shaft mounting seat 3, and the rod end is hinged to the lower ear plate group 64 of the external drive telescopic arm 6. The external drive telescopic arm 6 is tilted and lifted around the tilting shaft through synchronous telescopic drive. The lifting and tilting angle of the external drive telescopic arm 6 is ±15°. Dual swing cylinders 5 are symmetrically arranged on both sides of the external drive telescopic arm 6. The arrangement axis is parallel to the swing plane of the external drive telescopic arm 6. The cylinder end is hinged to the side hinge seat 22 of the base 2, and the rod end is hinged to the side ear plate group 32 of the tilting shaft mounting seat 3. The side hinge seat 22 is arranged adjacent to the tilting shaft mounting seat 3. The external drive telescopic arm 6 is horizontally swung around the tilting shaft through differential telescopic drive. The horizontal swing angle of the external drive telescopic arm 6 is ±35°.

[0030] The externally driven telescopic boom 6 includes an outer boom body 61, an inner boom body 62, and an external telescopic cylinder 63. The outer boom body 61 is connected to the tilting shaft mounting seat 3 and the double lifting cylinder 4. The inner boom body 62 is slidably fitted inside the outer boom body 61 through a linear slide rail pair. The cylinder end and rod end of the external telescopic cylinder 63 are respectively hinged to the rear hinge seat of the outer boom body 61 and the front hinge seat of the inner boom body 62, driving the inner boom body 62 to slide back and forth along the axial direction of the outer boom body 61.

[0031] In this embodiment, the attitude adjustment actuator 7 is a bidirectional quantitative attitude adjustment emulsion motor. The attitude adjustment support is a steel structure support integrally welded to the flip shaft mounting base 3. The connecting surface is fitted with positioning pins and fastening bolts. The attitude adjustment emulsion motor is fixed to the attitude adjustment support through it. The output shaft is connected to the sprocket via a spline pair. One end of the matching chain is fixed to the sprocket, and the other end is fixed to the shield bracket. The drive chain can realize the tilting attitude adjustment of the equipment and release the base 2 from the bottoming state.

[0032] This embodiment reduces the overall height of the robotic arm through structural optimization, improving the adaptability of low-profile space while ensuring high traction output, and can complete the integrated operation of removing and moving different types of hydraulic supports.

[0033] Example 2: This implementation example uses the integrated hydraulic support removal and relocation robot 1 described above to achieve the mechanized removal of the hydraulic support to be removed. The specific process is as follows: First, the inner arm 62 of the external drive telescopic arm 6 is extended and adjusted to a suitable length using the external telescopic cylinder 63. The external drive telescopic arm 6 is then securely connected to the hydraulic support to be removed using a matching chain, ensuring a reliable connection and balanced force to prevent the chain from coming off during operation. Subsequently, the dual lifting cylinders 4 are controlled to perform synchronous up-and-down reciprocating extension and retraction movements, driving the external drive telescopic arm 6 to perform small-amplitude tilting, lifting, and lowering movements around the tilting axis (lifting range ±15°), gradually loosening the support to be removed from its original position and completing the support loosening operation.

[0034] Furthermore, after the support to be removed is loosened, the double swing cylinder 5 is controlled to perform differential telescopic movement, which drives the tilting shaft mounting seat 3 and the external drive telescopic arm 6 to swing horizontally around the tilting shaft (swing range ±35°). Relying on the balanced driving force of the double swing cylinder 5, the support to be removed is pulled out smoothly from the installation position until the support is completely removed from the installation area of ​​the working surface. During this process, it is ensured that the support is pulled out smoothly to avoid collision with surrounding equipment.

[0035] Furthermore, after the support is pulled out, the external telescopic cylinder 63 of the external drive telescopic arm 6 extends, driving the inner arm body 62 to extend along the axial direction of the outer arm body 61. At the same time, the differential telescopic adjustment of the swing angle (swing range ±35°) of the double swing cylinder 5 is coordinated to drive the support to be removed to achieve a 90° horizontal rotation, adjusting the support to the preset removal posture, and preparing for the subsequent support transfer operation. The entire operation process relies on the structural advantages of the manipulator to achieve automated and precise operation, greatly improving removal efficiency and operational safety.

[0036] Example 3: The hydraulic support removal and relocation integrated manipulator 1 of the present invention can be detachably hinged to the split splicing base 8 through the hinged structure 22 on both sides. The split splicing base 8 is a multi-unit modular splicing structure, and its overall length can be adjusted according to the working face width and the number of shield support groups to adapt to different fully mechanized mining working face construction conditions.

[0037] After the robotic arm 1 is engaged with the split-type splicing base 8, it is then hinged to the working face shield support assembly. Relying on the push cylinder of the shield support assembly to provide the main pushing force, and in conjunction with the arc transition drag-reducing guide structure at the front end of the base 2, it achieves low-resistance pushing and completes the hydraulic support removal and relocation operation. First, the shield support group extends the push cylinder, pushing the split splicing base 8 and the robot arm 1 to move forward by one push cylinder step distance; Furthermore, lower the shield support near the old pond side, retract its push cylinder, and use the reaction force to pull the shield support forward by one push cylinder step distance, and then complete the support action; Furthermore, the remaining cover supports repeat the previous step and complete the support action; Furthermore, the robotic arm 1, relying on the drag reduction effect of the arc transition drag reduction guide structure, and in conjunction with the shield support group, extends the push cylinder to drive itself forward. Repeat the above steps until the displacement of the support to be removed is completed by one frame width, and all the protective supports are supported to complete one hydraulic support relocation operation; If the base 2 sinks to the bottom during operation, the attitude adjustment mechanism 7 can drive the chain to adjust the attitude, quickly remove the sinking state, and ensure continuous operation.

[0038] In this embodiment, the arc transition type drag-reducing guide structure of the robot arm plays a drag-reducing role throughout the process, avoiding the problems of bottoming out and material accumulation during the pushing process. There is no need for manual cleaning of sludge, and the posture adjustment actuator can deal with the problem of the base sinking at any time, thus improving work efficiency.

[0039] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A novel integrated manipulator for the removal and relocation of hydraulic supports, characterized in that, The integrated hydraulic support removal and relocation manipulator includes a base, a tilting shaft mounting base, dual lifting cylinders, dual swing cylinders, an external drive telescopic arm, and an attitude adjustment actuator. The attitude adjustment actuator is an attitude adjustment emulsion motor, or it can be a hydraulic hoist, cylinder, or chain to achieve the same tilting attitude adjustment function. The manipulator can be used with a split-type splicing base to adapt to different fully mechanized mining face construction conditions. The front end of the base has an integrated welded push-and-reduce drag structure. The dual swing cylinders drive the external drive telescopic arm to complete the horizontal swing motion around the flip axis through differential telescopic extension, and the horizontal swing angle of the external drive telescopic arm is ±35°; the dual lifting cylinders drive the external drive telescopic arm to complete the flip lifting motion around the flip axis through synchronous telescopic extension, and the lifting and flipping angle of the external drive telescopic arm is ±15°.

2. The front end of the base in the pushing direction is welded with an arc transition type drag reduction guide structure. The arc transition type drag reduction guide structure is composed of an arc transition type base plate and reinforcing ribs. The base is provided with ear plates and side hinge seats. The manipulator is provided with hinge structures on both sides for hinged cooperation with the split splicing base or the working surface matching equipment. The arc transition type drag reduction guide structure is used to reduce the contact resistance of the base plate and the disturbance resistance of the silt during the base pushing process.

3. The tilting shaft mounting base is fixed to the base ear plate by a pin, and can swing horizontally. The top is fixedly equipped with an attitude adjustment support and a side hinge seat. The root of the external drive telescopic arm is connected to the top of the tilting shaft mounting base by a pin. The two lifting cylinders are symmetrically arranged on the lower side of the external drive telescopic arm. The cylinder end and rod end of the two lifting cylinders are respectively hinged to the lifting hinge support of the tilting shaft mounting base and the lower ear plate assembly of the external drive telescopic arm. The external drive telescopic arm completes the tilting and lifting action around the tilting shaft by the synchronous extension and retraction of the two lifting cylinders. The dual swing cylinders are symmetrically arranged on both sides of the external drive telescopic arm. The cylinder end and rod end of the dual swing cylinders are respectively hinged to the side hinge seat of the base and the side ear plate assembly of the flip shaft mounting seat. The external drive telescopic arm is driven to complete the horizontal swing action around the flip shaft through the differential extension and retraction of the dual swing cylinders.

4. The attitude adjustment actuator is fixedly installed on the attitude adjustment support. The matching chain of the attitude adjustment mechanism can be fixed on the shield support. The action of the chain driven by the attitude adjustment actuator drives the flip shaft mounting seat to achieve a small-amplitude lifting and lowering, forming the tilting attitude adjustment action of the equipment, which is used to release the bottoming state of the working surface of the base.

5. The integrated hydraulic support removal and relocation robot according to claim 1, characterized in that, The tilting shaft mounting base has a tilting shaft mounting hole, and the root of the external drive telescopic arm has a tilting shaft mating hole coaxial with the tilting shaft mounting hole. The tilting shaft passes through the tilting shaft mating hole and the tilting shaft mounting hole to realize the rotational joint connection between the external drive telescopic arm and the base. The rod end of the double lifting cylinder is hinged to the lower ear plate assembly of the external drive telescopic arm, and the cylinder end is hinged to the lifting hinge support of the tilting shaft mounting base to form a lifting arm structure.

6. The integrated hydraulic support removal and relocation robot according to claim 1, characterized in that, The arrangement axis of the dual swing cylinders is parallel to the swing plane of the external drive telescopic arm, and the side hinge seat of the base is arranged adjacent to the flip shaft mounting seat to ensure that the force is balanced when the dual swing cylinders drive the external drive telescopic arm to swing.

7. The integrated hydraulic support removal and relocation robot according to claim 1, characterized in that, The externally driven telescopic boom includes an outer boom body, an inner boom body, and an external telescopic cylinder. The outer boom body is connected to a tilting shaft mounting base and a double lifting cylinder. The inner boom body is slidably fitted onto the inner side of the outer boom body via a linear slide rail pair. The cylinder end and rod end of the external telescopic cylinder are respectively hinged to the rear end hinge seat of the outer boom body and the front end hinge seat of the inner boom body. The extension and retraction of the external telescopic cylinder drives the inner boom body to slide axially back and forth along the outer boom body.

8. The integrated hydraulic support removal and relocation robot according to claim 1, characterized in that, The arc transition type drag reduction leading structure is composed of an arc transition type base plate and reinforcing ribs, and is seamlessly welded to the base body; the split splicing base is a multi-unit modular splicing structure, and the overall length can be adjusted according to the working surface width and the number of shield support groups. The robot arm can be detachably hinged to the split splicing base through the hinge structure on both sides.

9. The integrated hydraulic support removal and relocation robot according to claim 1, characterized in that, The attitude-adjusting emulsion motor is a bidirectional quantitative emulsion motor. Its output shaft is connected to a sprocket via a spline pair. The attitude-adjusting emulsion motor drives the sprocket to drive the chain to achieve small-amplitude tilting and lifting, and can achieve stepless attitude adjustment according to the degree of base sinking. If a hydraulic hoist or oil cylinder is used as the attitude-adjusting actuator, the hook end of the hydraulic hoist is connected to the shield support and the fixed end is fixed to the attitude-adjusting support. The cylinder end and rod end of the oil cylinder are respectively hinged to the attitude-adjusting support and the shield support, which can achieve small-amplitude tilting and attitude adjustment of the externally driven telescopic arm. The attitude-adjusting support is a steel structure support that is integrally welded or bolted to the tilting shaft mounting base. Its connection surface with the attitude-adjusting actuator is equipped with positioning pins, fastening bolts or lifting lugs and hinge seats to adapt to the installation and fixing of different attitude-adjusting actuators, ensuring the coaxiality, stability and transmission reliability of the installation.

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