A gantry-type transport robot

Abstract

This utility model relates to a portal frame transport robot, including a walking device with a transport robotic arm at one end. The walking device also includes a first locomotive component and a second locomotive component. The transport robotic arm includes a rotating mechanism and a vertical lifting arm. The rotating mechanism is located on the walking device. The vertical lifting arm includes a lifting outer arm and a lifting inner arm that are slidably connected. A lifting drive component is provided between the lifting outer arm and the lifting inner arm. The rotating mechanism is connected to the bottom end of the vertical lifting arm. The top end of the vertical lifting arm is connected to a gripping mechanism for cooperating with the middle of the portal frame beam. A receiving space is provided between the first locomotive component and the second locomotive component to accommodate one side column and base of the portal frame. When the transport robot of this utility model transports the portal frame, the portal frame does not occupy the width of the roadway, which can reduce the span of the portal frame, improve the support strength of the portal frame, and meet the requirements of reinforced support for deep shaft roadways.

Description

Technical Field

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

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

[0003] As coal mining depths continue to increase, the pressure on the surrounding rock in roadways continues to rise, and dynamic disasters such as rockbursts become increasingly prominent. To prevent rockburst accidents, it is necessary to research and develop new support methods suitable for large-scale reinforcement of the roadway in the mining face.

[0004] The front-support and rear-return circulation support method of portal frames can adapt well to the cross-sectional shape of the roadway and is an ideal method for strengthening roadway support. However, because portal frames cannot stand independently in the unsupported state, cannot independently complete the portal frame lifting and lowering action, and have poor stability in the supported state, they are subject to space limitations, making installation, dismantling, and transportation difficult. Currently, there are two types of vertical lifting and lifting gantry frame transport vehicles that assist in lifting portal frames. One type rotates the portal frame so that the two columns and base of the portal frame are on both sides of the transport vehicle. Since the width of the portal frame columns and base is 0.8-1.0m, the transport vehicle requires a large lateral passage dimension of the roadway supported by the portal frame, resulting in a large portal frame span and insufficient support strength, which is not suitable for deep shaft roadways with high mining pressure. Another objective requirement is the use of a square vertical lifting gantry support transport vehicle. For example, the mining gantry support tracked transport robot method disclosed in patent application CN117145571A can rotate the gantry support by 90° so that the two columns and the base of the gantry support are located on the front and rear sides of the square transport vehicle. The two columns and the base of the gantry support do not occupy lateral space. However, since all the equipment and facilities on the transport vehicle are arranged around the vertical lifting arm, and the size of the square transport vehicle is relatively large, the width between the two columns after the gantry support is supported needs to meet the passage requirements of the transport vehicle. Therefore, the span of the gantry support is still relatively large, and the support strength is not high enough. It also cannot meet the requirements of reinforced support for deep shaft roadways, and has not been widely used so far. Utility Model Content

[0005] The purpose of this utility model is to overcome the shortcomings of the prior art and provide a gantry support transport robot, which overcomes the defects of the current gantry support transport vehicle.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, embodiments of this utility model provide a portal frame transport robot, including a walking device. One end of the walking device is provided with a transport mechanical arm. The walking device is also provided with a first locomotive component and a second locomotive component. The first locomotive component is arranged around the transport mechanical arm. The transport mechanical arm includes a rotating mechanism and a vertical lifting arm. The rotating mechanism is arranged on the walking device. The vertical lifting arm includes a lifting outer arm and a lifting inner arm that are slidably connected. A lifting drive component is provided between the lifting outer arm and the lifting inner arm. The rotating mechanism is connected to the bottom end of the vertical lifting arm. The top end of the vertical lifting arm is connected to a gripping mechanism for cooperating with the middle part of the portal frame beam. A receiving space is provided between the first locomotive component and the second locomotive component to accommodate one side column and base of the portal frame.

[0007] Optionally, the middle part of the grabbing mechanism is rotatably connected to the top of the lifting mechanism, and leveling telescopic components are provided between the two sides of the lifting mechanism and the grabbing mechanism. One end of the leveling telescopic component is hinged to the lifting mechanism, and the other end is hinged to the grabbing mechanism.

[0008] Secondly, embodiments of this utility model provide a portal frame transport robot, including a walking device. One end of the walking device is provided with a transport mechanical arm. The walking device is also provided with a first locomotive component and a second locomotive component. The first locomotive component is arranged around the transport mechanical arm. The transport mechanical arm includes a vertical lifting arm and a rotating mechanism. The rotating mechanism is arranged on the walking device. The vertical lifting arm includes a lifting outer arm and a lifting inner arm that are slidably connected. A lifting drive component is provided between the lifting outer arm and the lifting inner arm. The bottom end of the vertical lifting arm is connected to the walking device, and the top end is connected to the rotating mechanism. The rotating mechanism is connected to a gripping mechanism for cooperating with the middle of the portal frame beam. A receiving space is provided between the first locomotive component and the second locomotive component to accommodate one side column and base of the portal frame.

[0009] Optionally, the middle part of the gripping mechanism is rotatably connected to the rotating mechanism, and a leveling telescopic component is provided between the rotating mechanism and the gripping mechanism. One end of the leveling telescopic component is hinged to the rotating mechanism, and the other end is hinged to the gripping mechanism.

[0010] Optionally, the supporting mechanism includes a lifting beam, with a U-shaped supporting element at the middle position of the lifting beam, and the supporting element matches the middle position of the crossbeam of the gantry bracket.

[0011] Optionally, the two ends of the gripping mechanism are also provided with hooks.

[0012] Optionally, the lifting drive component is a lifting cylinder, the leveling telescopic component is a leveling cylinder, and the rotating mechanism is a hydraulic rotary platform. The lifting cylinder, leveling cylinder, and hydraulic rotary platform are connected to the hydraulic oil pump and oil tank through control valve groups and oil pipes. The hydraulic oil pump is connected to the oil tank through oil pipes. Optionally, the traveling device is equipped with a hydraulic oil pump, an oil tank, a control unit, and a power unit. The power unit is connected to the traveling device and the hydraulic oil pump to supply power to the traveling device and the hydraulic oil pump. The control unit is connected to the hydraulic oil pump and the traveling device to control the operation of the hydraulic oil pump and the traveling device. A portion of the hydraulic oil pump, oil tank, control unit, and power unit are arranged around the transport robot arm as first locomotive components, and the rest are arranged at the end of the traveling device as second locomotive components. A space is left between the first locomotive components and the second locomotive components to accommodate the gantry support column and the base.

[0013] Optionally, the power unit is a mining explosion-proof diesel engine, a mining battery, a mining lithium battery, or an underground power cable.

[0014] Optionally, the traveling device is also equipped with an emulsifying pump and an emulsion tank for driving the extension and retraction of the portal frame column. The emulsifying pump and the emulsion tank are either the first locomotive component or the second locomotive component, and the emulsifying pump is connected to the emulsion tank through a pipeline.

[0015] The beneficial effects of this utility model are as follows: 1. The portal frame transport robot of this utility model has a gripping mechanism connected to the top of the vertical lifting arm for cooperating with the middle of the portal frame beam. The gripping mechanism can cooperate with the middle of the portal frame beam. The vertical lifting arm is connected to a rotating mechanism, which can drive the portal frame to rotate 90° for transport. This greatly reduces the lateral passage size requirements of the supported roadway. At the same time, there is a space between the first locomotive component and the second locomotive component to accommodate the column and base on one side of the portal frame. After the portal frame rotates 90°, the columns and base on both sides do not need to be located on both sides of the transport robot. When the transport robot transports the portal frame, the portal frame does not occupy the roadway width, which can reduce the span of the portal frame, improve the support strength of the portal frame, and meet the requirements of reinforced support for deep shaft roadways.

[0016] 2. The portal frame transport robot of this utility model is equipped with a leveling telescopic component, which can level the lifting beam and adapt to the lifting and transport requirements of portal frames with a sloping trapezoidal cross section.

[0017] 3. The two ends of the lifting mechanism are equipped with lifting hooks, which can lift the objects that need to be moved on the working surface. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation thereof.

[0019] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of this utility model; Figure 2 This is a front view of the overall structure of Embodiment 1 of this utility model; Figure 3 This is a top view of the overall structure of Embodiment 1 of this utility model; Figure 4 This is a side view of the overall structure of Embodiment 1 of this utility model; Figure 5 This is a schematic diagram of the movement of the gantry frame in the tunnel when the gantry frame is not supported in Embodiment 1 of this utility model; Figure 6 This is a schematic diagram of the movement of the portal frame in Embodiment 1 of this utility model; Figure 7 This is a flowchart of the working method of Embodiment 1 of this utility model; Among them, 1. Tracked walking device, 1-1. Locomotive chassis, 1-2. Track assembly, 1-3. Travel motor, 2. Handling robotic arm, 2-1. Vertical lifting arm, 2-1-1. Lifting outer arm, 2-1-2. Lifting inner arm, 2-1-3. Lifting cylinder, 2-2. Grab mechanism, 2-2-1. Leveling cylinder, 2-2-2. Lifting hook, 2-3. Rotating mechanism, 3. Power unit, 4. Hydraulic oil pump, 5. Oil tank, 6. Control unit, 6-1. Control box, 6-2. Electromagnetic control valve group, 6-3. External electrical components and pipelines, 7. Control system. Detailed Implementation

[0020] In the description of this utility model, 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 accompanying drawings. They are only for the convenience of describing this invention and are not intended to 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 invention.

[0021] Example 1 This embodiment provides a gantry-type transport robot, such as Figures 1-4 As shown, the device includes a walking device, one end of which is equipped with a transporting robotic arm 2. The walking device is also equipped with a first locomotive component I and a second locomotive component II. The transporting robotic arm 2 includes a rotating mechanism 2-3, which is fixed to one end of the walking device. The rotating mechanism 2-3 is connected to the bottom end of a vertical lifting arm 2-1. The vertical lifting arm 2-1 can output vertical lifting motion. The top end of the vertical lifting arm is connected to a grabbing mechanism 2-2, which can drive the grabbing mechanism 2-2 to lift. The grabbing mechanism 2-2 is used to cooperate with the horizontal beam of the gantry frame and can lift the horizontal beam of the gantry frame.

[0022] Between the first locomotive component I and the second locomotive component II, there is a space for accommodating the column and base of the gantry support.

[0023] In use, the traveling device moves, causing the grabbing mechanism 2-2 to move to below the horizontal beam of the gantry frame. Then, the vertical lifting arm 2-1 drives the grabbing mechanism 2-2 to rise, so that the grabbing mechanism 2-2 cooperates with the beam of the gantry frame. Then, the uprights of the gantry frame retract and lift off the ground. Then, the vertical lifting arm 2-1 retracts, causing the gantry frame to descend. Then, the rotating mechanism 2-3 rotates 90°, so that the horizontal beam of the gantry frame is set along the extension direction of the roadway. One side of the uprights and the base of the gantry frame move into the receiving space. At this time, the traveling device can be used to move and transport the gantry frame.

[0024] The traveling device adopts the existing tracked traveling device 1, including a locomotive chassis 1-1. The locomotive chassis 1-1 is connected to the track assembly 1-2. The power traveling wheel of the track assembly is connected to the traveling motor 1-3. The traveling motor 1-3 drives it to rotate so as to realize the traveling device's movement. The tracked traveling device 1 can use general equipment, and its specific structure will not be described in detail here.

[0025] The handling robotic arm 2 is fixed to one end of the locomotive chassis 1-1.

[0026] The handling robotic arm 2 is vertically fixed on the locomotive chassis 1-1, and includes a rotating mechanism 2-3, a vertical lifting arm 2-1, and a lifting and gripping mechanism 2-2.

[0027] The rotating mechanism 2-3 adopts an existing slewing platform, either a hydraulic or electric slewing platform. Preferably, a hydraulic slewing platform is used. General-purpose equipment can be used, and its specific structure will not be described in detail here. The slewing platform is fixed on the locomotive floor 1-1.

[0028] The vertical lifting arm 2-1 consists of an outer lifting arm 2-1-1, an inner lifting arm 2-1-2, and a lifting cylinder 2-1-3.

[0029] The bottom end of the lifting outer arm 2-1-1 is connected to the rotating mechanism 2-3, and can rotate around its own axis under the drive of the rotating mechanism 2-3. The lifting inner arm 2-1-2 extends into the lifting outer arm 2-1-1 and slides to connect with the lifting outer arm 2-1-1 to achieve telescopic movement. The top end of the lifting inner arm 2-1-2 is connected to the grabbing mechanism 2-3, and can drive the grabbing mechanism 2-3 to lift.

[0030] A lifting drive component is provided between the inner lifting arm 2-1-2 and the outer lifting arm 2-1-1. In this embodiment, the lifting drive component is a lifting cylinder 2-1-3. The lifting cylinder is located inside the outer lifting arm 2-1-1, with its bottom end connected to the outer lifting arm 2-1-1 and its piston rod connected to the inner lifting arm 2-1-2.

[0031] The lifting mechanism 2-2 includes a lifting beam, the middle of which is rotatably connected to the top of the lifting inner arm 2-1-2. Both ends of the lifting beam are provided with lifting hooks 2-2-2 for lifting objects.

[0032] A support element is provided at the center of the top surface of the lifting beam. The support element is a U-shaped plate, including a first plate fixedly connected to the top surface of the lifting beam and a second plate and a third plate set at both ends of the first plate. The U-shaped plate matches the horizontal beam of the portal frame and can cooperate with the horizontal beam to lift the horizontal beam.

[0033] Furthermore, to ensure the fixation strength of the grabbing element on the lifting beam, multiple reinforcing plates are provided between the grabbing element and the lifting beam.

[0034] The lifting beam and the top of the inner lifting arm 2-1-2 are rotatably connected by a hinged seat to accommodate the lifting and handling requirements of the gantry support top beam when it is not horizontal, such as the lifting and handling requirements of the gantry support with a sloping trapezoidal cross-section.

[0035] In this embodiment, leveling telescopic components are used to level the lifting beam, and leveling telescopic components are symmetrically arranged on both sides of the lifting inner arm 2-1-2.

[0036] The leveling telescopic component uses a leveling cylinder 2-2-1. The cylinder body of the leveling cylinder 2-2-1 is hinged to the inner lifting arm 2-1-2 through a hinge seat. The piston rod of the leveling cylinder 2-2-1 is hinged to the lifting beam through a hinge seat on the bottom surface of the lifting beam.

[0037] In this embodiment, since the roadway cross-section is sometimes a sloping trapezoid, the top beam of the portal frame is in a non-horizontal state supporting the roadway roof. Therefore, the lifting beam is rotated by the extension and retraction of the piston rod of the leveling cylinder 2-2-1, so that the lifting beam is kept parallel to and close to the top beam of the portal frame, in order to meet the support requirements of the portal frame for the sloping trapezoidal roadway cross-section. When moving the portal frame, the top beam of the portal frame is brought to a horizontal state by the leveling cylinder 2-2-1, and then rotated 90° for moving.

[0038] It is understandable that the vertical lifting arm 2-1 can also be connected with the bottom end of the inner lifting arm 2-1-2 and the rotating mechanism 2-3, and the top end of the outer lifting arm 2-1-1 is connected with the lifting beam. In this case, the lifting cylinder 2-1-3 is set on the outside of the inner lifting arm 2-1-2, and one end of the leveling cylinder 2-2-1 is hinged to the outer lifting arm 2-1-1.

[0039] The traveling device is also equipped with a control unit 6, which includes a control box 6-1. The control box 6-1 is fixed to the end of the locomotive chassis 1-1. The control box 6-1 contains a control system 7. The control system 7 has a wired transmission module and a wireless transmission module, which can realize the functions of wired and wireless signal transmission and reception.

[0040] The control box 6-1 has a control valve assembly on its shell wall. The control valve assembly can be a hydraulic control valve assembly, a solenoid control valve assembly, or a manual control valve assembly. Preferably, a solenoid control valve assembly 6-2 is used. The solenoid control valve assembly 6-2 is connected to the control system and its operation is controlled by the control system. The solenoid control valve assembly 6-2 can use existing equipment, and its specific structure will not be described in detail here.

[0041] The control box 6-1 is also equipped with a hydraulic oil pump 4. The hydraulic oil pump 4 is connected to the oil tank 5 set on the locomotive chassis 1-1 through pipelines. The hydraulic oil pump 4 is also connected to the electromagnetic control valve group 6-2 through oil pipes. The electromagnetic control valve group 6-2 is connected to the lifting cylinder 2-1-3, the hydraulic slewing platform, and the leveling cylinder 2-2-1 through oil pipes. The hydraulic oil pump 4 can supply oil to the lifting cylinder 2-1-3, the leveling cylinder 2-2-1, and the hydraulic slewing platform through the electromagnetic control valve group 6-2 and oil pipes.

[0042] Meanwhile, the lifting cylinder 2-1-3, the hydraulic rotary platform, and the leveling cylinder 2-2-1 are also connected to the oil tank 5 via oil pipes for oil return.

[0043] The control box 6-1 is also equipped with a power unit 3. The power unit uses existing mine explosion-proof diesel power, mine storage battery, mine lithium battery, or underground power cable as the power system for power supply. Existing power supply equipment can be used, and its specific structure will not be described in detail here.

[0044] The power unit 3 is connected to the travel motor 1-3 and the solenoid control valve 6-2 group via the external electrical components and pipelines 6-3 on the control box 6-1, providing power to the travel motor 1-3 and the solenoid control valve group. It is also connected to the hydraulic oil pump 4 via wiring to provide power to the hydraulic oil pump 4. The external electrical components and pipelines 6-3 can use general technology and will not be described in detail here.

[0045] The electromagnetic control valve group 6-2, the hydraulic oil pump 4, and the travel motor 1-3 are all connected to the control system, and their operation is controlled by the control system.

[0046] In this embodiment, the control unit 6, the power unit 3, and the hydraulic oil pump 4 are configured as the second locomotive component II and are located at the end of the locomotive chassis 1-1.

[0047] The fuel tank 5 is arranged around the transport robot arm 2, preferably inside the transport robot arm 2, as the first locomotive component I. The fuel tank 5 and the control unit 6 are located on opposite sides of the column and base accommodating space, respectively.

[0048] It is understandable that, among the control unit 6, power unit 3, hydraulic oil pump 4, and oil tank 5, some can be selected as the first locomotive component I and set at the end of the traveling device, while the remaining parts can be set as the second locomotive component II and set inside the handling robot arm 2. Those skilled in the art can set it according to actual needs, and it will not be described in detail here.

[0049] Furthermore, it also includes a three-dimensional lidar, camera, and tilt sensor installed on the walking device. The three-dimensional lidar, camera, and tilt sensor are connected to the control system 7, which can transmit the collected information to the control system, enabling automated, remote, and visual control of the robot's centering walking and positioning lifting and rotating gantry support.

[0050] The installation positions of the 3D LiDAR, camera, and tilt sensor on the walking device can be set according to actual needs, and will not be described in detail here. Their working principles can also be achieved using existing technologies, and will not be described in detail here.

[0051] Understandably, it is also possible to omit the 3D LiDAR, camera, and tilt sensor, and have the operator remotely control the entire handling robot to perform its tasks.

[0052] Furthermore, the traveling device is also equipped with an emulsifying pump and an emulsion tank. In this embodiment, the emulsifying pump and the emulsion tank serve as the first locomotive component I. The emulsifying pump and the emulsion tank are used to supply liquid to the columns of the portal frame, thereby driving the columns of the portal frame to perform telescopic movements.

[0053] The working method of the gantry crane handling robot in this embodiment is as follows: Figure 7 As shown, it includes the following steps: Step (1): As Figure 5 As shown, the transport robot walks along the center of the alley to the gantry frame to be transported and positions itself. Step (2): The rotating mechanism 2-3 of the handling robot works, driving the vertical lifting arm 2-1 and the gripping mechanism 2-2 to rotate 90° (the gripping mechanism changes from being distributed along the direction of the handling robot to being distributed laterally perpendicular to the direction), and the vertical lifting arm 2-1 extends upward until the gripping element cooperates with the middle of the crossbeam of the gantry bracket. Step (3): The columns on both sides of the gantry frame retract and become suspended; Step (4): The vertical lifting arm retracts, causing the gantry frame to descend to a suitable height; Step (5): Rotate the rotating mechanism 2-3 by 90° to make the gantry support rotate 90° to the horizontal beam roadway direction setting; Step (6): As Figure 6 As shown, the transport robot carrying the gantry frame moves along the alleyway to the position to be supported and positions itself. Step (7): The rotating mechanism 2-3 of the handling robot works, driving the gantry support to rotate 90° with the grabbing mechanism to the transverse direction of the roadway; the vertical lifting arm 2-1 extends and the leveling cylinder 2-2-1 is adjusted so that the crossbeam of the gantry support is in contact with the top. Step (8): Extend the uprights on both sides of the gantry frame to complete the gantry frame installation.

[0054] The above operations can be automated and intelligently controlled through 3D lidar, cameras, tilt sensors and built-in programs of the control system; they can also be wirelessly remote controlled or remotely visualized controlled through wireless or wired information transmission systems; and they can also be locally manually controlled through control valve groups on the locomotive.

[0055] In this embodiment, the vertical lifting arm 2-1 of the gantry support transport robot is connected to a gripping mechanism 2-3 at its top end, which cooperates with the middle of the gantry support beam. The gripping mechanism 2-3 can cooperate with the middle of the gantry support beam. The bottom end of the vertical lifting arm 2-1 is connected to the rotating mechanism 2-3, which can rotate the gantry support 90° before transporting it. This greatly reduces the lateral passage size requirements of the supported roadway. At the same time, there is a space between the transport robot arm 2 and the control unit 6 that can accommodate the column and base on one side of the gantry support. After the gantry support is rotated 90°, the gantry support does not occupy the roadway width when the transport robot transports the gantry support, which can reduce the span of the gantry support, improve the support strength of the gantry support, and meet the requirements of reinforced support for deep well roadways.

[0056] Example 2 This embodiment provides a gantry-type transport robot. Compared with embodiment 1, the difference is that the bottom end of the vertical lifting arm 2-1 is directly connected to the locomotive chassis 1-1, and the top end of the vertical lifting arm 2-1 is provided with a rotating mechanism 2-3, which is connected to the lifting mechanism 2-2. The rotating part of the rotating mechanism 2-3 is rotatably connected to the middle part of the lifting beam. One end of the leveling cylinder 2-2-1 is hinged to the rotating part of the rotating mechanism 2-3, and the other end is hinged to the lifting beam.

[0057] The remaining structure of this embodiment is the same as that of Embodiment 1, and will not be described again here.

[0058] Although the specific embodiments of the present utility model have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present utility model. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solution of the present utility model are still within the scope of protection of the present utility model.

Claims

1. A gantry-type transport robot, characterized in that, The device includes a traveling device, one end of which is equipped with a transporting robotic arm. The traveling device also includes a first locomotive component and a second locomotive component. The first locomotive component is arranged around the transporting robotic arm. The transporting robotic arm includes a rotating mechanism and a vertical lifting arm. The rotating mechanism is arranged on the traveling device. The vertical lifting arm includes a lifting outer arm and a lifting inner arm that are slidably connected. A lifting drive component is provided between the lifting outer arm and the lifting inner arm. The rotating mechanism is connected to the bottom end of the vertical lifting arm. The top end of the vertical lifting arm is connected to a gripping mechanism for cooperating with the middle of the crossbeam of the gantry frame. There is a space between the first locomotive component and the second locomotive component that can accommodate one side column and base of the gantry frame.

2. The gantry crane handling robot as described in claim 1, characterized in that, The middle part of the grabbing mechanism is rotatably connected to the top of the lifting mechanism. The two sides of the lifting mechanism are provided with leveling telescopic parts between the grabbing mechanism and the lifting mechanism. One end of the leveling telescopic part is hinged to the lifting mechanism, and the other end is hinged to the grabbing mechanism.

3. A gantry-type transport robot, characterized in that, The device includes a traveling device, one end of which is equipped with a transporting robotic arm. The traveling device also includes a first locomotive component and a second locomotive component. The first locomotive component is arranged around the transporting robotic arm. The transporting robotic arm includes a vertical lifting arm and a rotating mechanism. The rotating mechanism is arranged on the traveling device. The vertical lifting arm includes a lifting outer arm and a lifting inner arm that are slidably connected. A lifting drive component is provided between the lifting outer arm and the lifting inner arm. The bottom end of the vertical lifting arm is connected to the traveling device, and the top end is connected to the rotating mechanism. The rotating mechanism is connected to a gripping mechanism for cooperating with the middle of the crossbeam of the gantry frame. There is a receiving space between the first locomotive component and the second locomotive component that can accommodate one side column and base of the gantry frame.

4. A gantry crane handling robot as described in claim 3, characterized in that, The middle part of the grabbing mechanism is rotatably connected to the rotating mechanism. A leveling telescopic component is provided between the rotating mechanism and the grabbing mechanism. One end of the leveling telescopic component is hinged to the rotating mechanism, and the other end is hinged to the grabbing mechanism.

5. A gantry crane handling robot as described in claim 1 or 3, characterized in that, The supporting mechanism includes a lifting beam, and a U-shaped supporting element is provided in the middle of the lifting beam. The supporting element matches the middle of the crossbeam of the gantry bracket.

6. A gantry crane handling robot as described in claim 1 or 3, characterized in that, The two ends of the gripping mechanism are also equipped with hooks.

7. A gantry crane handling robot as described in claim 2 or 4, characterized in that, The lifting drive component uses a lifting cylinder, the leveling telescopic component uses a leveling cylinder, and the rotating mechanism uses a hydraulic rotary platform. The lifting cylinder, leveling cylinder, and hydraulic rotary platform are connected to the hydraulic oil pump and oil tank through control valve groups and oil pipes. The hydraulic oil pump is connected to the oil tank through oil pipes.

8. A gantry crane handling robot as described in claim 7, characterized in that, The traveling device is equipped with a hydraulic oil pump, an oil tank, a control unit, and a power unit. The power unit is connected to the traveling device and the hydraulic oil pump to supply power to them. The control unit is connected to the hydraulic oil pump and the traveling device to control their operation. A portion of the hydraulic oil pump, oil tank, control unit, and power unit are arranged around the transport robot arm as the first locomotive component, while the remainder are arranged at the end of the traveling device as the second locomotive component. A space is left between the first locomotive component and the second locomotive component to accommodate the gantry support column and base.

9. A gantry crane handling robot as described in claim 8, characterized in that, The power unit is a mining explosion-proof diesel engine, a mining battery, a mining lithium battery, or a downhole power cable.

10. A gantry crane handling robot as described in claim 8, characterized in that, The traveling device is also equipped with an emulsifying pump and an emulsion tank for driving the extension and retraction of the portal frame column. The emulsifying pump and the emulsion tank serve as either the first locomotive component or the second locomotive component, and the emulsifying pump is connected to the emulsion tank through a pipeline.

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