A mining unit support transport robot

Abstract

This utility model relates to a mining unit support transport robot, including a unit support transport arm assembly. The unit support transport arm assembly includes a first walking unit, which is equipped with a transport mechanical arm. The transport mechanical arm includes a vertical lifting arm, the bottom of which is connected to the first walking unit, and the top of which is connected to a horizontally arranged lateral arm. The bottom of the vertical lifting arm is connected to the first walking unit through a rotating mechanism, or the top of the vertical lifting arm is connected to the lateral arm through a rotating mechanism. The lateral arm includes a fixed arm, and the two ends of the fixed arm are telescopically connected to lateral arms or swing-connected to lateral arms. The vertical lifting arm, the rotating mechanism, and the lateral arms are connected to a power control system. The transport robot of this utility model can simultaneously transport or lift two unit supports, which can simplify the unit support transport procedure, improve the unit support transport efficiency, and realize intelligent control.

Description

Technical Field

[0001] This utility model relates to the field of coal mine roadway anti-scour support technology, specifically to a mining unit support transport robot. Background Technology

[0002] The statements herein provide only background information related to this invention and do not necessarily constitute prior art.

[0003] With the increasing depth of coal mining, rock bursts are becoming more and more serious. Long-distance reinforced support using transportable unit supports has become the main form of advanced support for the goaf roadway in longwall mining faces. Existing mechanical transport methods for unit supports include monorail hoisting and claw-type unit support transport vehicles. These methods can only transport one unit support at a time, and the unit support needs to be manually moved from both sides to the middle and then manually moved from the middle to both sides. The transport process is cumbersome, labor-intensive, and inefficient. The control methods are also all manual and cannot achieve intelligent control. Currently, there is a tracked transport robot for mine portal supports, which includes tracked walking units, robotic arm units, and other structures. However, since it transports by supporting the top beam of the portal support, it is only suitable for transporting portal supports and cannot transport unit supports. Utility Model Content

[0004] To address the shortcomings of existing technologies, the purpose of this utility model is to provide a mining unit support transport robot, which is suitable for transporting unit supports and can transport multiple unit supports at once. The transport procedure is simple and highly intelligent.

[0005] To achieve the above objectives, this utility model is implemented through the following technical solution:

[0006] An embodiment of this utility model provides a mining unit support transport robot, including a unit support transport arm assembly. The unit support transport arm assembly includes a first walking unit, which is equipped with a transport mechanical arm. The transport mechanical arm includes a vertical lifting arm, the bottom of which is connected to the first walking unit, and the top of which is connected to a horizontally arranged lateral arm. The bottom of the vertical lifting arm is connected to the first walking unit through a rotating mechanism, or the top of the vertical lifting arm is connected to the lateral arm through a rotating mechanism. The lateral arm includes a fixed arm, and the two ends of the fixed arm are telescopically connected to lateral arms or swing-connected to lateral arms. The vertical lifting arm, the rotating mechanism, and the lateral arm are connected to a power control system.

[0007] Optionally, the vertical lifting arm includes a vertically telescopically connected outer lifting arm and an inner lifting arm, and a lifting cylinder is provided between the outer lifting arm and the inner lifting arm to drive the vertical telescopic movement between the outer lifting arm and the inner lifting arm.

[0008] Optionally, both ends of the fixed arm are telescopically connected to side arms, and a lateral hydraulic cylinder is provided between the fixed arm and the side arms to drive the fixed arm and the side arms to generate horizontal telescopic movement.

[0009] Optionally, the end of the fixed arm is provided with a rotation drive, and the output shaft of the rotation drive is connected to the inner end of the side arm to drive the side arm to swing.

[0010] Optionally, the outer end of the side arm is provided with a hook.

[0011] Optionally, the power control system is mounted on the unit support transport arm vehicle assembly;

[0012] or;

[0013] The power control system is located on the power control unit, which includes a second travel unit. The second travel unit is equipped with the power control system and is hinged to the unit support transport arm unit via a universal joint.

[0014] or;

[0015] Part of the power control system is located on the unit support transport arm unit, while the rest of the power control system is located on the power control unit.

[0016] Optionally, the power control system includes a control box connected to a hydraulic unit. The hydraulic unit is connected to a first traveling unit, a second traveling unit, a rotating mechanism, a vertical lifting arm, and a lateral arm to provide power for the movement of the rotating mechanism, the vertical lifting arm, the lateral arm, the first traveling unit, and the second traveling unit. It also includes a power unit connected to the hydraulic unit for supplying power to the hydraulic unit.

[0017] Optionally, the power unit may be a mining explosion-proof diesel power unit, a mining battery power unit, or a mining lithium battery power unit.

[0018] Optionally, the hydraulic unit includes an oil tank connected to a hydraulic oil pump. The hydraulic oil pump is connected to the first traveling unit, the second traveling unit, the rotating mechanism, the vertical lifting arm, and the lateral arm via valve groups and oil pipes. The hydraulic oil pump and valve groups are connected to the control box to receive control from the control box.

[0019] Optionally, the power control system further includes an emulsion tank connected to an emulsion pump, which is connected to a control box for supplying liquid for the lifting and lowering of the unit support.

[0020] The beneficial effects of this utility model are as follows:

[0021] 1. The unit support transport robot of this utility model is equipped with a vertical lifting arm, a rotating mechanism, and a lateral arm. In use, the lateral arm and the vertical lifting arm work together to allow the side arm of the lateral arm to engage with the top beam of the unit support on both sides of the aisle. Combined with the lifting and lowering of the unit support, the unit support can be transported, which meets the transport requirements of the unit support and can transport two unit supports at the same time. The transport can be carried out by the operation of the vertical lifting arm, the lateral arm, and the rotating mechanism in combination with the lifting and rotating of the unit support. The entire transport process does not require manual operation, the unit support transport procedure is simplified, and the efficiency is higher.

[0022] 2. The unit support transport robot of this utility model is equipped with a power control system. The power control system can control the operation of the first walking unit, the second walking unit, the vertical lifting arm, the lateral arm, and the rotating mechanism, so that the entire transport process can be intelligently controlled and remotely controlled, improving work efficiency and reducing the labor intensity of workers. Attached Figure Description

[0023] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments of this utility model and their descriptions are used to explain this utility model and do not constitute an improper limitation of this utility model.

[0024] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of this utility model;

[0025] Figure 2 This is a side view of the unit support transport arm vehicle assembly of Embodiment 1 of this utility model;

[0026] Figure 3 This is a front view of the unit support transport arm vehicle assembly of Embodiment 1 of this utility model;

[0027] Figure 4 This is a top view of the unit support transport arm vehicle assembly of Embodiment 1 of this utility model;

[0028] Figure 5 This is a front view of the power control vehicle group of Embodiment 1 of this utility model;

[0029] Figure 6 This is a top view of the power control vehicle group of Embodiment 1 of this utility model;

[0030] Figure 7 This is a side view of the power control vehicle group of Embodiment 1 of this utility model;

[0031] Figure 8 This is a schematic diagram of the working process of the first working method of Embodiment 1 of this utility model;

[0032] Figure 9 This is a schematic diagram of the handling unit bracket of the first working method of Embodiment 1 of this utility model;

[0033] Figure 10 This is a schematic diagram of the transport unit bracket in the second working method of Embodiment 1 of this utility model;

[0034] Among them, 1. Unit support transport arm vehicle group, 2. Power control vehicle group, 3. Universal joint, 4. Wireless controller, 1-1. First traveling unit, 1-1-1. Locomotive chassis, 1-1-2. Track assembly, 1-1-3. Travel motor, 1-2. Transport robotic arm, 1-2-1. Vertical lifting arm, 1-2-1-1. Lifting outer arm, 1-2-1-2. Lifting inner arm, 1-2-1-3. Lifting cylinder, 1-2-2. Side arm, 1-2-2-1. Side arm, 1-2-2-2. Side arm, 1-2-2-3. Fixed arm, 1-2-2-4. Side cylinder, 1-2-2-5. Hook, 1-2- 3. Rotating mechanism; 1-3. Valve assembly; 2-1. Second walking unit; 2-1-1 Frame; 2-1-2 Track assembly; 2-1-3 Walking motor; 2-2. Power control system; 2-2-1. Power unit; 2-2-2. Hydraulic oil pump; 2-2-3. Oil tank; 2-2-4. Control unit; 2-2-4-1. Control box; 2-2-4-2. Valve assembly; 2-2-4-3. Peripheral electrical components and cables; 2-2-5. View-based robot environment interaction intelligent control system; 2-2-6. Emulsion pump; 2-2-7. Emulsion tank; 4-1. Remote wireless control console; 4-2. Handheld wireless controller. Detailed Implementation

[0035] In the description of this utility model patent, it should be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model patent 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 this utility model patent.

[0036] Example 1

[0037] This embodiment provides a mining unit support handling robot, such as... Figure 1As shown, the system consists of a unit support transport arm assembly 1, a power control assembly 2, a universal joint 3, and a wireless controller 4. The unit support transport arm assembly 1 and the power control assembly 2 are connected by the universal joint 3. The unit support transport arm assembly 1 comprises a first traveling unit 1-1 and a transport robotic arm 1-2. The first traveling unit is an existing first tracked traveling unit. The first tracked traveling unit consists of a locomotive chassis 1-1-1, a track assembly 1-1-2, and a travel motor 1-1-3. The track assembly 1-1-2 is mounted on the bottom surface of the locomotive chassis 1-1-1. The drive wheels of 1-2 are connected to the travel motor 1-1-3. Preferably, the travel motor 1-1-3 is a hydraulic motor. The first tracked travel unit can use existing technology, and its further technical details are not described in detail here. The power control vehicle group 2 consists of a second travel unit 2-1 and a power control system 2-2. The second travel unit 2-1 is an existing tracked travel unit, consisting of a frame 2-1-1, a track assembly 2-1-2, and a travel motor 2-1-3. The tracked travel unit can use existing technology, and its further technical details are not described in detail here. Preferably, the travel motor 2-1-3 is a hydraulic motor. The locomotive chassis 1-1-1 of the first travel unit and the frame 2-1-1 of the second travel unit are connected by a universal joint. The universal joint can use existing technology, and its specific structure is not described in detail here.

[0038] The wireless controller 4 is a remote wireless console 4-1 or a handheld wireless controller 4-2, which allows staff to send commands to the power control system 2-2.

[0039] like Figures 2-4 As shown, the handling robotic arm 1-2 consists of a vertical lifting arm 1-2-1, a lateral arm 1-2-2, and a rotating mechanism 1-2-3; the handling robotic arm 1-2 is vertically fixed on the locomotive chassis 1-1-1;

[0040] The vertical lifting arm 1-2-1 is vertically oriented and consists of an outer lifting arm 1-2-1-1, an inner lifting arm 1-2-1-2, and a lifting cylinder 1-2-1-3. The outer lifting arm 1-2-1-1 and the inner lifting arm 1-2-1-2 are telescopically connected. The lifting cylinders 1-2-1-3 are symmetrically arranged on both sides of the outer lifting arm 1-2-1-1 and the inner lifting arm 1-2-1-2. The cylinder body of the lifting cylinder 1-2-1-3 is connected to the bottom end of the outer lifting arm 1-2-1-1, and its piston rod is connected to the top end of the inner lifting arm 1-2-1-2. The extension and retraction of the piston rod of the lifting cylinder 1-2-1-3 can generate vertical telescopic movement between the outer lifting arm 1-2-1-1 and the inner lifting arm 1-2-1-2.

[0041] The top of the lifting inner arm 1-2-1-2 is connected to the fixed part of the rotating mechanism 1-2-3, and the rotating part of the rotating mechanism is connected to the middle part of the side arm 1-2-2.

[0042] In this embodiment, the rotating mechanism 1-2-3 can be a conventional hydraulic rotary platform or existing equipment, and its specific structure will not be described in detail here.

[0043] The lateral arm 1-2-2 is a telescopic structure or a hinged swing structure, which approaches the unit support by telescopic or swinging. In this embodiment, the lateral arm 1-2-2 is a telescopic mechanism, a bidirectional telescopic mechanism, which consists of a side arm 1-2-2-1, a side arm 1-2-2-2, a fixed arm 1-2-2-3, a lateral cylinder 1-2-2-4, and a hook 1-2-2-5. The middle part of the fixed arm 1-2-2-3 is connected to the rotating part of the rotating mechanism 1-2-3. -3 is telescopically connected at one end to side arm 1-2-2-1 and at the other end to side arm 1-2-2-2. Side arms 1-2-2-1 and 1-2-2-2 are each connected to fixed arm 1-2-2-3 by a lateral cylinder 1-2-2-4. One end of the lateral cylinder 1-2-2-4 is connected to fixed arm 1-2-2-3 and the other end is connected to the side arm. The piston rod of the lateral cylinder 1-2-2-4 telescopically moves, which can drive the side arm to telescopically move along the fixed arm 1-2-2-3.

[0044] Lifting hooks 1-2-2-5 are provided at the ends of side arms 1-2-2-1 and 1-2-2-2 for lifting unit supports or other objects.

[0045] The lateral hydraulic cylinder 1-2-2-4, the lifting hydraulic cylinder 1-2-1-3, and the rotating mechanism 1-2-3 are all connected to the power control system 2-2, and their operation is controlled by the power control system 2-2.

[0046] In another embodiment, both outer ends of the fixed arm 1-2-2-3 are provided with rotation drive components. The rotation drive components are hydraulic rotary motors. The output shaft of the hydraulic rotary motor is connected to the side arm to drive the side arm to swing, forming a hinged swing structure.

[0047] In this embodiment, the power control system 2-2 is installed on the unit support transport arm vehicle group 1, or the power control system 2-2 is installed on the power control vehicle group 2, or some of the equipment of the power control system 2-2 is installed on the unit support transport arm vehicle group 1, and the rest of the equipment is installed on the power control vehicle group 2.

[0048] In this embodiment, some of the equipment of the power control system 2-2 is installed on the unit support transport arm vehicle group 1, and the remaining equipment is installed on the power control vehicle group 2. The part arranged on the unit support transport arm 1 is set on the outer periphery of the transport mechanical arm 1-2, and the space occupied does not affect the transport mechanical arm 1-2 from supporting or suspending two unit supports.

[0049] like Figures 5-7 As shown, the power control system 2-2 includes a power unit 2-2-1, a control unit 2-2-4, a hydraulic unit, and a view-based robot environment interaction intelligent control system 2-2-5.

[0050] The control unit 2-2-4 includes a control box 2-2-4-1, a valve assembly 2-2-4-2, and external electrical components and pipelines 2-2-4-3, etc. The control box 2-2-4-1 is mounted on the frame 2-1-1 of the power control vehicle group 2. The control box 2-2-4-1 contains a controller with wired and wireless signal transmission and reception capabilities. The valve assembly 2-2-4-2 is an electro-hydraulic valve assembly or a solenoid valve assembly.

[0051] The rear side of the control box 2-2-4-1 is equipped with a power unit 2-2-1 mounted on the frame 2-1-1.

[0052] The power unit 2-2-1 adopts an existing mining explosion-proof diesel power system, a mining battery power system, or a mining lithium battery power system. Those skilled in the art can choose according to actual needs, and will not be described in detail here.

[0053] The power unit 2-2-1 is connected to the electrical equipment in the hydraulic unit and the other electrical equipment of the handling robot through external electrical components and cables 2-2-4-3 for power supply.

[0054] The hydraulic unit includes a hydraulic oil pump 2-2-2 and an oil tank 2-2-3 fixed on the frame 2-1-1. The oil tank 2-2-3 is fixed below the power unit 2-2-1. The hydraulic oil pump 2-2-2 is connected to the oil tank 2-2-3. The hydraulic oil pump 2-2-2 is also connected to the travel motor 2-1-3 through a valve group 2-2-4-2 and hydraulic oil pipes on the frame 2-1-1 to drive the travel motor 2-1-3. The hydraulic oil pump 2-2-2 is also connected to the travel motor 1-1-3, the rotating mechanism 1-2-3, the lifting cylinder 1-2-1-3, and the side cylinder 1-2-2-4 through the valve group 1-3 fixed on the front side of the outer lifting arm 1-2-1-1 to drive the travel motor 1-1-3, the rotating mechanism 1-2-3, the lifting cylinder 1-2-1-3, and the side cylinder 1-2-2-4.

[0055] The hydraulic oil pump 2-2-2 and the valve group are connected to the power unit 2-2-1, which supplies power to them.

[0056] The frame 2-1-1 is also fixed with an emulsion pump 2-2-6 and an emulsion tank 2-2-7. The emulsion pump 2-2-6 is connected to the emulsion tank 2-2-7. The emulsion pump 2-2-6 and the emulsion tank 2-2-7 are used to provide power for the lifting and lowering of the unit support.

[0057] The valve assembly, hydraulic oil pump, and emulsion pump are all connected to the controller in control box 2-2-4, and their operation is controlled by the controller.

[0058] Both the first and second walking units are equipped with a view-based robot environment interaction intelligent control system 2-2-5, which includes a three-dimensional view perception device and a control system connected to it.

[0059] The 3D perspective perception device includes a 3D LiDAR, a camera, and a tilt sensor fixed to the lifting robotic arm 1-2-1. The 3D LiDAR, camera, and tilt sensor are connected to the control system, transmitting the detected information to the control system. Through the 3D LiDAR, camera, and tilt sensor, the robot can achieve automated, remote, and visual control of centering, walking, positioning, lifting, and rotating unit supports. The control principle of the robot using the 3D LiDAR, camera, and tilt sensor can be achieved using existing technology and will not be described in detail here. The 3D vision perception device is connected to the power unit, which supplies power to it.

[0060] The installation positions of the 3D LiDAR, camera, tilt sensor, and control system on the first and second walking units can be set according to actual needs, and will not be described in detail here.

[0061] like Figures 8-9 As shown, the first working method of the mining unit support handling robot in this embodiment includes the following steps:

[0062] Step 1: The transport robot moves to the center and positions itself at the bracket of the unit to be transported.

[0063] Step 2: The operator operates the vertical lifting arm 1-2-1, the lateral arm 1-2-2, and the rotating mechanism 1-2-3 so that the lateral arm 1-2-2 passes through the middle of the two columns of the unit support on both sides and engages with the bottom surface of the top beam of the unit support.

[0064] Step 3: Shrink the uprights of the unit support to suspend the unit support in the air.

[0065] Step 4: The vertical lifting arm 1-2-1 descends, and the rotating mechanism 1-2-3 rotates 90°, so that the two unit supports are in front of and behind the first traveling unit.

[0066] Step 5: The first and second walking units of the transport robot carry the two unit supports to the location to be supported.

[0067] Step 6: Operate the vertical lifting arm 1-2-1 and the rotating mechanism 1-2-3 to rotate the unit support to the support position and complete the support.

[0068] Step 7: Raise the unit support column to complete the unit support setup.

[0069] Step 8: Operate the vertical lifting arm 1-2-1, the lateral arm 1-2-2, and the rotating mechanism 1-2-3 to standby mode, and move the handling robot to the standby position.

[0070] In this embodiment, the robot can be controlled by the built-in program of the controller and control system to achieve unmanned control, or by a handheld wireless controller or a remote wireless console, or by manually operating the valve group.

[0071] like Figure 10 As shown, the second working method of the mining unit support handling robot in this embodiment includes the following steps:

[0072] Step 1: The transport robot moves to the support of the unit to be transported.

[0073] Step 2: Lower the two unit supports to be moved.

[0074] Step 3: Operate the vertical lifting arm 1-2-1, the side arm 1-2-2, and the rotating mechanism 1-2-3 to bring the side arm end of the side arm 1-2-2 above the two unit supports. Use lifting chain links or lifting wire ropes to connect the two unit supports to the hooks 1-2-2-5 at the side arm ends of the two side arms.

[0075] Step 4: The vertical lifting arm 1-2-1 is raised to lift the two unit supports. The rotating mechanism 1-2-3 is operated to rotate so that the two unit supports are in front of and behind the first traveling unit and parallel to the direction of the tunnel.

[0076] Step 5: Move the two unit supports to the position to be supported using the first and second traveling units.

[0077] Step 6: Rotating mechanism 1-2-3 rotates, vertical lifting arm 1-2-1 works, so that the two unit supports are supported at the position to be supported, and the lifting chain or lifting wire rope is removed.

[0078] Step 7: Raise the unit support column to complete the unit support setup.

[0079] Step 8: Control the vertical lifting arm 1-2-1, the lateral arm 1-2-2, and the rotating mechanism 1-2-3 to standby mode, and move the handling robot to the standby position.

[0080] The mining unit support transport robot of this embodiment meets the transport requirements of unit supports and can transport two unit supports at the same time. The transport can be carried out by combining the operation of the vertical lifting arm, the side arm, and the rotating mechanism with the lifting of the unit support. The unit support transport procedure is simplified and more efficient. In addition, it is equipped with a power control system, which can control the operation of the first walking unit, the second walking unit, the vertical lifting arm, the side arm, and the rotating mechanism, so that the entire transport process can be intelligently controlled and remotely controlled, improving work efficiency and reducing the labor intensity of workers.

[0081] Example 2

[0082] This embodiment provides a mining unit support transport robot. Compared with embodiment 1, the rotating mechanism is installed on the first walking unit. The rotating part of the rotating mechanism is connected to the bottom end of the vertical lifting arm 1-2-1. The top end of the vertical lifting arm 1-2-1 is directly connected to the middle position of the side arm 1-2-2. The rest of the structure of this embodiment is the same as that of embodiment 1, and will not be described again here.

[0083] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A mining unit support transport robot, characterized in that, The system includes a unit support transport arm assembly, which includes a first traveling unit. The first traveling unit is equipped with a transport robotic arm, which includes a vertical lifting arm. The bottom of the vertical lifting arm is connected to the first traveling unit, and the top of the vertical lifting arm is connected to a horizontally positioned lateral arm. The bottom of the vertical lifting arm is connected to the first traveling unit via a rotating mechanism, or the top of the vertical lifting arm is connected to the lateral arm via a rotating mechanism. The lateral arm includes a fixed arm, and the two ends of the fixed arm are telescopically connected to lateral arms or swing-connected to lateral arms. The vertical lifting arm, the rotating mechanism, and the lateral arm are connected to a power control system.

2. The mining unit support transport robot as described in claim 1, characterized in that, The vertical lifting arm includes a vertically telescopically connected outer lifting arm and an inner lifting arm. A lifting cylinder is provided between the outer lifting arm and the inner lifting arm to drive the vertical telescopic movement between the outer lifting arm and the inner lifting arm.

3. The mining unit support handling robot as described in claim 1, characterized in that, Both ends of the fixed arm are telescopically connected to side arms, and a lateral hydraulic cylinder is provided between the fixed arm and the side arms to drive the fixed arm and the side arms to produce horizontal telescopic movement.

4. The mining unit support handling robot as described in claim 1, characterized in that, The fixed arm is provided with a rotation drive at its end. The output shaft of the rotation drive is connected to the inner end of the side arm to drive the side arm to swing.

5. A mining unit support transport robot as described in claim 1, characterized in that, The outer end of the side arm is provided with a hook.

6. The mining unit support handling robot as described in claim 1, characterized in that, The power control system is mounted on the unit support transport arm vehicle assembly; or; The power control system is located on the power control unit, which includes a second travel unit. The second travel unit is equipped with the power control system and is hinged to the unit support transport arm unit via a universal joint. or; Part of the power control system is located on the unit support transport arm unit, while the rest of the power control system is located on the power control unit.

7. A mining unit support transport robot as described in claim 6, characterized in that, The power control system includes a control box connected to a hydraulic unit. The hydraulic unit is connected to a first traveling unit, a second traveling unit, a rotating mechanism, a vertical lifting arm, and a lateral arm to provide power for the movement of the rotating mechanism, the vertical lifting arm, the lateral arm, the first traveling unit, and the second traveling unit. It also includes a power unit connected to the hydraulic unit for supplying power to the hydraulic unit.

8. A mining unit support transport robot as described in claim 7, characterized in that, The power unit is a mining explosion-proof diesel power unit, a mining battery power unit, or a mining lithium battery power unit.

9. A mining unit support transport robot as described in claim 7, characterized in that, The hydraulic unit includes an oil tank connected to a hydraulic oil pump. The hydraulic oil pump is connected to the first traveling unit, the second traveling unit, the rotating mechanism, the vertical lifting arm, and the lateral arm via valve groups and oil pipes. The hydraulic oil pump and valve groups are connected to the control box to receive control from the control box.

10. A mining unit support transport robot as described in claim 7, characterized in that, The power control system also includes an emulsion tank, which is connected to an emulsion pump. The emulsion pump is connected to a control box to supply liquid for the lifting and lowering of the unit support.

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