A hydraulic support removing manipulator and one-step-to-place pushing mechanism

Abstract

The utility model discloses a hydraulic support removes manipulator and one step to place pushover mechanism relates to the technical field of coal mine fully mechanized mining equipment installation and dismantling equipment, through the optimization design to manipulator structure, make it not only can be applicable to lower frame space below, can also improve its overall structural strength, improve its applicability. The hydraulic support removes manipulator and includes base, lift cylinder, turnover seat, swing cylinder and telescopic arm, the turnover seat is connected on the base, and the turnover seat is at the base front side, the both ends of lift cylinder are respectively hinged on the base and turnover seat, and lift cylinder is at the back of turnover seat, and turnover seat is driven to overturn through lift cylinder, and the telescopic arm is driven to swing left and right through swing cylinder. The utility model under the same traction, the equipment appearance size reduces, especially height reduces greatly, and the invention exquisite structure can reach greater traction, and the range of applicable support frame type is wider.

Description

Technical Field

[0001] This utility model relates to the technical field of coal mine fully mechanized mining equipment installation and dismantling equipment, specifically a hydraulic support withdrawal manipulator and a one-step pushing structure. Background Technology

[0002] In the traditional process of removing hydraulic supports in fully mechanized mining faces, the common method is to use a winch with pulleys to pull the supports out of their installation position and then adjust their orientation. The supports are then moved along the floor by the winch or transported to the cut-out point via a nearby flatbed / railcar, or lifted out by a monorail. This method of removing hydraulic supports relies on the winch and is prone to the risk of winch wire rope breakage, posing significant safety hazards and resulting in low removal efficiency. To address this, existing technologies propose using a hydraulic support removal robot to remove hydraulic supports in fully mechanized mining faces. For example, the Chinese invention patent published on February 15, 2017, entitled "Coal Mine Fully Mechanized Mining Hydraulic Support Removal Robot" (application number "2013101931241"), structurally designs a crossbeam and its sliding shoes to connect and fix the support to the shield. The robot's base is bolted to the crossbeam. During operation, the lifting cylinder extends upwards, and the swing cylinder moves left and right to pull the support to be removed from its installation position. The inner arm extends and retracts to adjust the orientation of the pulled-out hydraulic support, completing the removal of the hydraulic support. However, in this case, the robot's base and crossbeam are fixed together by bolts. When the robot is working, the bolts are subjected to large shear forces, making them prone to breakage. Secondly, the robot's lifting cylinder is located below the front of the outer arm. Under the same pulling force, this structure results in a large machine height and a limited range of applicable support models. Furthermore, the robot in this case uses a swing seat to drive the outer arm to swing, making the hinge point between the outer arm and the swing seat prone to deformation and tearing. In terms of usage, there is no space between the robot's base and crossbeam for clearing silt. Although a slipper device is provided, silt can still easily accumulate in front of the robot and the shield support when they move forward, requiring manual clearing before normal movement. When the crossbeam moves on its own, its step distance depends on the stroke of the shield support's push cylinder, requiring repeated support and step-by-step movement. This leads to repeated damage to the top plate, increasing pressure on the top plate and potentially pressing down on the shield support, hindering its movement. Additionally, the self-movement speed is slow.

[0003] For example, the Chinese utility model patent published on July 25, 2012, entitled "Hydraulic Support Retraction Traction Machine for Coal Mines" with application number "2010105191558," similarly illustrates this. The telescopic cylinder can swing up and down under the action of a lifting cylinder, and also swing left and right under the action of a swing cylinder. The telescopic cylinder itself can extend and retract, ultimately achieving functions such as lifting, swinging, etc., to complete the lateral, longitudinal, and directional movements of the towed object. It can realize the telescopic cylinder's up-and-down lifting, left-and-right rotation, and extension / retraction, allowing for the extraction and reorientation of the hydraulic support, short-distance transportation, etc. However, in this case, the telescopic cylinder, swing cylinder, and other action mechanisms are connected and fixed to a horizontally arranged frame of a tracked tractor, using independent power tracked traction, resulting in low climbing ability, low support pulling force, high cost, and complex structure.

[0004] For example, the Chinese utility model patent published on January 12, 2021, entitled "A Coal Mine Fully Mechanized Mining Equipment Retraction Robot" with application number "202021042474.X", shows that the crossbeam and base in this case are separate structures, and the crossbeam and base are designed to be closed. When moving on their own, material is easily piled up in front of them. Secondly, this technology uses a centralized Hooke hinge unit to connect and fix the base and the telescopic arm. When the telescopic arm swings left and right, the lifting cylinder connected to the base and the telescopic arm must extend synchronously. This design requires the swing and lifting to be synchronized and coordinated, which has defects such as unsmooth telescopic arm movement and poor coordination. In addition, the connecting frame, swing hydraulic telescopic cylinder, hydraulic telescopic arm, etc. are all connected and fixed on the base. Under the same pulling force, the height of the machine body is large, and the height of the base structure is suitable for a wide range of support frame heights. In this technology, the cylinder barrels of the two swing hydraulic telescopic cylinders are connected to the moving platform, and the piston rods are connected to the rotating frame. The tail of the cylinder barrels faces outward, occupying the space for the support to be withdrawn and easily interfering with the support to be withdrawn.

[0005] Therefore, how to optimize the existing structure to reduce the height and size of the equipment, enhance its connection stability, and increase its self-movement stroke has become a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0006] To address the above problems, this utility model proposes a hydraulic support removal robot. Through optimized design of the robot's structure, it can not only be applied to lower support spaces, but also significantly improve its overall structural strength and applicability.

[0007] The technical solution of this utility model is as follows: the hydraulic support withdrawal manipulator 1 includes a base 2, a lifting cylinder 3, a tilting seat 4, a swing cylinder 5, and a telescopic arm 6; The flipping seat 4 is connected to the base 2 and is located in front of the base 2. The two ends of the lifting cylinder 3 are respectively hinged to the base 2 and the flipping seat 4, and the lifting cylinder 3 is located behind the flipping seat 4. The flipping seat 4 is driven to flip by the lifting cylinder 3. The hinge point between the lifting cylinder 3 and the base 2 is higher than the hinge point between the lifting cylinder 3 and the flipping seat 4. The base of the telescopic arm 6 is rotatably connected to the flipping seat 4, and the two ends of the swing cylinder 5 are respectively hinged to the telescopic arm 6 and the flipping seat 4, so that the telescopic arm 6 can swing left and right through the swing cylinder 5.

[0008] In this way, by redesigning the flipping seat and placing the base and lifting cylinder at the rear, the overall height of the robot can be significantly reduced and the stress on the base can be improved. This makes the design not only suitable for smaller workspaces, but also ensures the overall structural strength while maintaining the same traction force.

[0009] The base 2 includes a seat body 21 and a bottom base body 22, which are machined into one piece.

[0010] In this case, the integrated base and the way the robot arm is lowered as a whole and the stress on the base can effectively solve the problem of easy breakage when the body and crossbeam are fixed with bolts or pins in the existing technology, and improve the strength of the body.

[0011] Furthermore, the front side of the flipping seat 4 has a swing hole arranged in the Z direction, and the middle of the rear side has a flipping hole arranged in the Y direction. As the core connecting component of this invention, the flipping seat is connected to the telescopic arm on the front side and to the base on the rear side, which can better serve the purpose of transfer connection. Moreover, by utilizing the rear-mounted base and lifting cylinder, the overall height of the robot arm can be reduced, and the stress on the base can be improved.

[0012] Furthermore, the rear side of the flip seat 4 is provided with a flip hole arranged in the Y direction, and the front part of the base 2 is provided with a mounting hole in the Y direction. The flip seat 4 and the base 2 are connected by a flip shaft that passes through the flip hole and the mounting hole in the Y direction. The lower part of the rear side of the flipping seat 4 is provided with a lower ear plate 40. The front end of the lifting cylinder 3 is hinged to the lower ear plate 40, and the rear end of the lifting cylinder 3 is hinged to the base 2. The rear end of the lifting cylinder 3 is higher than the front end.

[0013] Furthermore, the front of the flip base 4 is provided with a swing hole arranged in the Z direction, and the root of the telescopic arm 6 is provided with a Z-direction mounting hole. The telescopic arm 6 is connected to the flip base 4 through a swing shaft that passes through the swing hole and the Z-direction mounting hole. There are two swing cylinders 5, which are respectively arranged on the left and right sides of the telescopic arm 6. Side ear plates 60 are fixedly installed on the left and right sides of the telescopic arm 6. The front end of the swing cylinder 5 is hinged to the side ear plate 60, and the trunnion of the swing cylinder 5 is hinged to the flipping seat 4.

[0014] Furthermore, the telescopic arm 6 includes an outer arm 61, an inner arm 62, and a telescopic cylinder 63. The outer arm 61 is connected to the tilting seat 4 and the swing cylinder 5. The inner arm 62 is installed in the outer arm 61. The two ends of the telescopic cylinder 63 are respectively hinged to the inner arm 62 and the outer arm 61.

[0015] Based on the hydraulic support withdrawal manipulator, the one-step pushing mechanism can be connected to at least two shield supports 7; The one-step moving mechanism 11 includes a moving outer cylinder 111 and a moving inner cylinder 112. The moving outer cylinder 111 is installed at the bottom of the base 2. The moving inner cylinder 112 is connected to the moving outer cylinder 111 through a moving hydraulic cylinder, and the moving inner cylinder 112 is connected to the pusher head at the bottom of the shield support 7.

[0016] In this way, the one-step moving mechanism 11 can be used in conjunction with the push cylinder stroke of the cover support to effectively increase the distance of the cover support's single self-movement each time it moves, so that it can move forward by at least one frame width distance each time it moves, thus realizing the one-step moving of the cover support.

[0017] The one-step moving mechanism 11 includes two sets of outer moving cylinders 111 and an inner moving cylinder 112. The inner moving cylinder 112 is arranged inside the outer moving cylinders 111 and is connected to the pusher head at the bottom of the shield support 7. In this way, the moving distance of the hydraulic support removal manipulator and the shield support is the sum of the stroke of the pusher cylinder of the shield support 7 and the stroke of the pusher cylinder built into the moving mechanism 11, which is at least one frame width distance, thus achieving the purpose of one-step movement.

[0018] A pressure roller 113 is also installed at the front end of the outer pushing cylinder 111, with both ends of the pressure roller 113 connected to the front end of the outer pushing cylinder 111. In this way, on the one hand, by replacing the traditional sliding shoe with a pressure roller, the problem of material accumulation in front of the robot arm and protective support during forward movement is partially solved due to the weight of the equipment and unevenness of the base plate. On the other hand, by extending the outer pushing cylinder forward and installing the pressure roller, the overall stress distribution of the structure can be significantly optimized, avoiding head-down phenomena caused by excessive load on the robot arm.

[0019] In addition, if the number of working face shield supports 7 increases, it is only necessary to lengthen the bottom base body 22 on the base 2. This extended section is connected by a pin.

[0020] Compared to traditional robotic arms, this design, by redesigning the tilting base and placing the base and lifting cylinders at the rear (all located at the rear of the tilting base), significantly reduces the overall height of the robotic arm and decreases the lever arm of the base. This allows the design to be applied to smaller workspaces while maintaining traction force and overall structural strength. Specifically, the overall height of the equipment can be controlled within 1300mm, enabling it to handle the removal of smaller tonnage hydraulic supports under the same traction force, and adapting to smaller spaces under the supports. Furthermore, this structure offers higher overall strength and a more rational layout, allowing for the removal of hydraulic supports ranging from 10 to 55 tons within the same equipment structural dimensions, thus broadening its applicability to a wider range of hydraulic supports.

[0021] Building upon the robotic arm, this project also proposes a one-step moving structure. This structure utilizes a moving cylinder to indirectly extend the stroke of the sliding cylinder, effectively increasing the displacement of the shield support with each self-movement. This allows the shield support to move forward at least one frame width distance with each movement, achieving a one-step moving of the shield support. Furthermore, in this one-step moving structure, extending the outer cylinder forward and installing pressure rollers effectively avoids bottom-biting caused by uneven road surfaces and head-nodding caused by excessive load on the robotic arm.

[0022] The beneficial effects of this utility model are as follows: I. The integrated base design in this utility model solves the problem of easy breakage when the body and crossbeam are fixed with bolts or pins, thus improving the strength of the body; 2. In this utility model, the base and the telescopic arm are connected by a central hole in the flip base, and the telescopic arm is fixed to the pin shaft, which solves the requirement of interchangeable front and back working surfaces and improves applicability. 3. The telescopic boom lifting cylinder of this utility model is located at the rear, which reduces the overall height of the equipment and shifts the center of gravity of the equipment to the rear, thus reducing the burden of drilling at the front during self-movement. Fourth, this utility model optimizes the structure of the hinge point between the end of the telescopic arm and the flipping seat, solving the problem of easy deformation and tearing of the hinge point at the end of the telescopic arm. In addition, the force point of the swing cylinder is moved forward to both sides of the outer arm. Under the same outer arm size, the structure of this utility model has a greater traction force. Fifth, this utility model further adds a one-step self-moving mechanism, which solves the problem that the traditional removal robot and the cover support need to take multiple alternating steps when moving. The one-step self-moving mechanism of this case can move the relevant equipment into place in one go, solving the problem of repeated damage to the top plate by the cover support. VI. The addition of a roller pressing mechanism at the front end of this utility model improves the problem of material accumulation at the front end during the self-moving process of traditional equipment; VII. Under the same traction force, the external dimensions of the equipment are reduced, especially the height is significantly reduced. It is also applicable to low-tonnage, low-frame, low-space fully mechanized mining faces. Moreover, the compact structure of this utility model can achieve greater traction force and is applicable to a wider range of support frame types. Attached Figure Description

[0023] Figure 1 This is the three-dimensional aspect of the case. Figure 1 , Figure 2 This is the three-dimensional aspect of the case. Figure 2 , Figure 3 This is a 3D diagram of the flip-top in this case. Figure 4 This is a cross-sectional view of the flip-up seat in this case. Figure 5 This is a three-dimensional view of the base in this case.

[0024] In the diagram, 1 is the hydraulic support withdrawal manipulator, 2 is the base, 21 is the seat body, 22 is the bottom foundation, 3 is the lifting cylinder, 4 is the tilting seat, 40 is the lower ear plate, 5 is the swing cylinder, 6 is the telescopic arm, 60 is the side ear plate, 61 is the outer arm, 62 is the inner arm, and 63 is the telescopic cylinder.

[0025] Figure 6 This is a diagram illustrating the hydraulic support removal process. Figure 1 , Figure 7 This is a diagram illustrating the hydraulic support removal process. Figure 2 , Figure 8 This is a diagram illustrating the process of moving the protective support. Figure 1 , Figure 9 This is a diagram illustrating the process of moving the protective support. Figure 2 , Figure 10 This is a diagram illustrating the process of moving the protective support. Figure 3 ; In the figure, 1 is the hydraulic support withdrawal manipulator, 11 is the one-step pushing mechanism, 111 is the pushing outer cylinder, 112 is the pushing cylinder, and 113 is the pressure roller; 7 is the cover support, and 8 is the support to be withdrawn. Detailed Implementation

[0026] To clearly illustrate the technical features of this patent, the following detailed description is provided through specific embodiments and in conjunction with the accompanying drawings.

[0027] Considering that traditional robotic arms typically have a large structural size, while they can complete the corresponding actions in large aisles when pulling small hydraulic supports, their excessive size prevents them from being placed in narrow aisles, greatly limiting their applicability. More significantly, to ensure sufficient space for the lifting cylinders, traditional robotic arms are often designed with an excessively large vertical dimension. This not only restricts their applicability but also causes excessive stress on the bottom mounting base due to the excessively long lever arm, thus accelerating the aging of the robotic arm and making it difficult to guarantee its designed service life. Therefore, this paper proposes the following specific structural improvements.

[0028] like Figure 1-5 As shown, the hydraulic support withdrawal manipulator 1 includes a fixed base 2, a lifting cylinder 3, a tilting base 4, a swing cylinder 5, and a manipulator 6. The fixed base 2 is fixedly mounted on the crossbeam 10. The tilting base 4 is vertically rotatably connected to the fixed base 2 and is located in front of the fixed base 2. The two ends of the lifting cylinder 3 are respectively hinged to the fixed base 2 and the tilting base 4, and the lifting cylinder 3 is located behind the tilting base 4. The lifting cylinder 3 drives the tilting base 4 to tilt vertically. The hinge point between the lifting cylinder 3 and the fixed base 2 is higher than the hinge point between the lifting cylinder 3 and the tilting base 4. The root of the robotic arm 6 is rotatably connected to the tilting seat 4, and the two ends of the swing cylinder 5 are respectively hinged to the robotic arm 6 and the tilting seat 4, driving the robotic arm 6 to swing left and right. Thus, through the redesigned tilting seat and the rear-positioned design of the fixed seat and lifting cylinder, the overall height of the robotic arm is significantly reduced, and the lever arm of the fixed seat is decreased. This allows the design to be applied to smaller workspaces while effectively ensuring overall structural strength while maintaining traction. Clearly, the lifting cylinder and tilting seat drive structure chosen in this invention, due to the reduced driving lever arm between the lifting cylinder and the tilting seat, is a structure typically rejected in existing technologies. However, in this invention, this structure allows for a significant reduction in the height of the tilting seat.

[0029] The hydraulic support withdrawal manipulator 1 also includes a crossbeam 10, which is integrated with the fixed base 2. As the main load-bearing component, all forces acting on the manipulator ultimately act on the connection point between it and the crossbeam, posing a significant challenge to the connection strength. Traditional connections rely on bolts, which are typically arranged vertically for ease of installation. Consequently, when this connection point is stressed, a large radial shear force is generated on the bolts. Even increasing the number of bolts only provides temporary relief and does not solve the problem of bolt breakage and connection point disintegration between the manipulator and the crossbeam. The integrated design of the fixed base and crossbeam, along with the reduction in the overall height and shortening of the lever arm of the manipulator, effectively addresses this technical deficiency.

[0030] The flipping seat 4 has a Z-direction swing hole on its front side and a Y-direction flipping hole in the middle of its rear side. As the core connecting component of this invention, the flipping seat connects to the robotic arm on its front side and to the fixed seat on its rear side. This allows it to better serve as a transfer connection and, by utilizing the rear-mounted fixed seat and lifting cylinder, can reduce the overall height of the robotic arm and decrease the force arm of the fixed seat.

[0031] Specifically: like Figure 3 , 4 As shown in Figure 5, the rear side of the flip seat 4 is provided with a flip hole arranged in the Y direction, and the front part of the base 2 is provided with a mounting hole in the Y direction. The flip seat 4 and the base 2 are rotatably connected by a flip shaft passing through the flip hole and the mounting hole in the Y direction.

[0032] like Figure 3 , 4 As shown in Figure 5, a lower ear plate 40 is provided on the lower part of the rear side of the tilting seat 4. The front end of the lifting cylinder 3 is hinged to the lower ear plate 40, and the rear end of the lifting cylinder 3 is hinged to the fixed seat 2, with the rear end of the lifting cylinder 3 being higher than the front end. In this way, during the extension and retraction of the lifting cylinder 3, the tilting seat can be driven to rotate around the axis of the tilting shaft, making a swinging motion.

[0033] like Figure 1 As shown, the front of the flipping seat 4 is provided with a swing hole arranged in the Z direction, and the root of the telescopic arm 6 is provided with a Z-direction mounting hole. The telescopic arm 6 and the flipping seat 4 are rotatably connected by a swing shaft that passes through the swing hole and the Z-direction mounting hole.

[0034] like Figure 1As shown, there are two swing cylinders 5, respectively disposed on the left and right sides of the robotic arm 6. Side ear plates 60 are fixedly installed on the left and right side surfaces of the robotic arm 6. The front end of the swing cylinder 5 is hinged to the side ear plate 60, and the middle part of the swing cylinder 5 is hinged to the tilting seat 4. In this way, during the coordinated extension and retraction of the two swing cylinders 5, the robotic arm can be driven to rotate around the axis of the swing shaft, making a left and right swinging motion.

[0035] like Figure 1 As shown, the robotic arm 6 is a telescopic robotic arm, including an outer arm 61, an inner arm 62, and a telescopic cylinder 63. The outer arm 61 is connected to the tilting seat 4 and the swing cylinder 5. The inner arm 62 is installed in the outer arm 61. The two ends of the telescopic cylinder 63 are hinged to the inner arm 62 and the outer arm 61, respectively. In this way, the inner arm can be extended or retracted during the extension and retraction of the telescopic cylinder 63.

[0036] like Figure 6-7 As shown, the fixed base for the hydraulic support withdrawal manipulator during operation is the shield support. Commonly used withdrawal equipment and methods in the prior art are illustrated in the invention patent filed by the applicant on October 18, 2013, entitled "A Method for Withdrawing a Hydraulic Support in a Coal Mine," application number "201310492514.9." The withdrawal process mentioned in that case includes the following steps: Step 1: Install the manipulator 1 on the crossbeam in front of the shield support 7; Step 2: Operate the manipulator 1 to pull the support 8 to be withdrawn forward from its position; Step 3: Pull out the withdrawn hydraulic support or load it onto a flatbed truck nearby and transport it out; Step 4: Push the shield support 7 forward, and the manipulator 1 moves forward with the crossbeam, then repeat steps 1 to 3. In the above, the robotic arm 1 is fixedly mounted on the crossbeam, and the crossbeam is directly fixedly mounted on the push cylinder at the bottom of the cover support 7. When performing step four above, it is necessary to first lower part of the cover support, then extend the push cylinder at the bottom of the cover support 7 that has not been lowered, so that the crossbeam and the lowered part of the cover support can move forward a certain distance; then push up the forward-moving cover support, lower the cover support in the original position, and shorten all the push cylinders, so that several cover supports can move forward a certain distance together.

[0037] However, after long-term practical use, it has been found that such evacuation devices consistently have the following technical problems: Firstly, regarding ease of use and working time, during step four above, the forward distance of each self-movement of the shield support is limited by the stroke of the push cylinder, and each self-movement will not exceed the maximum extension of the push cylinder. However, after each support to be withdrawn is withdrawn, the shield support needs to move forward at least one frame width, approximately twice the stroke of the push cylinder. This results in the shield support needing to repeat self-movement each time step four is performed, which significantly impacts the overall working time and efficiency when dealing with the withdrawal of dozens of supports. Although existing technologies mention some solutions to increase the stroke of the push cylinder, such solutions would introduce more serious problems such as decreased stability and increased equipment size.

[0038] Secondly, the traditional sliding shoes set in front of the crossbeam are prone to scraping and chipping on the bottom surface when the ground in front is uneven due to the weight of the equipment.

[0039] Therefore, how to optimize traditional withdrawal equipment and methods, overcome the above-mentioned technical problems, further ensure service life and improve work efficiency has become a technical problem that urgently needs to be solved by those skilled in the art.

[0040] In response, this case proposes a one-step pushing mechanism for the protective support, building upon the existing hydraulic support withdrawal manipulator 1. Without altering the structure of the hydraulic support and the protective support, without significantly increasing costs or the space occupied by the equipment, this mechanism can significantly improve the movement efficiency of the protective support, thereby enhancing the overall work efficiency during the withdrawal of the hydraulic support.

[0041] The one-step moving mechanism 11 includes a moving outer cylinder 111 and a moving inner cylinder 112. The moving outer cylinder 111 is installed at the bottom of the base 2, and the moving inner cylinder 112 is installed inside the moving outer cylinder 111 by a moving oil cylinder. The moving inner cylinder 112 is connected to the pusher head at the bottom of the shield support 7.

[0042] The two ends of the pushing cylinder are respectively connected to the pushing outer cylinder and the pushing inner cylinder. In this way, the stroke of the pushing cylinder can be extended by means of the pushing inner cylinder 112 with the built-in pushing cylinder, thereby effectively increasing the displacement of the shield support in each self-movement, so that it can move forward by at least one frame width distance each time, realizing the one-step pushing of the shield support.

[0043] The one-step pushing mechanism 11 includes a pair of parallel pushing outer cylinders 111. The rear end of each pushing outer cylinder 111 is fixedly installed at the bottom of the base 2, and a pressure roller 113 is installed at the front end of each pushing outer cylinder 111. The two ends of the pressure roller 113 are rotatably connected to the two pushing outer cylinders 111. In this way, on the one hand, by replacing the traditional slipper with a pressure roller, the ground in front of the equipment can be effectively flattened due to unevenness caused by the weight of the equipment, avoiding the bottoming phenomenon caused by uneven ground and solving the problem of material accumulation in front. On the other hand, by extending the pushing outer cylinder forward and installing the pressure roller, the overall stress of the structure can also be significantly optimized, avoiding the nodding phenomenon caused by excessive load on the robot arm.

[0044] When there are three shield supports, the one-step moving structure moves the shield supports as follows: Figure 8-10 As shown, the initial state is as follows: Figure 8 As shown, proceed with the following steps: In the first step, the three shield support push cylinders extend, pushing the shield support and base forward for the first time, moving one push cylinder step distance; The second step is to lower the protective support that is closest to the old pond side, which is directly connected to the base. The third step is to retract the push cylinder of the protective support frame closest to the old pond, and use the reaction force to pull the protective support frame forward by one push cylinder step distance; as follows: Figure 9 As shown; Fourth step, extend two push-moving hydraulic cylinders, and extend the push-slide cylinders near the old pond side shield support, as shown. Figure 10 As shown; Fifth step: retract the push cylinder of the protective support near the old pond side, and move it forward a second time by reaction force, moving one step distance, and then support the protective support of the old pond side after it is in place; Step 6: Lower the two protective supports connecting the inner cylinder, retract the inner cylinder and the push cylinders of the two protective supports, and move forward by reaction force. The amount of self-movement at this time is the sum of the two self-movement amounts in the first five steps, which is also equal to one frame width of the support to be removed. After it is in place, support all the protective supports; the movement of the protective supports is completed.

[0045] There are many specific implementation methods for this utility model. The above description is only a preferred embodiment of this utility model. It should be noted that for those skilled in the art, several improvements can be made without departing from the principle of this utility model, and these improvements should also be considered within the protection scope of this utility model.

Claims

1. A hydraulic support removing manipulator, characterized by, The hydraulic support removal manipulator (1) includes a base (2), a lifting cylinder (3), a tilting seat (4), a swing cylinder (5), and a telescopic arm (6). The flipping seat (4) is connected to the base (2) and is located in front of the base (2). The two ends of the lifting cylinder (3) are respectively hinged to the base (2) and the flipping seat (4), and the lifting cylinder (3) is located behind the flipping seat (4). The flipping seat (4) is driven to flip by the lifting cylinder (3). The hinge point between the lifting cylinder (3) and the base (2) is higher than the hinge point between the lifting cylinder (3) and the flipping seat (4). The root of the telescopic arm (6) is rotatably connected to the flipping seat (4), and the two ends of the swing cylinder (5) are respectively hinged to the telescopic arm (6) and the flipping seat (4). The telescopic arm (6) is driven to swing left and right by the swing cylinder (5).

2. The hydraulic support removing manipulator according to claim 1, wherein The base (2) includes a seat body (21) and a bottom base body (22) that are machined into one piece.

3. The hydraulic support removing manipulator according to claim 1, wherein The flip seat (4) has a flip hole arranged in the Y direction on the rear side, and the base (2) has a mounting hole in the Y direction at the front. The flip seat (4) and the base (2) are connected by a flip shaft that passes through the flip hole and the mounting hole in the Y direction. The lower part of the rear side of the flipping seat (4) is provided with a lower ear plate (40), the front end of the lifting cylinder (3) is hinged to the lower ear plate (40), the rear end of the lifting cylinder (3) is hinged to the base (2), and the rear end of the lifting cylinder (3) is higher than the front end.

4. The hydraulic support removing manipulator according to claim 1, wherein The front of the flipping seat (4) is provided with a swing hole arranged in the Z direction, and the root of the telescopic arm (6) is provided with a Z direction mounting hole. The telescopic arm (6) is connected to the flipping seat (4) through the swing shaft passing through the swing hole and the Z direction mounting hole. Two swing cylinders (5) are provided, respectively located on the left and right sides of the telescopic arm (6). Side ear plates (60) are fixedly installed on the left and right sides of the telescopic arm (6). The front end of the swing cylinder (5) is hinged to the side ear plate (60), and the trunnion of the swing cylinder (5) is hinged to the flipping seat (4).

5. The hydraulic support removing manipulator according to claim 1, wherein The telescopic arm (6) includes an outer arm (61), an inner arm (62), and a telescopic cylinder (63). The outer arm (61) is connected to the flipping seat (4) and the swing cylinder (5). The inner arm (62) is installed in the outer arm (61). The two ends of the telescopic cylinder (63) are connected to the inner arm (62) and the outer arm (61) respectively.

6. A one-step shifting mechanism for a hydraulic support removal robot according to claim 1, characterized in that, The one-step pushing mechanism (11) includes a pushing outer cylinder (111) and a pushing inner cylinder (112). The pushing outer cylinder (111) is installed at the bottom of the base (2). The pushing inner cylinder (112) is installed inside the pushing outer cylinder (111) by a pushing cylinder, and the pushing inner cylinder (112) is connected to the push head at the bottom of the shield support (7).

7. The one-step push-fit mechanism of claim 6, wherein, The one-step pushing mechanism (11) includes two sets of pushing outer cylinders (111) and pushing inner cylinders (112). The pushing inner cylinder (112) is arranged inside the pushing outer cylinder (111) and is connected to the push head at the bottom of the shield support (7).

8. The one-step push-fit mechanism of claim 7, wherein, The front end of the pushing outer cylinder (111) is also equipped with a pressure roller (113), and the two ends of the pressure roller (113) are connected to the front end of the pushing outer cylinder (111).

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