CN111646199A

CN111646199A - Mining handling device

Info

Publication number: CN111646199A
Application number: CN202010619914.1A
Authority: CN
Inventors: 胡文富; 吴红伟; 于加柱; 张阳; 高亚飞; 杜辉; 吉志强; 刘献超; 陈宏伟; 韦玉亭; 王改超; 党铁栓
Original assignee: Ccig Heavy Industry Co ltd; China National Gold Engineering Corp
Current assignee: Ccig Heavy Industry Co ltd; China National Gold Engineering Corp
Priority date: 2020-07-01
Filing date: 2020-07-01
Publication date: 2020-09-11

Abstract

The invention relates to a mining carrying device which comprises a frame body, a longitudinal moving device, a transverse moving device, a mechanical arm, an auxiliary stabilizing device, a mine car, a track and a car arrester. The invention can be used in gold mine, and has the characteristics of high stability, high mechanization degree, high efficiency and high safety.

Description

Mining handling device

Technical Field

The invention relates to the field of mine transportation, in particular to an in-mine carrying device.

Background

The development of the mine enterprises plays a very important role in the development of national economy in China. The development of the method is directly related to the development of the metallurgical industry and the rapid development of the mining and metallurgy industry, and has profound influence on the human society. Nowadays, the increasingly global competition and merger of the mining and metallurgy industries promote the higher and higher performance requirements of the market on mining machinery. Therefore, how to improve productivity, shorten production time, and improve the yield and quality of ore is a focus of attention from the overall height of the mining production flow of the mine.

At present, nonmetal large mine car pushers such as coal mines and the like have good application effects, but the car pusher with the original structure is difficult to popularize due to the fact that water and soil are not uniform in gold mines. Jilin sandwiches the gold mine of the ditch caused the security accident that a person fell into the well and dies by a pusher.

In the actual use process of the existing car pusher, the car pusher has the defects of low degree of mechanization, low working efficiency, poor safety performance, large impact, easy damage and the like.

A mining carrying device is needed, can be used in gold ores, and has the advantages of high stability, high mechanization degree, high efficiency and high safety.

Disclosure of Invention

The invention provides a mining carrying device, which solves the problems of low degree of mechanization, low working efficiency, poor safety performance, large impact, high possibility of damage and low safety of a car pusher in the prior art, adopts a door type structure and simultaneously sets a stabilizing device for a moving part, and solves the problems.

The invention provides a mining carrying device, which comprises a frame body, a longitudinal moving device, a transverse moving device, a manipulator, an auxiliary stabilizing device, a mine car, a track and a car arrester, wherein the frame body is arranged in a roadway, the longitudinal moving device is longitudinally and movably arranged at the upper end of the frame body, the transverse moving device is transversely and movably connected with the longitudinal moving device, the manipulator is movably arranged on the lower surface of the transverse moving device, the manipulator can transversely move under the transverse moving device, the transverse moving device can longitudinally move along the longitudinal moving device, the auxiliary stabilizing device is arranged on a moving frame body of the transverse moving device, the device comprises a transverse moving device, a track, a car arrester, a connecting assembly, a lifting device, a; the collision head and the bolt seat are fixedly connected with the mine car; the bolt seat is arranged at the upper end of the collision head; the bolt is arranged in the bolt seat; the three-ring chain is arranged between the two bolt seats through bolts;

the transverse moving device comprises a first I-steel, a second I-steel, a manipulator fixing seat and a moving wheel set, wherein two ends of the first I-steel are fixedly connected with the longitudinal moving device, two ends of the second I-steel are fixedly connected with the transverse moving device, the first I-steel and the second I-steel are parallel to each other, the moving wheel set is fixedly arranged at two sides of the manipulator fixing seat, the working surface of the moving wheel set is higher than the upper surface of the manipulator fixing seat, and the manipulator fixing seat is movably arranged between the first I-steel and the second I-steel through the moving wheel set;

the auxiliary stabilizing device comprises a movable wheel set stabilizer and an integral stabilizer, the movable wheel set stabilizer is arranged on the movable wheel set and is respectively contacted with the first I-shaped steel and the second I-shaped steel, and the integral stabilizer is fixedly arranged on two sides of the manipulator fixing seat and used for stabilizing the manipulator fixing seat and the first I-shaped steel as well as the manipulator fixing seat and the second I-shaped steel.

The transverse moving device and the longitudinal moving device are respectively responsible for transverse moving and longitudinal moving of the manipulator inside a mine roadway, so that the manipulator can move to any position in a horizontal plane, the manipulator can rotate relative to the manipulator fixing seat, the manipulator uses a multi-stage power structure, and has certain degree of freedom in the vertical direction, and a functional area of the manipulator can be distributed inside the roadway. The manipulator functional area can be of various structures such as grabbing or adsorption.

The inside cage exit linkage tunnel entry of gold mine, the mine car realizes going up and down through carrying on the cage and transports the material, because the cage is installed in the mine auxiliary shaft, it itself has certain danger of falling, and traditional shallow mode is that the staff is manual to push away the mine car from the cage in the tunnel, and therefore the gold mine of Jilin clip leather ditch caused the incident of a person of the pusher falling into the well personal death. The existing car pusher is mostly in a linear type and a rope type, and the linear car pusher is used, so that a mine car still inevitably needs to be pushed manually from a cage to the car pusher, and certain unavoidable risk is brought to operators; and the end of the rope still needs to be manually installed by adopting the rope type car pusher.

Mining manipulator is owing to install inside the tunnel, and self has great dead weight, uses to cause great impact usually, because the installation all adopts the stock structure in the tunnel, long-time the use easily causes not hard up, reduces life, increases dangerously, considers the supplementary stabilising arrangement of installation, makes manipulator in use reduce the impact, effectively increases life, supplementary stabilising arrangement can regard as buffer simultaneously, accessible support body is urgent spacing to manipulator itself when the emergence accident, ensures personnel's safety. The moving advantage of the device in the roadway is seen.

The mining carrying device is characterized in that the moving wheel sets are composed of four groups and are respectively and sequentially arranged at two ends of two transverse sides of the manipulator fixing seat, and the working surfaces of the moving wheels are arranged on the upper surface of the outer side of the I-steel lower flange;

the movable wheel stabilizers comprise stabilizers with the number corresponding to that of the movable wheel sets, and the stabilizers are respectively arranged on the corresponding side surfaces of the movable wheels;

each of the moving wheel stabilizers includes a moving wheel horizontal stabilizer and a moving wheel vertical stabilizer, the moving wheel horizontal stabilizer is disposed at a side portion of the moving wheel, and the moving wheel vertical stabilizer is disposed at a diagonal lower portion of each of the moving wheels.

The I-shaped steel is used as the sliding rail, and the shape of the I-shaped steel is matched with the moving wheel, the corresponding vertical stabilizer and the horizontal stabilizer, so that the I-shaped steel is longitudinally locked by the manipulator fixing seat, and the inertial impact generated when the I-shaped steel longitudinally moves is reduced. Simultaneously, the movable wheel, the vertical stabilizer and the horizontal stabilizer are respectively distributed on the upper surface and the lower surface of the lower flange of the I-shaped steel and on the waist, so that the manipulator fixing seat is more stable at the connecting position of the I-shaped steel.

The invention relates to a mining conveying device, as a preferable mode, each moving wheel horizontal stabilizer comprises a corresponding moving wheel horizontal stabilizing surface, a corresponding moving wheel horizontal front spare stabilizing surface, a corresponding moving wheel horizontal rear spare stabilizing surface, a corresponding moving wheel horizontal stabilizing surface carrying device and a corresponding moving wheel horizontal stabilizer frame body, each moving wheel horizontal stabilizing frame body is arranged at one side of a corresponding moving wheel, each moving wheel horizontal stabilizing surface, each moving wheel horizontal front spare stabilizing surface and each moving wheel rear horizontal spare stabilizing surface are all arranged at the periphery of the corresponding moving wheel horizontal stabilizing surface carrying device, each moving wheel horizontal front spare stabilizing surface and each moving wheel rear horizontal spare stabilizing surface are respectively arranged at two sides of the corresponding moving wheel horizontal stabilizing surface, each moving wheel horizontal stabilizing surface carrying device is horizontally and movably arranged at the corresponding moving wheel horizontal stabilizer frame body, each moving wheel horizontal stabilizing surface is a plane and is in contact with the waist part of each I-steel and vertically moves at the corresponding waist part of the I-steel, each moving wheel horizontal front standby stabilizing surface and each moving wheel rear horizontal standby stabilizing surface are smooth curved surfaces, and the curvatures of each moving wheel horizontal front standby stabilizing surface and each moving wheel rear horizontal standby stabilizing surface are the same;

the structure of the movable wheel vertical stabilizer is similar to that of the movable wheel horizontal stabilizer, and the difference is that the movable wheel vertical stabilizing surface of the movable wheel vertical stabilizer is contacted with the lower surface of the I-shaped steel lower flange and vertically moves on the lower surface of the I-shaped steel lower flange.

Each moving wheel stabilizer consists of a stabilizing surface and front and rear standby stabilizing surfaces, the stabilizing surface is in contact with the surface of the I-shaped steel and slides or rolls with the surface of the I-shaped steel, the front and rear standby stabilizing surfaces are arranged in front of and behind the stabilizing surface, when the stabilizing surface is in friction deformation or rolls with the surface of the I-shaped steel, the front and rear standby stabilizing surfaces deviate or roll towards the surface of the I-shaped steel according to the transverse advancing direction of the manipulator fixing seat, and contact vibration is reduced through a smooth curve, so that the manipulator fixing seat moves more stably.

The mining carrying device provided by the invention has the advantages that as a preferable mode, the frame body comprises a plurality of first upright columns, a plurality of second upright columns, first guide rails and second guide rails, the number of the second upright columns corresponds to that of the first upright columns, the first upright columns and the second upright columns are oppositely arranged on two sides of a roadway, the first guide rails are arranged at the upper ends of the first upright columns and connected with the first upright columns, and the second guide rails are arranged at the upper ends of the second upright columns and connected with the second upright columns.

According to the mining carrying device, as an optimal mode, the longitudinal moving device comprises a first longitudinal moving device and a second longitudinal moving device, the first longitudinal moving device is arranged on the first guide rail, the second longitudinal moving device is arranged on the second guide rail, two ends of a first I-shaped steel are respectively connected with the first longitudinal moving device and the second longitudinal moving device, and two ends of a second I-shaped steel are respectively connected with the first longitudinal moving device and the second longitudinal moving device.

The longitudinal moving device is used for the manipulator to longitudinally move in the roadway, the manipulator function part can be conveyed to the position outside the projection of the frame body by the angle of the matched manipulator, so that the mine car can be directly grabbed in the cage, the worker can perform remote operation, the grabbing process does not need personnel to participate, and unnecessary risks are reduced.

The mining carrying device provided by the invention preferably comprises a driving belt, a first belt wheel and a first belt wheel mounting seat, the second belt wheel, the second belt wheel mount pad, the manipulator fixing base, first belt wheel mount pad both ends set up respectively in the inboard bottom flange upper surface of first I-steel one end and the inboard bottom flange upper surface of second I-steel homonymy tip, second belt wheel mount pad both ends set up respectively in the inboard bottom flange upper surface of another tip of first I-steel and the inboard bottom flange upper surface of another tip of second I-steel, first belt wheel sets up in first belt wheel mount pad upper surface and axial and vertically sets up along the tunnel, the second belt wheel sets up in second belt wheel mount pad upper surface and axial and vertically sets up along the tunnel, first belt wheel output and second belt wheel output are connected to the conveyer belt, the manipulator fixing base is fixed to be set up in the conveyer belt middle part.

The two driving belt wheels drive a driving belt through a hydraulic motor, and the driving belt drives the manipulator mounting seat to enable the manipulator mounting seat to move transversely.

According to the mining carrying device, as a preferable mode, the manipulator comprises a manipulator rotating part, a manipulator connecting part, a manipulator end part and a manipulator function part, the manipulator rotating part is movably arranged at the bottom end of the manipulator fixing seat, one end of the manipulator connecting part is movably connected with the manipulator rotating part, the other end of the manipulator connecting part is movably connected with the manipulator end part, the manipulator function part is movably connected with the free end of the manipulator connecting part, the manipulator function part is movably connected with the free end of the manipulator end part, hydraulic rods are adopted between the manipulator rotating part and the manipulator connecting part and between the manipulator connecting part and the manipulator end part to control movement, and the manipulator function part is used for grabbing a mine car in a roadway.

The manipulator comprises many festival hydraulic structure, lets the manipulator adjustable on vertical position, adapts to multiple mine car type to adapt to multiple different in service behavior and environment.

The invention relates to a mining carrying device, which is characterized in that a manipulator fixing seat comprises a belt wheel fixing plate and a moving seat, the fixing base connecting plate, roating seat and hydraulic motor, band pulley fixed plate middle part and drive belt fixed connection, the vertical both ends fixed mounting of band pulley fixed plate is in removing the seat upper surface, it is the tubular structure to remove the seat, the seat bottom is removed in surface connection on the fixing base connecting plate, the roating seat top is connected to the fixed connection board lower surface, fixing base connecting plate and roating seat are provided with the same and coaxial through-hole of diameter, through-hole diameter less than or equal to removes the shortest diameter of seat hole, roating seat and manipulator rotating part swing joint, the manipulator rotating part sets up in the roating seat bottom, hydraulic motor sets up in removing the seat inside and install in fixing base connecting plate upper surface, the hydraulic motor output passes the through-.

The rotary seat and the moving group rotate upwards through the hydraulic motor on a vertical shaft, and the manipulator rotates through the hydraulic motor, so that the manipulator can be finely adjusted in a roadway space.

The mining carrying device comprises a first integral stabilizer and a second integral stabilizer, wherein the first integral stabilizer is arranged in the middle of a manipulator fixing seat on one side of a first I-shaped steel, and the second integral stabilizer is arranged in the middle of the manipulator fixing seat on one side of a second I-shaped steel;

the two integral stabilizers respectively comprise an integral stabilizer mounting part, an integral stabilizer connecting part, an integral stabilizer horizontal functional part and an integral stabilizer vertical functional part, the integral stabilizer mounting part, the integral stabilizer connecting part, the integral stabilizer horizontal functional part and the integral stabilizer vertical functional part are all rod-shaped, the length of the integral stabilizer mounting part is smaller than that of the integral stabilizer horizontal functional part, the length of the integral stabilizer vertical functional part is smaller than that of the integral stabilizer connecting part, the integral stabilizer mounting part is vertically arranged on the side surface of the manipulator fixing seat, the integral stabilizer connecting part, the integral stabilizer horizontal functional part and the integral stabilizer vertical functional part are sequentially vertically connected end to end, the free end of the integral stabilizer connecting part is vertically connected with the integral stabilizer mounting part, the integral stabilizer connecting part and the integral stabilizer horizontal functional part form a shape with a character 'shape' and a downward opening, the I-shaped steel is arranged in the shape of the Chinese character 'zi'.

Two integral stabilizer are used for complementing removing wheel stabilizer stable direction, and integral stabilizer forms the omnidirectional to the I-steel and surrounds, and when removing the wheel and removing wheel stabilizer inefficacy, integral stabilizer plays interim protecting effect, avoids breaking away from of manipulator and support body.

The invention has the following beneficial effects:

(1) the I-shaped steel is used as a sliding rail, and the shape of the I-shaped steel is matched with the movable wheel and the corresponding vertical stabilizer and horizontal stabilizer, so that the I-shaped steel is locked by the manipulator fixing seat in the longitudinal direction, and the inertia impact generated when the I-shaped steel moves in the longitudinal direction is reduced;

(2) the integral stabilizer is used for supplementing the stabilizing direction of the moving wheel stabilizer, the integral stabilizer forms omnidirectional enclosure to the I-shaped steel, and when the moving wheel stabilizer and the moving wheel stabilizer fail, the integral stabilizer plays a temporary protection effect and avoids the separation of the manipulator from the frame body;

(3) the manipulator is composed of a multi-section hydraulic structure, so that the manipulator is adjustable in the vertical position, is suitable for various mine car types and is suitable for various different use conditions and environments;

(4) the longitudinal moving device is used for the mechanical arm to longitudinally move in a roadway, and the functional part of the mechanical arm can be conveyed to a position outside the projection of the frame body by matching the angle of the mechanical arm, so that the mine car can be directly grabbed in the cage, a worker can remotely operate the mine car, personnel are not required to participate in the grabbing process, and unnecessary risks are reduced;

(5) the movable wheel, the vertical stabilizer and the horizontal stabilizer are respectively distributed on the upper surface and the lower surface of the flange of the I-steel lower flange and on the waist, so that the manipulator fixing seat is more stable at the I-steel connecting position.

Drawings

FIG. 1 is a schematic view of a mining handling device;

FIG. 2 is a schematic view of a lateral moving device of a mining handling device;

FIG. 3 is a schematic view of an auxiliary stabilizing device of a mining handling device;

FIG. 4 is a schematic view of a moving wheel set of a mining handling device;

fig. 5 is a schematic view of a moving wheel set stabilizer of a mining handling device;

FIG. 6 is a schematic view of a first mobile wheel stabilizer of a mining handling device;

FIG. 7 is a schematic view of a second moving wheel stabilizer of a mining handling device;

FIG. 8 is a schematic view of a third moving wheel stabilizer of a mining handling device;

FIG. 9 is a schematic view of a fourth moving wheel stabilizer of the mining handling device;

FIG. 10 is a schematic view of a first mobile wheel horizontal stabilizer of a mining handling device;

FIG. 11 is a schematic view of a first mobile wheel vertical stabilizer of a mining handling device;

FIG. 12 is a schematic view of a second moving wheel horizontal stabilizer of a mining handling device;

FIG. 13 is a schematic view of a second mobile wheel vertical stabilizer of a mining handling device;

FIG. 14 is a schematic view of a third mobile wheel horizontal stabilizer of a mining handling device;

FIG. 15 is a schematic view of a third moving wheel vertical stabilizer of a mining handling device;

fig. 16 is a schematic view of a fourth moving wheel horizontal stabilizer of the mining handling device;

fig. 17 is a schematic view of a fourth moving wheel vertical stabilizer of the mining handling device;

FIG. 18 is a schematic view of a mining handling device frame;

FIG. 19 is a schematic view of a mining handling device robot;

FIG. 20 is a schematic view of a robot holder of a mining handling device;

FIG. 21 is a schematic view of an overall stabilizer of a mining handling device;

fig. 22 is a schematic view of a first integral stabilizer of a mining handling device;

fig. 23 is a schematic view of a second integral stabilizer of a mining handling device.

Reference numerals:

1. a frame body; 11. a first upright post; 12. a second upright post; 13. a first guide rail; 14. a second guide rail; 2. a longitudinal moving device; 21. a first longitudinal moving device; 22. a second longitudinal moving device; 3. a lateral movement device; 31. a first I-steel; 32. a second I-steel; 33. a manipulator fixing seat; 331. a belt wheel fixing plate; 332. a movable seat; 333. a fixed seat connecting plate; 334. a rotating base; 335. a hydraulic motor; 34. a moving wheel set; 341. a first moving wheel; 342. a second moving wheel; 343. a third moving wheel; 344. a fourth moving wheel; 35. a transmission belt; 36. a first pulley; 37. a first pulley mount; 38. a second pulley; 39. a second pulley mount; 4. a manipulator; 41. a manipulator rotating part; 42. a manipulator connecting part; 43. the end part of the manipulator; 44. a manipulator function section; 5. an auxiliary stabilizing device; 51. a moving wheel set stabilizer; 511. a first moving wheel stabilizer; 5111. a first moving wheel horizontal stabilizer; 51111. a first moving wheel horizontal stabilizing surface; 51112. a first moving wheel is horizontally arranged on the front standby stabilizing surface; 51113. a first movable wheel horizontal backup stabilizing surface; 51114. a first moving wheel horizontal stable surface carrying device; 51115. a first moving wheel horizontal stabilizer frame; 5112. a first moving wheel vertical stabilizer; 51121. the first moving wheel is vertical to the stable surface; 51122. the first moving wheel is vertical to the front standby stabilizing surface; 51123. the first moving wheel is vertical to the stable surface for backup; 51124. the first moving wheel vertical stable surface carrying device; 51125. the first moving wheel is vertical to the stabilizer frame body; 512. a second moving wheel stabilizer; 5121. a second moving wheel horizontal stabilizer; 51211. a second moving wheel horizontal stabilizing surface; 51212. the second moving wheel is horizontally arranged on the front standby stabilizing surface; 51213. the second movable wheel is horizontally arranged on the back standby stable surface; 51214. a second moving wheel horizontal stable surface carrying device; 51215. a second moving wheel horizontal stabilizer frame; 5122. a second moving wheel vertical stabilizer; 51221. the second moving wheel is vertical to the stable surface; 51222. the second moving wheel is vertical to the front standby stabilizing surface; 51223. the second movable wheel is vertical to the stable surface for backup; 51224. the second moving wheel vertical stable surface carrying device; 51225. the second moving wheel is vertical to the stabilizer frame body; 513. a third moving wheel stabilizer; 5131. a third moving wheel horizontal stabilizer; 51311. a horizontal stabilizing surface of a third moving wheel; 51312. a third moving wheel is horizontally arranged on the front standby stabilizing surface; 51313. a third movable wheel horizontal backup stabilizing surface; 51314. a third moving wheel horizontal stable surface carrying device; 51315. a third moving wheel horizontal stabilizer frame body; 5132. a third moving wheel vertical stabilizer; 51321. the third moving wheel is vertical to the stable surface; 51322. the third moving wheel is vertical to the front standby stabilizing surface; 51323. the third movable wheel is vertical to the stable surface for backup; 51324. the third moving wheel is vertical to the stable surface carrying device; 51325. the third moving wheel is vertical to the stabilizer frame body; 514. a fourth moving wheel stabilizer; 5141. a fourth moving wheel horizontal stabilizer; 51411. a fourth moving wheel horizontal stabilizing surface; 51412. a fourth moving wheel is horizontally arranged on the front standby stabilizing surface; 51413. a fourth movable wheel horizontal backup stabilizing surface; 51414. a fourth moving wheel horizontal stable surface carrying device; 51415. a fourth moving wheel horizontal stabilizer frame body; 5142. a fourth moving wheel vertical stabilizer; 51421. the fourth moving wheel is vertical to the stabilizing surface; 51422. the fourth movable wheel is vertical to the front standby stable surface; 51423. the fourth movable wheel is vertical to the stable surface for backup; 51424. the fourth moving wheel is vertical to the stable surface carrying device; 51425. the fourth movable wheel is vertical to the stabilizer frame body; 52. an integral stabilizer; 521. a first integral stabilizer; 5211. a first integral stabilizer mount; 5212. a first integral stabilizer connection portion; 5213. a first integral stabilizer horizontal function section; 5214. a first integral stabilizer vertical function portion; 522. a second integral stabilizer; 5221. a second integral stabilizer mount; 5222. a second integral stabilizer connection portion; 5223. a second integral stabilizer horizontal function section; 5224. a second integral stabilizer vertical function portion; 6. a mine car; 7. a track; 8. a car arrester.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Example 1

As shown in figure 1, the mining carrying device comprises a frame body 1, a longitudinal moving device 2, a transverse moving device 3, a manipulator 4, an auxiliary stabilizing device 5, a mine car 6, a track 7 and a car arrester 8, wherein the frame body 1 is arranged in a roadway, the longitudinal moving device 2 is longitudinally and movably arranged at the upper end of the frame body 1, the transverse moving device 3 is transversely and movably connected with the longitudinal moving device 2, the manipulator 4 is movably arranged at the lower surface of the transverse moving device 3, the manipulator 4 can transversely move under the transverse moving device 3, the transverse moving device 3 can longitudinally move along the longitudinal moving device 2, the auxiliary stabilizing device 5 is arranged on a moving frame body 1 of the transverse moving device 3 and is used for enabling the manipulator 4 to stably move on the transverse moving device 3 and provide guidance, the track 7 is arranged on the ground of the roadway, one end of the track is connected with a cage outlet, the other end of the track is connected with the, the connecting assembly comprises a bolt seat, a bolt, a three-ring chain and a collision head; the collision head and the bolt seat are fixedly connected with the mine car; the bolt seat is arranged at the upper end of the collision head; the bolt is arranged in the bolt seat; the three-ring chain is arranged between the two bolt seats through bolts.

As shown in fig. 2, the transverse moving device 3 includes a first i-steel 31, a second i-steel 32, a manipulator fixing seat 33, a moving wheel set 34, a transmission belt 35, a first pulley 36, a first pulley mounting seat 37, a second pulley 38, and a second pulley mounting seat 39, two ends of the first i-steel 31 are fixedly connected to the longitudinal moving device 2, two ends of the second i-steel 32 are fixedly connected to the transverse moving device 3, the first i-steel 31 and the second i-steel 32 are parallel to each other, the moving wheel set 34 is fixedly disposed on two sides of the manipulator fixing seat 33, a working surface of the moving wheel set 34 is higher than an upper surface of the manipulator fixing seat 33, and the manipulator fixing seat 33 is movably disposed between the first i-steel 31 and the second i-steel 32 through the moving wheel set 34. The two ends of the first belt wheel mounting seat 37 are respectively arranged on the upper surface of the inner side lower flange of one end of the first I-beam 31 and the upper surface of the inner side lower flange of the end part of the same side of the second I-beam 32, the two ends of the second belt wheel mounting seat 39 are respectively arranged on the upper surface of the inner side lower flange of the other end part of the first I-beam 31 and the upper surface of the inner side lower flange of the other end part of the second I-beam 32, the first belt wheel 36 is arranged on the upper surface of the first belt wheel mounting seat 37 and axially longitudinally arranged along a roadway, the second belt wheel 38 is arranged on the upper surface of the second belt wheel mounting seat and axially longitudinally arranged along the roadway, the conveying belt is connected with the output end of the.

As shown in fig. 3, the auxiliary stabilizing device 5 includes a movable wheel set stabilizer 51 and an integral stabilizer 52, the movable wheel set stabilizer 51 is disposed on the movable wheel set 34 and contacts with the first i-beam 31 and the second i-beam 32, and the integral stabilizer 52 is fixedly mounted on two sides of the manipulator fixing seat 33 for stabilizing the manipulator fixing seat 33 and the first i-beam 31, and the manipulator fixing seat 33 and the second i-beam 32.

As shown in fig. 4, the moving wheel group 34 includes a first moving wheel 341, a second moving wheel 342, a third moving wheel 343, and a fourth moving wheel 344, the first moving wheel 341, the second moving wheel 342, the third moving wheel 343, and the fourth moving wheel 344 are sequentially disposed at two ends of the robot holder 33 in the lateral direction, respectively, a working surface of the first moving wheel 341 and a working surface of the second moving wheel 342 are disposed on an outer upper surface of a lower flange of the first i-beam 31, and working surfaces of the third moving wheel 343 and the fourth moving wheel 344 are disposed on an outer upper surface of a lower flange of the second i-beam 32.

As shown in fig. 5, the moving wheel set stabilizer 51 includes a first moving wheel stabilizer 511, a second moving wheel stabilizer 512, a third moving wheel stabilizer 513, and a fourth moving wheel stabilizer 514, the first moving wheel stabilizer 511 is disposed at a side of the first moving wheel 341, the second moving wheel stabilizer 512 is disposed at a side of the second moving wheel 342, the third moving wheel stabilizer 513 is disposed at a side of the third moving wheel 343, and the fourth moving wheel stabilizer 514 is disposed at a side of the fourth moving wheel 344.

As shown in fig. 6, the first moving wheel stabilizer 511 includes a first moving wheel horizontal stabilizer 5111 and a first moving wheel vertical stabilizer 5112, the first moving wheel horizontal stabilizer 5111 is disposed at a side portion of the first moving wheel 341, and the first moving wheel vertical stabilizer 5112 is disposed obliquely below the first moving wheel 341.

As shown in fig. 7, the second moving wheel stabilizer 512 includes a second moving wheel horizontal stabilizer 5121 and a second moving wheel vertical stabilizer 5122, the second moving wheel horizontal stabilizer 5121 is disposed at a side portion of the second moving wheel 342, and the second moving wheel vertical stabilizer 5122 is disposed obliquely below the second moving wheel 342.

As shown in fig. 8, the third moving wheel stabilizer 513 includes a third moving wheel horizontal stabilizer 5131 and a third moving wheel vertical stabilizer 5132, the third moving wheel horizontal stabilizer 5131 is provided at a side portion of the third moving wheel 343, and the third moving wheel vertical stabilizer 5132 is provided obliquely below the third moving wheel 343.

As shown in fig. 9, the fourth moving wheel stabilizer 514 includes a fourth moving wheel horizontal stabilizer 5141 and a fourth moving wheel vertical stabilizer 5142, the fourth moving wheel horizontal stabilizer 5141 is provided at a side portion of the fourth moving wheel 344, and the fourth moving wheel vertical stabilizer 5142 is provided obliquely below the fourth moving wheel 344.

As shown in fig. 10, the first moving wheel horizontal stabilizer 5111 includes a first moving wheel horizontal stabilizing surface 51111, a first moving wheel horizontal front spare stabilizing surface 51112, a first moving wheel horizontal rear spare stabilizing surface 51113, a first moving wheel horizontal stabilizing surface loading device 51114 and a first moving wheel horizontal stabilizer frame 51115, the first moving wheel horizontal stabilizer frame 51115 is disposed at one side of the first moving wheel 341, the first moving wheel horizontal stabilizing surface 51111, the first moving wheel horizontal front spare stabilizing surface 51112 and the first moving wheel 341 rear horizontal spare stabilizing surface are disposed at the outer circumference of the first moving wheel horizontal stabilizing surface loading device 51114, the first moving wheel horizontal front spare stabilizing surface 51112 and the first moving wheel 341 rear horizontal spare stabilizing surface are disposed at both sides of the first moving wheel horizontal stabilizing surface 51111, the first moving wheel horizontal stabilizing surface loading device 51114 is horizontally and movably mounted to the first moving wheel horizontal stabilizer frame 51115, the first moving wheel horizontal stabilizing surface 51111 is a plane, contacts the waist of the first i-beam 31 and moves vertically at the waist of the first i-beam 31, the first moving wheel horizontal front spare stabilizing surface 51112 and the first moving wheel 341 rear horizontal spare stabilizing surface are both smooth curved surfaces, and the curvatures of the first moving wheel horizontal front spare stabilizing surface 51112 and the first moving wheel 341 rear horizontal spare stabilizing surface are the same.

As shown in fig. 11, the first moving wheel vertical stabilizer 5112 includes a first moving wheel vertical stabilizing surface 51121, a first moving wheel vertical front spare stabilizing surface 51122, a first moving wheel vertical spare stabilizing surface 51123, a first moving wheel vertical stabilizing surface carrying device 51124 and a first moving wheel vertical stabilizer frame 51125, the first moving wheel vertical stabilizer frame 51125 is disposed at one side of the robot holder 33 at the lateral surface of the lower end of the first i-steel 31, the first moving wheel vertical stabilizing surface 51121, the first moving wheel vertical front spare stabilizing surface 51122 and the first moving wheel vertical rear spare stabilizing surface 51123 are disposed at the periphery of the first moving wheel vertical stabilizing surface carrying device 51124, the first moving wheel vertical front spare stabilizing surface 51122 and the first moving wheel vertical rear spare stabilizing surface 51123 are disposed at both sides of the first moving wheel vertical stabilizing surface 51121, the first moving wheel vertical stabilizing surface carrying device 51124 is vertically and movably mounted to the first moving wheel vertical stabilizer frame 51125, the first moving wheel vertical stabilizing surface 51121 is a plane, contacts with the lower surface of the lower flange of the first i-beam 31, and vertically moves on the lower surface of the lower flange of the first i-beam 31, both the first moving wheel vertical front spare stabilizing surface 51122 and the first moving wheel vertical rear spare stabilizing surface 51123 are smooth curved surfaces, and the curvatures of the first moving wheel vertical front spare stabilizing surface 51122 and the first moving wheel vertical rear spare stabilizing surface 51123 are the same.

As shown in fig. 12, the second moving wheel horizontal stabilizer 5121 includes a second moving wheel horizontal stabilizing surface 51211, a second moving wheel horizontal front spare stabilizing surface 51212, a second moving wheel horizontal rear spare stabilizing surface 51213, a second moving wheel horizontal stabilizing surface loading device 51214, and a second moving wheel horizontal stabilizer rack 51215, wherein the second moving wheel 342 horizontal stabilizer rack 1 is disposed at one side of the second moving wheel 342, the second moving wheel horizontal stabilizing surface 51211, the second moving wheel horizontal front spare stabilizing surface 51212, and the second moving wheel 342 rear horizontal spare stabilizing surface are disposed at the outer periphery of the second moving wheel horizontal stabilizing surface loading device 51214, the second moving wheel horizontal front spare stabilizing surface 51212, and the second moving wheel 342 rear horizontal spare stabilizing surface are disposed at both sides of the second moving wheel horizontal stabilizing surface 51211, the second moving wheel horizontal stabilizing surface loading device 51214 is horizontally and movably mounted to the second moving wheel horizontal stabilizer rack 51215, the first and second moving wheel horizontal stabilizing surfaces 51211 are flat surfaces, contact with the waist of the first i-beam 31 and vertically move on the waist of the first i-beam 31, the second moving wheel horizontal front spare stabilizing surface 51212 and the second moving wheel 342 rear horizontal spare stabilizing surface are both smooth curved surfaces, and the curvatures of the second moving wheel horizontal front spare stabilizing surface 51212 and the second moving wheel 342 rear horizontal spare stabilizing surface are the same.

As shown in fig. 13, the second moving wheel vertical stabilizer 5122 includes a second moving wheel vertical stabilizing surface 51221, a second moving wheel vertical front spare stabilizing surface 51222, a second moving wheel vertical rear spare stabilizing surface 51223, a second moving wheel vertical stabilizing surface embarking device 51224 and a second moving wheel vertical stabilizer frame 51225, the second moving wheel vertical stabilizer frame 51225 is disposed at one side of the lateral surface of the robot holder 33 at the lower end of the first i-beam 31, the second moving wheel vertical stabilizing surface 51221, the second moving wheel vertical front spare stabilizing surface 51222 and the second moving wheel vertical rear spare stabilizing surface 51223 are disposed at the outer circumference of the second moving wheel vertical stabilizing surface embarking device 51224, the second moving wheel vertical front spare stabilizing surface 51222 and the second moving wheel vertical rear spare stabilizing surface 51223 are disposed at both sides of the second moving wheel vertical stabilizing surface 51221, the second moving wheel vertical stabilizing surface embarking device 51224 is vertically and movably mounted to the second moving wheel vertical stabilizer frame 51225, the first and second moving wheel vertical stabilizing surfaces 51221 are planar and contact with the lower surface of the lower flange of the first i-beam 31 and vertically move on the lower surface of the lower flange of the first i-beam 31, the second moving wheel vertical front alternate stabilizing surface 51222 and the second moving wheel vertical rear alternate stabilizing surface 51223 are both smooth curved surfaces, and the curvatures of the second moving wheel vertical front alternate stabilizing surface 51222 and the second moving wheel vertical rear alternate stabilizing surface 51223 are the same.

As shown in fig. 14, the third moving wheel horizontal stabilizer 5131 includes a third moving wheel horizontal stabilizing surface 51311, a third moving wheel horizontal front spare stabilizing surface 51312, a third moving wheel horizontal rear spare stabilizing surface 51313, a third moving wheel horizontal stabilizing surface mounting device 51314 and a third moving wheel horizontal stabilizer frame 51315, the third moving wheel horizontal stabilizer frame 51315 is disposed at one side of the third moving wheel 343, the third moving wheel horizontal stabilizing surface 51311, the third moving wheel horizontal front spare stabilizing surface 51312 and the third moving wheel horizontal rear spare stabilizing surface 51313 are disposed at the outer periphery of the third moving wheel horizontal stabilizing surface mounting device 51314, the third moving wheel horizontal front spare stabilizing surface 51312 and the third moving wheel horizontal rear spare stabilizing surface 51313 are disposed at both sides of the third moving wheel horizontal stabilizing surface 51311, the third moving wheel horizontal stabilizing surface mounting device 51314 is horizontally and movably mounted to the third moving wheel horizontal stabilizer frame 51315, the first and third moving wheel horizontal stabilizing surfaces 51311 are flat surfaces, contact with the waist portion of the second i-beam 32 and vertically move on the waist portion of the second i-beam 32, the third moving wheel horizontal front spare stabilizing surface 51312 and the third moving wheel horizontal rear spare stabilizing surface 51313 are both smooth curved surfaces, and the curvatures of the third moving wheel horizontal front spare stabilizing surface 51312 and the third moving wheel horizontal rear spare stabilizing surface 51313 are the same.

As shown in fig. 15, the third moving wheel vertical stabilizer 5132 includes a third moving wheel vertical stabilizing surface 51321, a third moving wheel vertical front spare stabilizing surface 51322, a third moving wheel vertical rear spare stabilizing surface 51323, a third moving wheel vertical stabilizing surface carrying device 51324 and a third moving wheel vertical stabilizer frame 51325, the third moving wheel vertical stabilizer frame 51325 is disposed at one side of the lateral surface of the robot holder 33 at the lower end of the second i-beam 32, the third moving wheel vertical stabilizing surface 51321, the third moving wheel vertical front spare stabilizing surface 51322 and the third moving wheel vertical rear spare stabilizing surface 51323 are disposed at the periphery of the third moving wheel vertical stabilizing surface carrying device 51324, the third moving wheel vertical front spare stabilizing surface 51322 and the third moving wheel vertical rear spare stabilizing surface 51323 are disposed at both sides of the third moving wheel vertical stabilizing surface 51321, the third moving wheel vertical stabilizing surface carrying device 51324 is vertically and movably mounted to the third moving wheel vertical stabilizer frame 51325, the first and third moving wheel vertical stabilizing surfaces 51321 are planar and contact with the lower surface of the lower flange of the second i-beam 32 and vertically move on the lower surface of the lower flange of the second i-beam 32, the third moving wheel vertical front alternate stabilizing surface 51322 and the third moving wheel vertical rear alternate stabilizing surface 51323 are both smooth curved surfaces, and the curvatures of the third moving wheel vertical front alternate stabilizing surface 51322 and the third moving wheel vertical rear alternate stabilizing surface 51323 are the same.

As shown in fig. 16, the fourth moving wheel horizontal stabilizer 5141 includes a fourth moving wheel horizontal stabilizing surface 51411, a fourth moving wheel horizontal front spare stabilizing surface 51412, a fourth moving wheel horizontal rear spare stabilizing surface 51413, a fourth moving wheel horizontal stabilizing surface mounting device 51414 and a fourth moving wheel horizontal stabilizer frame 51415, the fourth moving wheel horizontal stabilizer frame 51415 is disposed at one side of the fourth moving wheel 344, the fourth moving wheel horizontal stabilizing surface 51411, the fourth moving wheel horizontal front spare stabilizing surface 51412 and the fourth moving wheel horizontal rear spare stabilizing surface 51413 are disposed at the outer circumference of the fourth moving wheel horizontal stabilizing surface mounting device 51414, the fourth moving wheel horizontal front spare stabilizing surface 51412 and the fourth moving wheel horizontal rear spare stabilizing surface 51413 are respectively disposed at both sides of the fourth moving wheel horizontal stabilizing surface 51411, the fourth moving wheel horizontal stabilizing surface mounting device 51414 is horizontally and movably mounted to the fourth moving wheel horizontal stabilizer frame 51415, the first and fourth moving wheel horizontal stabilizing surfaces 51411 are flat surfaces, contact the waist portion of the second i-beam 32 and vertically move on the waist portion of the second i-beam 32, the fourth moving wheel horizontal front spare stabilizing surface 51412 and the fourth moving wheel horizontal rear spare stabilizing surface 51413 are both smooth curved surfaces, and the curvatures of the fourth moving wheel horizontal front spare stabilizing surface 51412 and the fourth moving wheel horizontal rear spare stabilizing surface 51413 are the same.

As shown in fig. 17, the fourth moving wheel vertical stabilizer 5142 includes a fourth moving wheel vertical stabilizing surface 51421, a fourth moving wheel vertical front spare stabilizing surface 51422, a fourth moving wheel vertical rear spare stabilizing surface 51423, a fourth moving wheel vertical stabilizing surface carrying device 51424 and a fourth moving wheel vertical stabilizer frame 51425, the fourth moving wheel vertical stabilizer frame 51425 is disposed at one side of the lateral surface of the robot holder 33 at the lower end of the second i-beam 32, the fourth moving wheel vertical stabilizing surface 51421, the fourth moving wheel vertical front spare stabilizing surface 51422 and the fourth moving wheel vertical rear spare stabilizing surface 51423 are disposed at the periphery of the fourth moving wheel vertical stabilizing surface carrying device 51424, the fourth moving wheel vertical front spare stabilizing surface 51422 and the fourth moving wheel vertical rear spare stabilizing surface 51423 are disposed at both sides of the fourth moving wheel vertical stabilizing surface 51421, the fourth moving wheel vertical stabilizing surface carrying device 51424 is vertically and movably mounted to the fourth moving wheel vertical stabilizer frame 51425, the first and fourth moving wheel vertical stabilizing surfaces 51421 are flat surfaces, contact with the lower surface of the lower flange of the second i-beam 32 and vertically move on the lower surface of the lower flange of the second i-beam 32, the fourth moving wheel vertical front alternate stabilizing surface 51422 and the fourth moving wheel vertical rear alternate stabilizing surface 51423 are both smooth curved surfaces, and the curvatures of the fourth moving wheel vertical front alternate stabilizing surface 51422 and the fourth moving wheel vertical rear alternate stabilizing surface 51423 are the same.

As shown in fig. 18, the frame body 1 includes a plurality of first columns 11, a plurality of second columns 12 corresponding to the first columns 11 in quantity, a first guide rail 13, and a second guide rail 14, the first columns 11 and the second columns 12 are disposed on two sides of the roadway, the first guide rail 13 is disposed on the upper end of the first columns 11 and connected to the first columns 11, and the second guide rail 14 is disposed on the upper end of the second columns 12 and connected to the second columns 12.

The longitudinal moving device 2 comprises a first longitudinal moving device 21 and a second longitudinal moving device 22, the first longitudinal moving device 21 is arranged on the first guide rail 13, the second longitudinal moving device 22 is arranged on the second guide rail 14, two ends of a first i-beam 31 are respectively connected with the first longitudinal moving device 21 and the second longitudinal moving device 22, and two ends of a second i-beam 32 are respectively connected with the first longitudinal moving device 21 and the second longitudinal moving device 22.

As shown in fig. 19, the manipulator 4 includes a manipulator rotating portion 41, a manipulator connecting portion 42, a manipulator end portion 43 and a manipulator function portion 44, the manipulator rotating portion 41 is movably disposed at the bottom end of the manipulator fixing base 33, one end of the manipulator connecting portion 42 is movably connected with the manipulator rotating portion 41, the other end of the manipulator connecting portion 42 is movably connected with the manipulator end portion 43, the manipulator function portion 44 is movably connected with the free end of the manipulator connecting portion 42, the manipulator rotating portion 41 and the manipulator connecting portion 42, the manipulator connecting portion 42 and the manipulator end portion 43, the manipulator end portion 43 and the manipulator function portion 44 are controlled to move by hydraulic rods, and the manipulator function portion 44 is used for grabbing the mine car in a roadway.

As shown in fig. 20, the robot holder 33 includes a pulley fixing plate 331 and a moving holder 332, fixing base connecting plate 333, roating seat 334 and hydraulic motor 335, band pulley fixed plate 331 middle part and drive belt 35 fixed connection, the vertical both ends fixed mounting of band pulley fixed plate 331 is in removing the seat 332 upper surface, remove seat 332 is the tubular structure, fixing base connecting plate 333 upper surface connection removes seat 332 bottom, fixing base connecting plate 333 lower surface connection roating seat 334 top, fixing base connecting plate 333 and roating seat 334 are provided with the same and coaxial through-hole of diameter, through-hole diameter is less than or equal to the shortest diameter of removing the seat 332 hole, roating seat 334 and manipulator rotating part 41 swing joint, manipulator rotating part 41 sets up in roating seat 334 bottom, hydraulic motor 335 sets up inside and installs in fixing base connecting plate 333 upper surface in removing seat 332, the through-hole that the output of hydraulic motor 335 passed roating seat 334 and fixing base mounting panel is installed.

As shown in fig. 21, the integral stabilizer 52 includes a first integral stabilizer 521 and a second integral stabilizer 522, the first integral stabilizer 521 is disposed at a middle portion of the robot holder 33 on the side of the first i-beam 31, and the second integral stabilizer 522 is disposed at a middle portion of the robot holder 33 on the side of the second i-beam 32.

As shown in fig. 22, the first integral stabilizer 521 includes a first integral stabilizer mounting portion 5211, a first integral stabilizer connecting portion 5212, a first integral stabilizer horizontal function portion 5213 and a first integral stabilizer vertical function portion 5214, the first integral stabilizer mounting portion 5211, the first integral stabilizer connecting portion 5212, the first integral stabilizer horizontal function portion 5213 and the first integral stabilizer vertical function portion 5214 are rod-shaped, the length of the first integral stabilizer mounting portion 5211 is smaller than that of the first integral stabilizer horizontal function portion 5213, the length of the first integral stabilizer vertical function portion 5214 is smaller than that of the first integral stabilizer connecting portion 5212, the first integral stabilizer mounting portion 5211 is vertically disposed on the side surface of the manipulator fixing base 33, the first integral stabilizer connecting portion 5212, the first integral stabilizer horizontal function portion 5213 and the first integral stabilizer vertical function portion 5214 are vertically connected end to end in this order, the free end of the first integral stabilizer connecting portion 5212 is vertically connected to the first integral stabilizer mounting portion 5211, the first integral stabilizer connecting portion 5212 and the first integral stabilizer horizontal function portion 5213 form a shape like a Chinese character 'ji', and the opening of the shape is downward, and the first i-shaped steel 31 is disposed in the shape like the Chinese character 'ji'.

As shown in fig. 23, the second integral stabilizer 522 includes a second integral stabilizer mounting portion 5221, a second integral stabilizer connecting portion 5222, a second integral stabilizer horizontal function portion 5223 and a second integral stabilizer vertical function portion 5224, the second integral stabilizer mounting portion 5221, the second integral stabilizer connecting portion 5222, the second integral stabilizer horizontal function portion 5223 and the second integral stabilizer vertical function portion 5224 are rod-shaped, the length of the second integral stabilizer mounting portion 5221 is smaller than that of the second integral stabilizer horizontal function portion 5223, the length of the second integral stabilizer vertical function portion 5224 is smaller than that of the second integral stabilizer connecting portion 5222, the second integral stabilizer mounting portion 5221 is vertically disposed on the side surface of the manipulator fixing base 33, the second integral stabilizer connecting portion 5222, the second integral stabilizer horizontal function portion 5223 and the second integral stabilizer vertical function portion 5224 are vertically connected end to end in this order, the free end of the second integral stabilizer connecting portion 5222 is vertically connected with the second integral stabilizer mounting portion 5221, the second integral stabilizer connecting portion 5222 and the second integral stabilizer horizontal function portion 5223 form a shape like a Chinese character 'ji', the opening of which is downward, and the second i-shaped steel 32 is arranged in the shape like the Chinese character 'ji'.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The utility model provides a mining handling device which characterized in that: comprises a frame body (1), a longitudinal moving device (2), a transverse moving device (3), a mechanical arm (4), an auxiliary stabilizing device (5), a mine car (6), a track (7) and a car arrester (8), wherein the frame body (1) is arranged in a roadway, the longitudinal moving device (2) is longitudinally and movably arranged at the upper end of the frame body (1), the transverse moving device (3) is transversely and movably connected with the longitudinal moving device (2), the mechanical arm (4) is movably arranged at the lower surface of the transverse moving device (3), the mechanical arm (4) can transversely move under the transverse moving device (3), the transverse moving device (3) can longitudinally move along the longitudinal moving device (2), the auxiliary stabilizing device (5) is arranged on the transverse moving device (3) and is used for enabling the mechanical arm (4) to stably move on the transverse moving device (3) and providing guidance, the track (7) is arranged on the bottom surface of the roadway, one end of the track is connected with an outlet of the cage, the other end of the track is connected with the car arrester (8), the head and the tail of the mine car (6) are provided with connecting components, each connecting component comprises a bolt seat, a bolt, a three-ring chain and a collision head, the collision head and the bolt seat are fixedly connected with the mine car (6), and the bolt seats are arranged at the upper ends of the collision heads; the bolt is arranged in the bolt seats, and the three-ring chain is arranged between the two bolt seats through the bolt;

the transverse moving device (3) comprises a first I-shaped steel (31), a second I-shaped steel (32), a manipulator fixing seat (33) and a moving wheel set (34), two ends of the first I-shaped steel (31) are fixedly connected with the longitudinal moving device (2), two ends of the second I-shaped steel (32) are fixedly connected with the longitudinal moving device (2), the first I-shaped steel (31) and the second I-shaped steel (32) are parallel to each other, the moving wheel set (34) is fixedly arranged on two sides of the manipulator fixing seat (33), the working surface of the moving wheel set (34) is higher than the upper surface of the manipulator fixing seat (33), and the manipulator fixing seat (33) is movably arranged between the first I-shaped steel (31) and the second I-shaped steel (32) through the moving wheel set (34);

supplementary stabilising arrangement (5) are including removing wheelset stabilizer (51) and whole stabilizer (52), remove wheelset stabilizer (51) set up in remove on the wheelset (34) and with first I-steel (31) with second I-steel (32) contact respectively, whole stabilizer (52) fixed mounting in manipulator fixing base (33) both sides, be used for manipulator fixing base (33) with first I-steel (31) manipulator fixing base (33) with stability between second I-steel (32).

2. The mining handling device of claim 1, characterized in that: the moving wheel set (34) comprises a first moving wheel (341), a second moving wheel (342), a third moving wheel (343) and a fourth moving wheel (344), the first moving wheel (341), the second moving wheel (342), the third moving wheel (343) and the fourth moving wheel (344) are respectively and sequentially arranged at two ends of two transverse sides of the manipulator fixing seat (33), a working surface of the first moving wheel (341) and a working surface of the second moving wheel (342) are arranged on the outer upper surface of the lower flange of the first i-steel (31), and a working surface of the third moving wheel (343) and a working surface of the fourth moving wheel (344) are arranged on the outer upper surface of the lower flange of the second i-steel (32);

the moving wheel set stabilizer (51) comprises a first moving wheel stabilizer (511), a second moving wheel stabilizer (512), a third moving wheel stabilizer (513) and a fourth moving wheel stabilizer (514), the first moving wheel stabilizer (511) is disposed at a side of the first moving wheel (341), the second moving wheel stabilizer (512) is disposed at a side of the second moving wheel (342), the third moving wheel stabilizer (513) is disposed at a side of the third moving wheel (343), and the fourth moving wheel stabilizer (514) is disposed at a side of the fourth moving wheel (344);

the first moving wheel stabilizer (511) includes a first moving wheel horizontal stabilizer (5111) and a first moving wheel vertical stabilizer (5112), the first moving wheel horizontal stabilizer (5111) is disposed at a side portion of the first moving wheel (341), and the first moving wheel vertical stabilizer (5112) is disposed obliquely below the first moving wheel (341);

the second moving wheel stabilizer (512) includes a second moving wheel horizontal stabilizer (5121) and a second moving wheel vertical stabilizer (5122), the second moving wheel horizontal stabilizer (5121) is disposed at a side portion of the second moving wheel (342), and the second moving wheel vertical stabilizer (5122) is disposed obliquely below the second moving wheel (342);

the third moving wheel stabilizer (513) includes a third moving wheel horizontal stabilizer (5131) and a third moving wheel vertical stabilizer (5132), the third moving wheel horizontal stabilizer (5131) is disposed at a side portion of the third moving wheel (343), and the third moving wheel vertical stabilizer (5132) is disposed obliquely below the third moving wheel (343);

the fourth moving wheel stabilizer (514) includes a fourth moving wheel horizontal stabilizer (5141) and a fourth moving wheel vertical stabilizer (5142), the fourth moving wheel horizontal stabilizer (5141) is provided at a side portion of the fourth moving wheel (344), and the fourth moving wheel vertical stabilizer (5142) is provided obliquely below the fourth moving wheel (344).

3. The mining handling device of claim 2, characterized in that: the first moving wheel horizontal stabilizer (5111) comprises a first moving wheel horizontal stabilizing surface (51111), a first moving wheel horizontal front standby stabilizing surface (51112), a first moving wheel horizontal rear standby stabilizing surface (51113), a first moving wheel horizontal stabilizing surface carrying device (51114) and a first moving wheel horizontal stabilizer frame body (51115), wherein the first moving wheel horizontal stabilizer frame body (51115) is arranged on one side of the first moving wheel (341), the first moving wheel horizontal stabilizing surface (51111), the first moving wheel horizontal front standby stabilizing surface (51112) and the first moving wheel rear horizontal standby stabilizing surface (51113) are arranged on the periphery of the first moving wheel horizontal stabilizing surface carrying device (51114), the first moving wheel horizontal front standby stabilizing surface (51112) and the first moving wheel rear horizontal standby stabilizing surface (51113) are respectively arranged on two sides of the first moving wheel horizontal stabilizing surface (51111), the first moving wheel horizontal stable surface carrying device (51114) is horizontally and movably mounted on the first moving wheel horizontal stabilizer frame body (51115), the first moving wheel horizontal stable surface (51111) is a plane, is in contact with the waist of the first I-shaped steel (31) and vertically moves at the waist of the first I-shaped steel (31), the first moving wheel horizontal front standby stable surface (51112) and the first moving wheel rear horizontal standby stable surface (51113) are smooth curved surfaces, and the curvatures of the first moving wheel horizontal front standby stable surface (51112) and the first moving wheel rear horizontal standby stable surface (51113) are the same;

first removal wheel vertical stabilizer (5112) including first removal wheel vertical stability face (51121), first removal wheel vertical reserve before vertical reserve stabilizer (51122), first removal wheel vertical reserve stabilizer (51123), first removal wheel vertical stability face carrying device (51124) and first removal wheel vertical stabilizer support body (51125), first removal wheel vertical stabilizer support body (51125) set up in manipulator fixing base (33) is located transverse face one side of first I-steel (31) lower extreme, first removal wheel vertical stability face (51121), first removal wheel vertical reserve before vertical stable face (51122) with first removal wheel vertical reserve before stable face (51123) all set up in first removal wheel vertical reserve carrying device (51124) periphery, first removal wheel vertical reserve before stable face (51122) and first removal wheel vertical reserve before stable face (51123) set up respectively in first removal wheel vertical stability face (51121) both sides reserve The first moving wheel vertical stable surface carrying device (51124) is vertically and movably mounted on the first moving wheel vertical stabilizer frame body (51125), the first moving wheel vertical stable surface (51121) is a plane, is in contact with the lower surface of the lower flange of the first i-shaped steel (31), and vertically moves on the lower surface of the lower flange of the first i-shaped steel (31), the first moving wheel vertical front standby stable surface (51122) and the first moving wheel vertical backup stable surface (51123) are both smooth curved surfaces, and the curvatures of the first moving wheel vertical front standby stable surface (51122) and the first moving wheel vertical backup stable surface (51123) are the same;

the second moving wheel horizontal stabilizer (5121) comprises a second moving wheel horizontal stabilizing surface (51211), a second moving wheel horizontal front spare stabilizing surface (51212), a second moving wheel horizontal rear spare stabilizing surface (51213), a second moving wheel horizontal stabilizing surface carrying device (51214) and a second moving wheel horizontal stabilizer frame body (51215), wherein the second moving wheel (342) horizontal stabilizing frame body (1) is arranged on one side of the second moving wheel (342), the second moving wheel horizontal stabilizing surface (51211), the second moving wheel horizontal front spare stabilizing surface (51212) and the second moving wheel horizontal rear spare stabilizing surface (51213) are arranged on the periphery of the second moving wheel horizontal stabilizing surface carrying device (51214), the second moving wheel horizontal front spare stabilizing surface (51212) and the second moving wheel horizontal rear spare stabilizing surface (51213) are respectively arranged on two sides of the second moving wheel horizontal stabilizing surface (51211), the second moving wheel horizontal stable surface carrying device (51214) is horizontally and movably mounted on the second moving wheel horizontal stabilizer frame body (51215), the first moving wheel horizontal stable surface (51211) is a plane, is in contact with the waist of the first I-shaped steel (31) and vertically moves at the waist of the first I-shaped steel (31), the second moving wheel horizontal front spare stable surface (51212) and the second moving wheel horizontal rear spare stable surface (51213) are both smooth curved surfaces, and the curvatures of the second moving wheel horizontal front spare stable surface (51212) and the second moving wheel horizontal rear spare stable surface (51213) are the same;

the second moving wheel vertical stabilizer (5122) comprises a second moving wheel vertical stabilizing surface (51221), a second moving wheel vertical front spare stabilizing surface (51222), a second moving wheel vertical rear spare stabilizing surface (51223), a second moving wheel vertical stabilizing surface carrying device (51224) and a second moving wheel vertical stabilizer frame body (51225), the second moving wheel vertical stabilizer frame body (51225) is arranged on one side of the transverse surface of the lower end of the first i-shaped steel (31) on which the manipulator fixing seat (33) is arranged, the second moving wheel vertical stabilizing surface (51221), the second moving wheel vertical front spare stabilizing surface (51222) and the second moving wheel vertical rear spare stabilizing surface (51223) are arranged on the periphery of the second moving wheel vertical stabilizing surface carrying device (51 51224), the second moving wheel vertical front spare stabilizing surface (51222) and the second moving wheel vertical rear spare stabilizing surface (51223) are respectively arranged on the second moving wheel vertical stabilizing surface (51221) on both sides The second moving wheel vertical stable surface carrying device (51224) is vertically and movably mounted on the second moving wheel vertical stabilizer frame body (51225), the first moving wheel vertical stable surface (51221) is a plane, is in contact with the lower surface of the lower flange of the first i-shaped steel (31), and vertically moves on the lower surface of the lower flange of the first i-shaped steel (31), the second moving wheel vertical front spare stable surface (51222) and the second moving wheel vertical rear spare stable surface (51223) are both smooth curved surfaces, and the curvatures of the second moving wheel vertical front spare stable surface (51222) and the second moving wheel vertical rear spare stable surface (51223) are the same;

the third moving wheel horizontal stabilizer (5131) comprises a third moving wheel horizontal stabilizing surface (51311), a third moving wheel horizontal front spare stabilizing surface (51312), a third moving wheel horizontal rear spare stabilizing surface (51313), a third moving wheel horizontal stabilizing surface carrying device (51314) and a third moving wheel horizontal stabilizer frame body (51315), wherein the third moving wheel horizontal stabilizer frame body (51315) is arranged on one side of the third moving wheel (343), the third moving wheel horizontal stabilizing surface (51311), the third moving wheel horizontal front spare stabilizing surface (51312) and the third moving wheel horizontal rear spare stabilizing surface (51313) are arranged on the periphery of the third moving wheel horizontal stabilizing surface carrying device (51314), the third moving wheel horizontal front spare stabilizing surface (51312) and the third moving wheel horizontal spare stabilizing surface (51313) are respectively arranged on the third moving wheel horizontal stabilizing surfaces (51311), the third moving wheel horizontal stable surface carrying device (51314) is horizontally and movably mounted on the third moving wheel horizontal stabilizer frame body (51315), the first third moving wheel horizontal stable surface (51311) is a plane, is in contact with the waist of the second I-shaped steel (32) and vertically moves at the waist of the second I-shaped steel (32), both the third moving wheel horizontal front spare stable surface (51312) and the third moving wheel horizontal rear spare stable surface (51313) are smooth curved surfaces, and the curvatures of the third moving wheel horizontal front spare stable surface (51312) and the third moving wheel horizontal rear spare stable surface (51313) are the same;

the third movable wheel vertical stabilizer (5132) comprises a third movable wheel vertical stable surface (51321), a third movable wheel vertical front spare stable surface (51322), a third movable wheel vertical rear spare stable surface (51323), a third movable wheel vertical stable surface carrying device (51324) and a third movable wheel vertical stabilizer frame body (51325), the third movable wheel vertical stabilizer frame body (51325) is arranged on one side of the transverse surface of the second i-shaped steel (32) lower end, the third movable wheel vertical stable surface (51321), the third movable wheel vertical front spare stable surface (51322) and the third movable wheel vertical front spare stable surface (51323) are arranged on the periphery of the third movable wheel vertical stable surface carrying device (51324), the third movable wheel vertical front spare stable surface (51322) and the third movable wheel vertical spare stable surface (51323) are respectively arranged on the third movable wheel vertical stable surface (51321) two sides The third moving wheel vertical stable surface carrying device (51324) is vertically and movably mounted on the third moving wheel vertical stabilizer frame body (51325), the first third moving wheel vertical stable surface (51321) is a plane, contacts with the lower surface of the lower flange of the second i-shaped steel (32) and vertically moves on the lower surface of the lower flange of the second i-shaped steel (32), the third moving wheel vertical front spare stable surface (51322) and the third moving wheel vertical backup stable surface (51323) are both smooth curved surfaces, and the curvatures of the third moving wheel vertical front spare stable surface (51322) and the third moving wheel vertical backup stable surface (51323) are the same;

the fourth moving wheel horizontal stabilizer (5141) comprises a fourth moving wheel horizontal stabilizing surface (51411), a fourth moving wheel horizontal front spare stabilizing surface (51412), a fourth moving wheel horizontal rear spare stabilizing surface (51413), a fourth moving wheel horizontal stabilizing surface carrying device (51414) and a fourth moving wheel horizontal stabilizer frame body (51415), wherein the fourth moving wheel horizontal stabilizer frame body (51415) is arranged on one side of the fourth moving wheel (344), the fourth moving wheel horizontal stabilizing surface (51411), the fourth moving wheel horizontal front spare stabilizing surface (51412) and the fourth moving wheel horizontal rear spare stabilizing surface (51413) are arranged on the periphery of the fourth moving wheel horizontal stabilizing surface carrying device (51414), the fourth moving wheel horizontal front spare stabilizing surface (51412) and the fourth moving wheel horizontal rear spare stabilizing surface (51413) are respectively arranged on two sides 51411 of the fourth moving wheel horizontal stabilizing surface (51411), the fourth moving wheel horizontal stable surface carrying device (51414) is horizontally and movably mounted on the fourth moving wheel horizontal stabilizer frame body (51415), the first fourth moving wheel horizontal stable surface (51411) is a plane, is in contact with the waist of the second I-shaped steel (32) and vertically moves at the waist of the second I-shaped steel (32), both the fourth moving wheel horizontal front spare stable surface (51412) and the fourth moving wheel horizontal rear spare stable surface (51413) are smooth curved surfaces, and the curvatures of the fourth moving wheel horizontal front spare stable surface (51412) and the fourth moving wheel horizontal rear spare stable surface (51413) are the same;

fourth removes perpendicular stabilizer of wheel (5142) including fourth remove wheel vertical stability face (51421), fourth remove wheel vertical front spare stability face (51422), fourth remove wheel vertical back spare stability face (51423), fourth remove wheel vertical stability face and carry device (51424) and fourth remove perpendicular stabilizer support body of wheel (51425) before perpendicular, fourth remove wheel vertical stabilizer support body (51425) set up in manipulator fixing base (33) are located transverse surface one side of second I-steel (32) lower extreme, fourth remove wheel vertical stability face (51421), fourth remove wheel vertical front spare stability face (51422) and fourth remove wheel vertical front spare stability face (51423) all set up in fourth remove wheel vertical back spare stability face and carry device (51424) periphery, fourth remove wheel vertical front spare stability face (51422) and fourth remove wheel vertical back spare stability face (51423) respectively set up in fourth remove wheel vertical back spare stability face (51421) both sides Fourth removal wheel vertical stability face carrying device (51424) perpendicular and movable mounting in fourth removal wheel vertical stabilizer support body (51425), it is first fourth removal wheel vertical stability face (51421) be the plane and with second I-steel (32) lower flange lower surface contact just second I-steel (32) lower flange lower surface vertical movement, fourth removal wheel is reserve stabilizing face (51422) before perpendicular with fourth removal wheel is perpendicular for backup stabilizing face (51423) is smooth curved surface, fourth removal wheel is reserve stabilizing face (51422) before perpendicular with fourth removal wheel is perpendicular for backup stabilizing face (51423) the same in curvature.

4. The mining handling device of claim 1, characterized in that: the support body (1) comprises a plurality of first columns (11), a plurality of second columns (12), first guide rails (13) and second guide rails (14), the first columns (11) and the second columns (12) are the same in quantity and are arranged on two sides of the roadway relatively, the first guide rails (13) are arranged on the upper ends of the first columns (11) and are connected with the first columns (11), and the second guide rails (14) are arranged on the upper ends of the second columns (12) and are connected with the second columns (12).

5. The mining handling device of claim 4, characterized in that: the longitudinal moving device (2) comprises a first longitudinal moving device (21) and a second longitudinal moving device (22), the first longitudinal moving device (21) is arranged on the first guide rail (13), the second longitudinal moving device (22) is arranged on the second guide rail (14), two ends of the first I-shaped steel (31) are respectively connected with the first longitudinal moving device (21) and the second longitudinal moving device (22), and two ends of the second I-shaped steel (32) are respectively connected with the first longitudinal moving device (21) and the second longitudinal moving device (22).

6. The mining handling device of claim 1, characterized in that: the transverse moving device (3) further comprises a transmission belt (35), a first belt wheel (36), a first belt wheel mounting seat (37), a second belt wheel (38) and a second belt wheel mounting seat (39), two ends of the first belt wheel mounting seat (37) are respectively arranged on the upper surface of the inner side lower flange of one end of the first I-shaped steel (31) and the upper surface of the inner side lower flange of the end part of the same side of the second I-shaped steel (32), two ends of the second belt wheel mounting seat (39) are respectively arranged on the upper surface of the inner side lower flange of the other end part of the first I-shaped steel (31) and the upper surface of the inner side lower flange of the other end part of the second I-shaped steel (32), the first belt wheel (36) is arranged on the upper surface of the first belt wheel mounting seat (37) and axially along the longitudinal direction of the roadway, the second belt wheel (38) is arranged on the upper surface of the second belt wheel mounting seat (39), the conveyer belt is connected first band pulley (36) output and second band pulley (38) output, manipulator fixing base (33) fixed set up in the conveyer belt middle part.

7. The mining handling device of claim 1, characterized in that: the manipulator (4) comprises a manipulator rotating part (41), a manipulator connecting part (42), a manipulator end part (43) and a manipulator function part (44), the manipulator rotating part (41) is movably arranged at the bottom end of the manipulator fixing seat (33), one end of the manipulator connecting part (42) is movably connected with the manipulator rotating part (41), the other end of the manipulator connecting part is movably connected with the manipulator end part (43), the manipulator function part (44) is movably connected with the free end of the manipulator connecting part (42), the manipulator functional part (44) is movably connected with the free end of the manipulator end part (43), hydraulic rods are adopted between the manipulator rotating part (41) and the manipulator connecting part (42), between the manipulator connecting part (42) and the manipulator end part (43), and between the manipulator end part (43) and the manipulator function part (44) for controlling movement, the manipulator function part (44) is used for grabbing the mine car in the roadway.

8. The mining handling device of claim 7, characterized in that: the manipulator fixing seat (33) comprises a belt wheel fixing plate (331), a moving seat (332), a fixing seat connecting plate (333), a rotating seat (334) and a hydraulic motor (335), the middle part of the belt wheel fixing plate (331) is fixedly connected with the transmission belt (35), the longitudinal two ends of the belt wheel fixing plate (331) are fixedly installed on the upper surface of the moving seat (332), the moving seat (332) is of a cylindrical structure, the upper surface of the fixing seat connecting plate (333) is connected with the bottom end of the moving seat (332), the lower surface of the fixing connecting plate is connected with the top end of the rotating seat (334), the fixing seat connecting plate (333) and the rotating seat (334) are provided with through holes with the same and coaxial diameters, the diameter of the through holes is smaller than or equal to the shortest diameter of the inner hole of the moving seat (332), and the rotating seat (334) is movably, manipulator rotating part (41) set up in roating seat (334) bottom, hydraulic motor (335) set up in remove seat (332) inside and install in fixing base connecting plate (333) upper surface, hydraulic motor (335) output passes roating seat (334) with the fixing base mounting panel the through-hole is installed manipulator rotating part (41) upper end.

9. The mining handling device of claim 1, characterized in that: the integral stabilizer (52) comprises a first integral stabilizer (521) and a second integral stabilizer (522), the first integral stabilizer (521) is arranged in the middle of the manipulator fixing seat (33) on one side of the first I-shaped steel (31), and the second integral stabilizer (522) is arranged in the middle of the manipulator fixing seat (33) on one side of the second I-shaped steel (32);

the first integral stabilizer (521) comprises a first integral stabilizer mounting part (5211), a first integral stabilizer connecting part (5212), a first integral stabilizer horizontal functional part (5213) and a first integral stabilizer vertical functional part (5214), the first integral stabilizer mounting part (5211), the first integral stabilizer connecting part (5212), the first integral stabilizer horizontal functional part (5213) and the first integral stabilizer vertical functional part (5214) are all rod-shaped, the length of the first integral stabilizer mounting part (5211) is smaller than that of the first integral stabilizer horizontal functional part (5213), the length of the first integral stabilizer vertical functional part (5214) is smaller than that of the first integral stabilizer connecting part (5212), the first integral stabilizer mounting part (5211) is vertically arranged on the side surface of the manipulator fixing seat (33), the first integral stabilizer connecting part (5212), the first integral stabilizer horizontal function part (5213) and the first integral stabilizer vertical function part (5214) are sequentially vertically connected end to end, the free end of the first integral stabilizer connecting part (5212) is vertically connected with the first integral stabilizer mounting part (5211), the first integral stabilizer connecting part (5212) and the first integral stabilizer horizontal function part (5213) form a shape like a Chinese character 'ji, the opening of the shape is downward, and the first I-shaped steel (31) is arranged in the shape like the Chinese character' ji;

the second integral stabilizer (522) comprises a second integral stabilizer mounting part (5221), a second integral stabilizer connecting part (5222), a second integral stabilizer horizontal functional part (5223) and a second integral stabilizer vertical functional part (5224), the second integral stabilizer mounting part (5221), the second integral stabilizer connecting part (5222), the second integral stabilizer horizontal functional part (5223) and the second integral stabilizer vertical functional part (5224) are rod-shaped, the length of the second integral stabilizer mounting part (5221) is smaller than that of the second integral stabilizer horizontal functional part (5223), the length of the second integral stabilizer vertical functional part (5224) is smaller than that of the second integral stabilizer connecting part (5222), the second integral stabilizer mounting part (5221) is vertically arranged on the side surface of the manipulator fixing seat (33), second integral stabilizer connecting portion (5222), horizontal function of the whole stabilizer of second portion (5223) and the perpendicular function of the whole stabilizer of second portion (5224) end to end in proper order is connected perpendicularly, second integral stabilizer connecting portion (5222) free end with second integral stabilizer installation department (5221) is connected perpendicularly, second integral stabilizer installation department (5221), second integral stabilizer connecting portion (5222) and horizontal function of the whole stabilizer of second portion (5223) constitution "" font and opening are downward, second I-steel (32) set up in "" in the font.