CN115447466B - Motor-driven rubber wheel type bidirectional driving unit support transfer robot - Google Patents
Motor-driven rubber wheel type bidirectional driving unit support transfer robot Download PDFInfo
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- CN115447466B CN115447466B CN202211155105.5A CN202211155105A CN115447466B CN 115447466 B CN115447466 B CN 115447466B CN 202211155105 A CN202211155105 A CN 202211155105A CN 115447466 B CN115447466 B CN 115447466B
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- 230000002457 bidirectional effect Effects 0.000 title claims abstract description 28
- 238000012546 transfer Methods 0.000 title claims description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 238000004804 winding Methods 0.000 claims abstract description 43
- 239000003921 oil Substances 0.000 claims description 63
- 239000000839 emulsion Substances 0.000 claims description 45
- 239000010720 hydraulic oil Substances 0.000 claims description 16
- 230000007306 turnover Effects 0.000 claims description 13
- 230000001012 protector Effects 0.000 claims description 8
- 239000007788 liquid Substances 0.000 claims description 4
- 238000005086 pumping Methods 0.000 claims description 3
- 239000003292 glue Substances 0.000 claims 1
- 238000000034 method Methods 0.000 description 8
- 239000003245 coal Substances 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000008901 benefit Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000007711 solidification Methods 0.000 description 3
- 230000008023 solidification Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000001502 supplementing effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
- B60S9/10—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D33/00—Superstructures for load-carrying vehicles
- B62D33/06—Drivers' cabs
- B62D33/0617—Drivers' cabs for tractors or off-the-road vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/006—Equipment transport systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Civil Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Handcart (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides a motor-driven rubber wheel type bidirectional driving unit bracket carrying robot, which belongs to the technical field of underground transportation equipment and comprises a carrying mechanism, a main frame, a front cab, a rear cab, a hydraulic system, a motor assembly, cables, an automatic cable winding device and a rubber wheel travelling mechanism; the carrying mechanism, the front cab, the rear cab, the hydraulic system, the motor assembly and the automatic cable winding device are all arranged on the main frame, and the rubber wheel travelling mechanism is arranged on two sides of the main frame; the front cab and the rear cab are respectively positioned at the front side and the rear side of the main frame and are used for bidirectional driving; the carrying mechanism and the rubber wheel travelling mechanism are powered by a hydraulic system; the carrying mechanism is arranged in the middle of the main frame. The invention solves the technical problems of complex operation, low efficiency and potential safety hazard existing in the prior art that the unit bracket is carried by adopting winch traction, and can realize bidirectional driving.
Description
Technical Field
The invention belongs to the technical field of underground transportation equipment, and particularly discloses a motor-driven rubber wheel type bidirectional driving unit support carrying robot.
Background
The gob-side entry retaining is to maintain the section roadway with special supporting materials after the coal face is mined, and the section roadway is used as the roadway of the lower section. By adopting the gob-side entry retaining technology, the problem of corner gas accumulation on a stoping working face can be effectively solved, meanwhile, coal pillar-free mining is realized, the tunneling quantity of a roadway is reduced, and the situation of mine connection tension is relieved.
The flexible mould supporting technology in the gob-side entry retaining technology is a supporting mode I which is widely applied at present, has the advantages of simple construction process and high speed, but generally adopts a one-beam four-column supporting mode, and has the problems of single supporting mode, low supporting strength of surrounding rocks of a roadway and poor safety.
The unit bracket has the advantages of high supporting strength, good stability and the like, and can effectively protect the flexible mold wall. At present, a winch traction mode is generally adopted for carrying the unit bracket, so that the operation is complex, the efficiency is low and potential safety hazards exist. Therefore, the problem of carrying the unit bracket becomes a key factor for limiting the popularization of the unit bracket in the gob-side entry retaining process.
Meanwhile, when transportation operation is carried out in a narrow roadway or a coal mine gateway, one-way transportation equipment cannot turn around or needs a large turning place to turn around, and the device is poor in operability, low in safety and low in transportation efficiency, and has a visual field blind area.
Disclosure of Invention
The invention provides a motor-driven rubber wheel type bidirectional driving unit support carrying robot, which solves the following technical problems:
1. the unit bracket is carried by winch traction, and has complex operation, low efficiency and potential safety hazard;
2. When carrying out transportation operation in narrow tunnel or colliery crossheading, one-way transportation equipment can't turn around or need very big turning place to turn around, maneuverability is poor, there is visual field blind area, the security is low, transport efficiency is low.
The motor-driven rubber wheel type bidirectional driving unit bracket carrying robot comprises a carrying mechanism, a main frame, a front cab, a rear cab, a hydraulic system, a motor assembly, cables, an automatic cable winding device and a rubber wheel travelling mechanism; the carrying mechanism, the front cab, the rear cab, the hydraulic system, the motor assembly and the automatic cable winding device are all arranged on the main frame, and the rubber wheel travelling mechanism is arranged on two sides of the main frame; the front cab and the rear cab are respectively positioned at the front side and the rear side of the main frame and are used for bidirectional driving; the automatic cable winding device comprises a cable winding box body, a winding drum, a cable winding driving part, a cable frame and a full cable protector, wherein the winding drum, the cable winding driving part, the cable frame and the full cable protector are arranged in the cable winding box body; the cable is coiled on the winding drum, penetrates through the cable rack and is connected with the motor assembly and an external power supply; the winding drum is driven to rotate by the cable winding driving part; the full cable protector is used for locking the winding drum when the cable reel winds more; the hydraulic system is powered by the motor assembly; the carrying mechanism and the rubber wheel travelling mechanism are powered by a hydraulic system; the carrying mechanism is arranged in the middle of the main frame and comprises a bracket, a vertical lifting frame, a vertical driving part, a transverse moving platform, a transverse driving part, a bracket shovel plate, a rotating shaft and a turnover driving part; the bracket is arranged on the main frame; the vertical lifting frame is driven by the vertical driving part to slide up and down along the bracket; the transverse moving platform is driven by the transverse driving part to slide left and right along the vertical lifting frame; the two support shovel plates are connected through a rotating shaft, the rotating shaft is rotatably arranged on the transverse moving platform, and the overturning driving part drives the rotating shaft to rotate so as to enable the support shovel plates to overturn left and right.
Further, the vertical driving part is a lifting oil cylinder; the bracket comprises a left side plate, a right side plate, a top plate, a bottom plate and a back plate, wherein the top plate, the bottom plate and the back plate are connected with the two side plates; the vertical lifting frame comprises a front frame and a rear frame fixed at the rear of the front frame; the rear frame of the vertical lifting frame comprises two side plates and a top plate connected with the side plates, the outer sides of the two side plates are provided with a limiting wheel I and a limiting wheel II, the top plate is provided with a lifting cylinder upper connecting lug, the wheel shaft of the limiting wheel I is arranged in the left-right direction, the wheel shaft of the limiting wheel II is arranged in the front-back direction, the rear frame is in sliding fit in the bracket, and the limiting wheel I and the limiting wheel II are positioned in the vertical groove; the two ends of the lifting oil cylinder are respectively and rotatably connected with the lower connecting lug of the lifting oil cylinder and the upper connecting lug of the lifting oil cylinder.
Further, the top surface, the front surface and the bottom surface of the front frame are all provided with transverse grooves; the transverse moving platform comprises a transverse moving connecting frame and a turnover table; the transverse moving connecting frame comprises a top plate, a bottom plate and a turnover table mounting plate for connecting the top plate and the bottom plate, wherein limit wheels III are arranged on the bottom surface of the top plate and the top surface of the bottom plate, limit wheels IV are arranged behind the turnover table mounting plate, wheel shafts of the limit wheels III are arranged in the up-down direction, wheel shafts of the limit wheels IV are arranged in the front-back direction, limit wheels III on the top plate are in sliding fit in transverse grooves on the top surface of the front frame, limit wheels III on the bottom plate are in sliding fit in transverse grooves on the bottom surface of the front frame, and limit wheels IV are in sliding fit in transverse grooves in front of the front frame; the overturning platform is arranged in front of the overturning platform mounting plate; the overturning platform is provided with a rack and rotating shaft mounting seats, the rack is arranged in a sliding mode, and the rotating shaft mounting seats are symmetrically arranged on two sides of the rack; the rotating shaft is rotationally connected with the rotating shaft mounting seat, a gear is arranged on the rotating shaft, and the gear is meshed with the rack; the overturning driving part is an overturning oil cylinder and drives the rack to slide left and right through telescoping.
Further, the transverse driving part is a double-rod oil cylinder transversely arranged in the front frame, piston rods on two sides are connected with two sides of the front frame, two chain wheels are respectively arranged on the upper side and the lower side of the cylinder body, wheel shafts of the chain wheels are arranged in the vertical direction, the chain wheels on the upper side are connected through an upper chain, the chain wheels on the lower side are connected through a lower chain, the front faces of the upper chain and the lower chain are connected with the rear face of the overturning platform mounting plate through a front connecting block, and the rear faces of the upper chain and the lower chain are connected with the rear frame through a rear connecting block.
Further, the carrying mechanism further comprises swing support legs and support leg swing parts, wherein the swing support legs are rotatably arranged on two sides of the bracket, and are driven by the support leg swing parts to swing downwards to be supported on the ground or swing upwards to be folded on two sides of the bracket;
Or the two sides of the main frame are provided with telescopic support legs and support leg telescopic parts, and the telescopic support legs are driven by the support leg telescopic parts to extend downwards to be supported on the ground or retract upwards to be in a suspended state.
Further, the supporting leg swinging part is a swinging oil cylinder; the outer side of the side plate is provided with an upper connecting lug of the swing oil cylinder and a connecting lug of the swing supporting leg, the swing supporting leg is rotationally connected with the connecting lug of the swing supporting leg, and the swing supporting leg is provided with a lower connecting lug of the swing oil cylinder; two ends of the swing oil cylinder are respectively and rotatably connected with an upper connecting lug of the swing oil cylinder and a lower connecting lug of the swing oil cylinder; the landing leg telescopic part is a telescopic oil cylinder.
Further, the motor-driven rubber wheel type bidirectional driving unit support transfer robot further comprises an emulsion system, wherein the emulsion system is used for supplementing liquid for the unit support and receiving liquid return of the unit support and comprises an emulsion tank, an emulsion pump station and an operation valve; the emulsion box and the emulsion pump station are both arranged on the main frame, the emulsion box and the emulsion pump station are connected through an emulsion pipe, and the emulsion pump station is driven by the motor assembly; the operating valve is used for controlling the emulsion pump station.
Further, the hydraulic system comprises a hydraulic oil tank, a hydraulic pump, a multi-way valve and a pilot operation handle; the driving part in the rubber wheel travelling mechanism is a hydraulic motor; the hydraulic pump is connected with the motor assembly and is used for pumping hydraulic oil in the hydraulic oil tank to the multi-way valve; the multi-way valve is used for reversing oil entering and exiting through the pilot operating handle, and hydraulic oil is respectively sent to the overturning oil cylinder, the lifting oil cylinder, the double-rod oil cylinder, the swinging oil cylinder, the telescopic oil cylinder and the hydraulic motor.
Further, an electric control system for one-key start-stop and manual remote control automatic switching is also arranged on the main frame, and comprises an electric control box, an instrument display and an alarm, wherein the alarm has a personnel approaching alarm function; seats are arranged in the front cab and the rear cab, and pilot operation handles and instrument displays are arranged in the front cab and the rear cab.
Further, the main frame comprises a front main frame, a middle bearing frame and a rear main frame; the front main frame is connected with the middle bearing frame through bolts, and the middle bearing frame is connected with the rear main frame through bolts; the front and rear groups of rubber wheels in the rubber wheel travelling mechanism are respectively arranged on the front main frame and the rear main frame; the emulsion system, the front cab, the electric cabinet and the alarm are arranged on the front main frame; the rear cab, the hydraulic oil tank, the hydraulic pump, the multi-way valve, the motor assembly and the automatic cable winding device are arranged on the rear main frame, and the motor assembly adopts a three-phase asynchronous motor; the carrying mechanism is arranged on the middle bearing frame.
The invention has the following beneficial effects:
1. the motor-driven rubber wheel type bidirectional driving unit support carrying robot has the functions of turning a support shovel plate left and right, transversely moving left and right and moving up and down, can rapidly carry out fork assembly on a unit support, and solves the technical problems that in the prior art, the unit support is carried by adopting winch traction, the operation is complex, the efficiency is low and potential safety hazards exist;
2. the designed middle bearing frame effectively improves the stress intensity of the carrying mechanism and ensures the safety of the unit bracket in the carrying process;
3. the bidirectional running can be realized, the turning around is not required in a narrow roadway or a coal mine gateway, a turning site is not required to be additionally constructed, the operation is simple and convenient, the operability is strong, the safety of the vehicle is high, and the transportation efficiency is high;
4. The support legs are arranged on the two sides of the bracket or the main frame, when the unit bracket is subjected to fork assembly, the support legs extend out and are supported on the ground, so that the stability of the fork assembly process is ensured, and when the unit bracket runs, the support legs can be retracted away from the ground;
5. The emulsion can be supplemented for the unit bracket, and the system has the functions of manual remote control switching, personnel approaching alarm and the like, can effectively improve the carrying efficiency of the unit bracket, reduce the labor intensity, achieve the purposes of automatic personnel reduction and synergy, and has good social benefits for popularization of the unit bracket in underground coal mines.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a front view of a motor-driven rubber-wheeled bi-directional drive unit rack transfer robot;
FIG. 2 is an axial view of FIG. 1;
FIG. 3 is a front view of FIG. 1;
FIG. 4 is a schematic structural view of a carrying mechanism;
FIG. 5 is a schematic view of the structure of the bracket;
FIG. 6 is a schematic view of a vertical lift structure;
FIG. 7 is a view in another direction from FIG. 6;
FIG. 8 is a layout of the sprocket, chain and connecting block on the dual output rod cylinder;
FIG. 9 is a schematic view of a traversing platform;
FIG. 10 is a schematic view of an automatic cable winding device;
FIG. 11 is a schematic view of the transport mechanism transporting the unit rack;
FIG. 12 is a schematic view of a unit stent arrangement on both sides of a roadway;
fig. 13 is a schematic view of a unit bracket disposed on a single side of a roadway.
In the figure: 101-a carrying mechanism; 101.1-brackets; 101.2-a vertical lifting frame; 101.3-traversing the platform; 101.4-a bracket shovel plate; 101.5-rotating shaft; 101.6-racks; 101.7-a rotating shaft mount; 101.8-gear; 101.9-turning oil cylinder; 101.10-vertical grooves; 101.11-front frame; 101.12-a rear frame; 101.13-limit wheel I; 101.14-limit wheel II; 101.15-lifting oil cylinders; 101.16-a lower connecting lug of the lifting cylinder; 101.17-connecting lugs on the lifting cylinder; 101.18-transverse grooves; 101.19-traversing the connecting frame; 101.20-a turnover table; 101.21-limit wheel III; 101.22-a limit wheel IV; 101.23-double-rod oil cylinder; 101.24-sprocket; 101.25-chaining; 101.26-lower chain; 101.27-front connection block; 101.28-a rear connecting block; 101.29-swinging legs; 101.30-swinging oil cylinders; 101.31-connecting lugs on the swinging oil cylinders; 101.32-swing leg attachment ears; 101.33-limit grooves;
102.1-a front main frame; 102.2-middle carrier; 102.3-a rear main frame;
103 a-front cab; 103 b-rear cab; 103.1-seating;
104.1-an electric cabinet; 104.2-meter display; 104.3-an alarm;
105.1-a hydraulic oil tank; 105.2-hydraulic pump; 105.3-multiway valve; 105.4-a pilot operating handle;
106.1-an emulsion tank; 106.2-an emulsion pump station; 106.3-operating a valve;
107-motor assembly;
108-a rubber wheel travelling mechanism; 108.1-a hydraulic motor;
109-a cable;
110-an automatic cable winding device; 110.1-a cable box; 110.2-winding drum; 110.3-a cable-winding motor; 110.4-cable rack; 110.5-full cable protector;
111-telescoping legs;
200-unit brackets; 201-quick-insert valve; 202-shovel holes;
300-roadway; 400-flexible mold wall; 500-coal wall.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. In the embodiment, the unit bracket transfer robot is horizontal, longitudinal in front and back and vertical in top and bottom.
Example 1
The embodiment provides a motor-driven rubber wheel type bidirectional driving unit support transfer robot, which comprises a transfer mechanism 101, a main frame, a front cab 103a, a rear cab 103b, an electric control system, a hydraulic system, an emulsion system, a motor assembly 107, a rubber wheel traveling mechanism 108, a cable 109 and an automatic cable reeling device 110.
The carrying mechanism 101 comprises a bracket 101.1, a vertical lifting frame 101.2, a vertical driving part, a transverse moving platform 101.3, a transverse driving part, a bracket shovel plate 101.4, a rotating shaft 101.5 and a turnover driving part; the bracket 101.1 is arranged in the middle of the main frame; the vertical lifting frame 101.2 is driven by a vertical driving part to slide up and down along the bracket 101.1; the transverse moving platform 101.3 is driven by a transverse driving part to slide left and right along the vertical lifting frame 101.2; the two support shovel plates 101.4 are connected through the rotating shaft 101.5, the rotating shaft 101.5 is rotatably arranged on the transverse moving platform 101.3, and the overturning driving part drives the rotating shaft 101.5 to rotate so as to enable the support shovel plates 101.4 to overturn left and right, so that the carrying mechanism 101 can be ensured to carry out carrying on the unit supports 200 on the two sides rapidly.
Preferably, the traversing platform 101.3 is provided with a rack 101.6 and a rotating shaft mounting seat 101.7, the rack 101.6 is arranged in a sliding way, and the rotating shaft mounting seats 101.7 are symmetrically arranged at two sides of the rack 101.6; the rotating shaft 101.5 is rotationally connected with the rotating shaft mounting seat 101.7, a gear 101.8 is arranged on the rotating shaft 101.5, and the gear 101.8 is meshed with the rack 101.6; the overturning driving part is an overturning oil cylinder 101.9, and drives the rack 101.6 to slide left and right through expansion and contraction, so that the gear 101.8 rotates, and the bracket shovel plate 101.4 rotates by 0-180 degrees.
Preferably, the bracket 101.1 is provided with two vertical grooves 101.10 with opposite openings; the vertical lifting frame 101.2 comprises a front frame 101.11 and a rear frame 101.12 fixed at the rear of the front frame 101.11; the left and right sides of back frame 101.12 all is provided with spacing round I101.13 and spacing round II 101.14, and the shaft of spacing round I101.13 is arranged along left and right direction, and the shaft of spacing round II 101.14 is arranged along the fore-and-aft direction, and back frame 101.12 sliding fit is in bracket 101.1, and spacing round I101.13 and spacing round II 101.14 are located vertical recess 101.11, and spacing round I101.13 is used for restricting vertical lifting frame 101.2 back-and-forth swing, and spacing round II 101.14 is used for restricting vertical lifting frame 101.2 left-and-right swing.
Preferably, the vertical driving part is a lifting cylinder 101.15; the bracket 101.1 comprises a left side plate, a right side plate, a top plate, a bottom plate and a back plate, wherein the top plate, the bottom plate and the back plate are connected with the two side plates, the vertical groove 101.10 is arranged on the inner sides of the two side plates, and the bottom plate is provided with a lifting oil cylinder lower connecting lug 101.16; the rear frame 101.12 of the vertical lifting frame 101.2 comprises two side plates and a top plate connected with the side plates, the limiting wheel I101.13 and the limiting wheel II 101.14 are arranged on the outer sides of the two side plates, and the top plate is provided with a lifting cylinder upper connecting lug 101.17; the two ends of the lifting cylinder 101.15 are respectively connected with the lifting cylinder lower connecting lug 101.16 and the lifting cylinder upper connecting lug 101.17 in a rotating way, and the vertical lifting frame 101.2 can slide up and down through the expansion and contraction of the lifting cylinder 101.15.
Preferably, the top, front and bottom surfaces of the front frame 101.11 are provided with transverse grooves 101.18; the traversing platform 101.3 comprises a traversing connecting frame 101.19 and a turnover table 101.20; the transverse moving connecting frame 101.19 comprises a top plate, a bottom plate and a turnover table mounting plate for connecting the top plate and the bottom plate, wherein limit wheels III 101.21 are arranged on the bottom surface of the top plate and the top surface of the bottom plate, limit wheels IV 101.22 are arranged on the rear surface of the turnover table mounting plate, wheel shafts of the limit wheels III 101.21 are arranged in the up-down direction, wheel shafts of the limit wheels IV 101.22 are arranged in the front-back direction, limit wheels III 101.21 on the top plate are slidingly embedded in transverse grooves 101.18 on the top surface of the front frame 101.11, limit wheels III 101.21 on the bottom plate are slidingly embedded in transverse grooves 101.18 on the bottom surface of the front frame 101.11, limit wheels IV 101.22 are slidingly embedded in transverse grooves 101.18 on the front surface of the front frame 101.11, limit wheels III 101.21 are used for limiting the transverse moving platform 101.3 to swing back and forth, and limit wheels IV 101.22 are used for limiting the transverse moving platform 101.3 to swing up and down; the overturning platform 101.20 is arranged in front of the overturning platform mounting plate; the bracket shovel 101.4, the rotating shaft 101.5, the rack 101.6, the rotating shaft mounting seat 101.7 and the overturning cylinder 101.9 are all arranged on the overturning platform 101.20.
Preferably, the transverse driving part is a double-rod oil cylinder 101.23 transversely arranged in the front frame 101.11, piston rods on two sides are connected with two sides of the front frame 101.11, two chain wheels 101.24 are respectively arranged on the upper side and the lower side of the cylinder body, the wheel shafts of the chain wheels 101.24 are arranged along the up-down direction, the chain wheels 101.24 on the upper side are connected through an upper chain 101.25, the chain wheels on the lower side are connected through a lower chain 101.26, the front faces of the upper chain 101.25 and the lower chain 101.26 are connected with the rear face of the overturning platform mounting plate through a front connecting block 101.27, and the rear faces of the upper chain 101.25 and the lower chain 101.26 are connected with the rear frame 101.12 through a rear connecting block 101.28. When the cylinder body transversely moves, the rear connecting block 101.28 is fixed, and the front connecting block 101.27 drives the transverse moving connecting frame 101.19 to realize transverse moving multiplication.
Preferably, the handling mechanism further comprises a swing leg 101.29 and a leg swing; swing legs 101.29 are rotatably mounted on both sides of the bracket 101.1 and are supported by leg swinging parts in a downward swinging manner or in an upward swinging manner on both sides of the bracket 101.1.
Preferably, the leg swinging part is a swinging oil cylinder 101.30; an upper connecting lug 101.31 of the swing oil cylinder and a connecting lug 101.32 of the swing supporting leg are arranged on the outer side of the side plate of the bracket; the swing support leg 101.29 is rotationally connected with the swing support leg connecting lug 101.32, and a swing oil cylinder lower connecting lug is arranged on the swing support leg 101.30; two ends of the swinging oil cylinder 101.30 are respectively and rotatably connected with an upper connecting lug 101.31 of the swinging oil cylinder and a lower connecting lug of the swinging oil cylinder. When the unit bracket is carried, the swinging support leg 101.29 is guaranteed to be attached to the ground, and after the unit bracket is lifted, the swinging support leg 101.29 is contracted, so that stable operation of the unit bracket in the carrying process is guaranteed. The swing angle of the swing leg 101.29 is in the range of 0-100.
Besides the swing support legs 101.29 and the support leg swing parts, the stable operation of the unit support during the carrying process can be ensured by arranging the telescopic support legs 111 and the support leg telescopic parts on two sides of the main frame. The telescopic support legs 111 are driven by the telescopic parts of the support legs to extend downwards to be supported on the ground or retract upwards to be in a suspended state. The landing leg telescopic part is a telescopic oil cylinder.
Preferably, limit grooves 101.33 are respectively formed on the upper side and the lower side of the support shovel plate 101.4.
The emulsion system is used for replenishing the unit bracket 200 and receiving the liquid return of the unit bracket 200, and comprises an emulsion tank 106.1, an emulsion pump station 106.2 and an operation valve 106.3; the emulsion tank 106.1 and the emulsion pump station 106.2 are both arranged on the main frame, the emulsion tank 106.1 and the emulsion pump station 106.2 are connected through an emulsion pipe, and the emulsion pump station 106.2 is driven by a motor assembly 107; the valve 106.3 is operated for controlling the emulsion pump station 106.2.
The hydraulic system provides power for the movement of the carrying mechanism 101 and the running of the rubber wheel running mechanism 107, and comprises a hydraulic oil tank 105.1, a hydraulic pump 105.2, a multi-way valve 105.3 and a pilot operation handle 105.4; the driving part in the rubber tyre running mechanism 108 is a hydraulic motor 108.1; the hydraulic pump 105.2 is connected with the motor assembly 107 and is used for pumping hydraulic oil in the hydraulic oil tank 105.1 to the multi-way valve 105.3; the multi-way valve 105.3 performs oil inlet and outlet reversing through the pilot operation handle 105.4, and hydraulic oil is respectively sent to the overturning oil cylinder 101.9, the lifting oil cylinder 101.15, the double-rod oil cylinder 101.23, the swinging oil cylinder 101.30, the telescopic oil cylinder and the hydraulic motor 108.1.
The electronic control system can realize one-key start-stop and manual remote control automatic switching, so that automation of the motor-driven rubber wheel type bidirectional driving unit support transfer robot is improved, and overall safety is guaranteed. The electronic control system comprises an electric cabinet 104.1, an instrument display 104.2 and an alarm 104.3. The instrument display 104.2 has a data uploading function and monitors the overall running state of the motor-driven rubber wheel type bidirectional driving unit bracket carrying robot in real time. The alarm 104.3 has a personnel proximity alarm function.
The front cab 103a is arranged on the front side of the main frame, the rear cab 103b is arranged on the rear side of the main frame, the seats 103.1, the pilot operating handles 105.4 and the instrument display 104.2 are all arranged in the cab, the pilot operating handles 105.4 are positioned right in front of the seats 103.1, and the instrument display 104.2 is positioned on one side of the seats 103.1.
The automatic cable winding device 110 includes a cable winding box 110.1, a winding drum 110.2 disposed in the cable winding box 110.1, a cable winding driving part (the cable winding motor 110.3 is adopted in the embodiment), a cable rack 110.4 and a full cable protector 110.5; the cable 109 is coiled on the winding drum 110.2, passes through the cable frame 110.4 and is connected with the motor assembly 107 and an external power supply; the winding drum 110.2 is driven to rotate by a cable winding motor 110.3 to realize winding and unwinding of the cable 109; the full cable protector 110.5 is used to lock the spool 110.2 when the cable 109 is coiled too much, avoiding further coiling of the cable 109.
The main frame comprises a front main frame 102.1, a middle bearing frame 102.2 and a rear main frame 102.3; the front main frame 102.1 is bolted to the central carriage 102.2 and the central carriage 102.2 is bolted to the rear main frame 102.2.
The front and rear groups of rubber wheels in the rubber wheel travelling mechanism 108 are respectively arranged on the front main frame 102.1 and the rear main frame 102.3; the emulsion system, the front cab 103a, the electric cabinet 104.1 and the alarm 104.3 are arranged on the front main frame 102.1; the rear cab 103b, the hydraulic oil tank 105.1, the hydraulic pump 105.2, the multi-way valve 105.3, the motor assembly 107 and the automatic cable winding device 110 are arranged on the rear main frame 102.3, and the motor assembly 107 adopts a three-phase asynchronous motor and is connected with the hydraulic pump 105.2 through a coupling; the handling means 101 are arranged on the central carrier 102.2.
Example 2
The embodiment provides a unit bracket gob-side entry retaining method implemented on the basis of the motor-driven rubber wheel type bidirectional driving unit bracket carrying robot, which comprises the following steps:
s1, pouring a flexible mold wall 400 in a roadway 300, wherein the flexible mold wall 400 has the characteristic of rapid roadway formation;
S2, arranging the unit brackets 200 in a forward extending mode in sequence according to the solidification time of the flexible mold wall 400, wherein before the flexible mold wall 400 is not solidified, a quick-insertion valve 201 for connecting with an emulsion system and a shovel plate hole 202 for allowing a bracket shovel plate 101.4 to pass through are arranged on the unit brackets 200, the unit brackets 200 can be arranged on one side of the roadway 300 (namely, close to the flexible mold wall 400) or on two sides of the roadway 300 (namely, one side of the unit brackets is close to the flexible mold wall 400 and the other side of the unit brackets is arranged in front of the coal wall 500), the steps of the adjacent unit brackets 200 are two meters, and the adjacent unit brackets 200 are arranged in advance according to the solidification time of the flexible mold wall 400;
S3, arranging the motor-driven rubber wheel type bidirectional driving unit support transfer robot in the middle of the roadway 300, and sequentially transferring the unit supports 200 from back to front along the pouring direction of the flexible mold wall 400 according to the solidification speed of the flexible mold wall 400.
Wherein, step S3 includes the following steps:
T1, before the motor-driven rubber wheel type bidirectional driving unit support transfer robot runs to a unit support 200 to be transferred, a swing oil cylinder 101.30 (or a telescopic oil cylinder) stretches out to enable a swing supporting leg 101.29 to stretch out (or a telescopic supporting leg 111 stretches out) until the swing supporting leg 101.29 (or the telescopic supporting leg 111) contacts with the ground to ensure the stability of the motor-driven rubber wheel type bidirectional driving unit support transfer robot in the transfer process, a quick-plug valve 201 on an emulsion system and the unit support 200 is communicated, the emulsion system is operated to enable the unit support 200 to shrink, the early-stage transfer preparation of the unit support 200 is completed, and the emulsion system and the unit support 200 are separated;
T2, the support shovel plate 101.4 is turned to one side of the unit support 200, the vertical lifting frame 101.2 slides up and down until the heights of the two support shovel plates 101.4 are aligned with the heights of the shovel plate holes 202, the traversing platform 101.3 approaches to one side of the unit support 200, the two support shovel plates 101.4 are inserted into the shovel plate holes 202, then the vertical lifting frame 101.2 lifts up to drive the unit support 200 to move upwards to leave the ground, and the traversing platform 101.3 moves in the opposite direction to move the unit support 200 to the middle position of the carrying mechanism 101;
T3, the swing oil cylinder 101.30 (or the telescopic oil cylinder) is contracted to enable the swing supporting leg 101.29 (or the telescopic supporting leg 111) to be contracted to an original state, the motor drives the rubber wheel type bidirectional driving unit support carrying robot to move forwards until the unit support 200 is carried to a front designated position, the traversing platform 101.3 approaches to the side where the flexible mold wall 400 is located, then the vertical lifting frame 101.2 moves downwards, the unit support 200 is placed on the ground, the traversing platform 101.3 moves in the opposite direction, and the two support shovel plates 101.4 are pulled away from the shovel plate holes 202;
T4, connecting the emulsion system with a quick-plug valve 201 on the unit bracket 200, supplementing the emulsion, lifting the unit bracket 200 to contact with a roadway top beam, separating the emulsion system from the unit bracket 200, and completing primary unit bracket 200 carrying action;
And T5, repeating the steps T1-T4.
The operator can operate the remote control/manual switching valve to operate the rack carrying operation.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (8)
1. The motor-driven rubber wheel type bidirectional driving unit bracket carrying robot is characterized by comprising a carrying mechanism, a main frame, a front cab, a rear cab, a hydraulic system, a motor assembly, a cable, an automatic cable winding device and a rubber wheel travelling mechanism;
The carrying mechanism, the front cab, the rear cab, the hydraulic system, the motor assembly and the automatic cable winding device are all arranged on the main frame, and the rubber wheel travelling mechanism is arranged on two sides of the main frame;
The front cab and the rear cab are respectively positioned at the front side and the rear side of the main frame and are used for bidirectional driving;
The automatic cable winding device comprises a cable winding box body, a winding drum arranged in the cable winding box body, a cable winding driving part, a cable frame and a full cable protector;
the cable is coiled on the winding drum, penetrates through the cable rack and is connected with the motor assembly and an external power supply;
The winding drum is driven to rotate by the cable winding driving part;
the full cable protector is used for locking the winding drum when the cable reel is wound more;
the hydraulic system is powered by the motor assembly;
The carrying mechanism and the rubber wheel travelling mechanism are powered by a hydraulic system;
The carrying mechanism is arranged in the middle of the main frame and comprises a bracket, a vertical lifting frame, a vertical driving part, a transverse moving platform, a transverse driving part, a bracket shovel plate, a rotating shaft and a turnover driving part;
the bracket is arranged on the main frame;
the vertical lifting frame is driven by the vertical driving part to slide up and down along the bracket;
The transverse moving platform is driven by the transverse driving part to slide left and right along the vertical lifting frame;
the two support shovel plates are connected through a rotating shaft, the rotating shaft is rotatably arranged on the transverse moving platform, and the overturning driving part drives the rotating shaft to rotate so as to enable the support shovel plates to overturn left and right;
the vertical driving part is a lifting oil cylinder;
the bracket comprises a left side plate, a right side plate, a top plate, a bottom plate and a back plate, wherein the top plate, the bottom plate and the back plate are connected with the two side plates;
the vertical lifting frame comprises a front frame and a rear frame fixed at the rear of the front frame;
The rear frame of the vertical lifting frame comprises two side plates and a top plate connected with the side plates, the outer sides of the two side plates are provided with a limiting wheel I and a limiting wheel II, the top plate is provided with a lifting cylinder upper connecting lug, the wheel shaft of the limiting wheel I is arranged in the left-right direction, the wheel shaft of the limiting wheel II is arranged in the front-back direction, the rear frame is in sliding fit in the bracket, and the limiting wheel I and the limiting wheel II are positioned in the vertical groove;
Two ends of the lifting oil cylinder are respectively and rotatably connected with the lower connecting lug of the lifting oil cylinder and the upper connecting lug of the lifting oil cylinder;
the top surface, the front surface and the bottom surface of the front frame are provided with transverse grooves;
the transverse moving platform comprises a transverse moving connecting frame and a turnover table;
The transverse moving connecting frame comprises a top plate, a bottom plate and a turnover table mounting plate for connecting the top plate and the bottom plate, wherein limit wheels III are arranged on the bottom surface of the top plate and the top surface of the bottom plate, limit wheels IV are arranged behind the turnover table mounting plate, wheel shafts of the limit wheels III are arranged in the up-down direction, wheel shafts of the limit wheels IV are arranged in the front-back direction, limit wheels III on the top plate are in sliding fit in transverse grooves on the top surface of the front frame, limit wheels III on the bottom plate are in sliding fit in transverse grooves on the bottom surface of the front frame, and limit wheels IV are in sliding fit in transverse grooves in front of the front frame;
The overturning platform is arranged in front of the overturning platform mounting plate;
The overturning platform is provided with a rack and rotating shaft mounting seats, the rack is arranged in a sliding mode, and the rotating shaft mounting seats are symmetrically arranged on two sides of the rack;
The rotating shaft is rotationally connected with the rotating shaft mounting seat, a gear is arranged on the rotating shaft, and the gear is meshed with the rack;
the overturning driving part is an overturning oil cylinder and drives the rack to slide left and right through telescoping.
2. The motor-driven rubber wheel type bidirectional driving unit support transfer robot according to claim 1, wherein the transverse driving part is a double-rod-outlet oil cylinder transversely arranged in the front frame, piston rods on two sides are connected with two sides of the front frame, two chain wheels are respectively arranged on the upper side and the lower side of the cylinder body, wheel shafts of the chain wheels are arranged in the upper and lower directions, the chain wheels on the upper side are connected through an upper chain, the chain wheels on the lower side are connected through a lower chain, the front faces of the upper chain and the lower chain are connected with the rear face of the overturning platform mounting plate through a front connecting block, and the rear faces of the upper chain and the lower chain are connected with the rear frame through a rear connecting block.
3. The motor-driven rubber-tyred bidirectional driving unit support transfer robot according to claim 2, wherein the transfer mechanism further comprises swing legs and leg swing parts, the swing legs are rotatably installed on two sides of the bracket, and are driven by the leg swing parts to swing downwards to be supported on the ground or swing upwards to be folded on two sides of the bracket;
Or the two sides of the main frame are provided with telescopic support legs and support leg telescopic parts, and the telescopic support legs are driven by the support leg telescopic parts to extend downwards to be supported on the ground or retract upwards to be in a suspended state.
4. The motor-driven rubber-tyred bidirectional driving unit support transfer robot of claim 3, wherein the leg swinging part is a swinging oil cylinder;
The outer side of the side plate is provided with an upper connecting lug of the swing oil cylinder and a connecting lug of the swing supporting leg, the swing supporting leg is rotationally connected with the connecting lug of the swing supporting leg, and the swing supporting leg is provided with a lower connecting lug of the swing oil cylinder;
two ends of the swing oil cylinder are respectively and rotatably connected with an upper connecting lug of the swing oil cylinder and a lower connecting lug of the swing oil cylinder;
The landing leg telescopic part is a telescopic oil cylinder.
5. The motor-driven rubber-tyred bidirectional driving unit support transfer robot of claim 4, further comprising an emulsion system for replenishing the unit support and receiving the liquid return of the unit support, comprising an emulsion tank, an emulsion pump station and an operating valve;
The emulsion box and the emulsion pump station are both arranged on the main frame, the emulsion box and the emulsion pump station are connected through an emulsion pipe, and the emulsion pump station is driven by the motor assembly;
the operating valve is used for controlling the emulsion pump station.
6. The motor-driven rubber-tyred bidirectional driving unit support transfer robot of claim 5, wherein the hydraulic system comprises a hydraulic oil tank, a hydraulic pump, a multi-way valve and a pilot operating handle;
the driving part in the rubber wheel travelling mechanism is a hydraulic motor;
the hydraulic pump is connected with the motor assembly and is used for pumping hydraulic oil in the hydraulic oil tank to the multi-way valve;
The multi-way valve is used for reversing oil entering and exiting through the pilot operating handle, and hydraulic oil is respectively sent to the overturning oil cylinder, the lifting oil cylinder, the double-rod oil cylinder, the swinging oil cylinder, the telescopic oil cylinder and the hydraulic motor.
7. The motor-driven rubber-tyred bidirectional driving unit support transfer robot according to claim 6, wherein an electric control system for one-key start-stop and manual remote control automatic switching is further arranged on the main frame, and the electric control system comprises an electric control box, an instrument display and an alarm, wherein the alarm has a personnel approaching alarm function;
seats are arranged in the front cab and the rear cab, and pilot operation handles and instrument displays are arranged in the front cab and the rear cab.
8. The motor-driven glue wheel type bi-directional drive unit rack transfer robot of claim 7, wherein the main frame comprises a front main frame, a middle carriage and a rear main frame;
the front main frame is connected with the middle bearing frame through bolts, and the middle bearing frame is connected with the rear main frame through bolts;
The front and rear groups of rubber wheels in the rubber wheel travelling mechanism are respectively arranged on the front main frame and the rear main frame;
the emulsion system, the front cab, the electric cabinet and the alarm are arranged on the front main frame;
the rear cab, the hydraulic oil tank, the hydraulic pump, the multi-way valve, the motor assembly and the automatic cable winding device are arranged on the rear main frame, and the motor assembly adopts a three-phase asynchronous motor;
the carrying mechanism is arranged on the middle bearing frame.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211155105.5A CN115447466B (en) | 2022-09-22 | 2022-09-22 | Motor-driven rubber wheel type bidirectional driving unit support transfer robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211155105.5A CN115447466B (en) | 2022-09-22 | 2022-09-22 | Motor-driven rubber wheel type bidirectional driving unit support transfer robot |
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| CN115447466B true CN115447466B (en) | 2024-05-17 |
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| CN115416560B (en) * | 2022-09-19 | 2024-03-26 | 中国煤炭科工集团太原研究院有限公司 | Storage battery rubber-tyred vehicle for carrying unit bracket |
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| CN105151126A (en) * | 2015-09-23 | 2015-12-16 | 中国煤炭科工集团太原研究院有限公司 | Narrow short articulated two-way transport vehicle for coal mines, and hydraulic system of narrow short articulated two-way transport vehicle |
| CN110979491A (en) * | 2019-12-28 | 2020-04-10 | 中国煤炭科工集团太原研究院有限公司 | Crawler-type does not have and supports singly strides support carrier repeatedly |
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| CN112390195A (en) * | 2020-11-12 | 2021-02-23 | 江苏天煤机电科技有限公司 | Mining fork dress formula unit support carrier |
| CN114803960A (en) * | 2022-05-11 | 2022-07-29 | 江苏天煤机电科技有限公司 | Mining explosion-proof battery driven new energy unit support carrier |
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2022
- 2022-09-22 CN CN202211155105.5A patent/CN115447466B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105151126A (en) * | 2015-09-23 | 2015-12-16 | 中国煤炭科工集团太原研究院有限公司 | Narrow short articulated two-way transport vehicle for coal mines, and hydraulic system of narrow short articulated two-way transport vehicle |
| CN110979491A (en) * | 2019-12-28 | 2020-04-10 | 中国煤炭科工集团太原研究院有限公司 | Crawler-type does not have and supports singly strides support carrier repeatedly |
| CN212454541U (en) * | 2020-08-21 | 2021-02-02 | 中国煤炭科工集团太原研究院有限公司 | Forepoling carrier for coal mine crossheading |
| CN112390195A (en) * | 2020-11-12 | 2021-02-23 | 江苏天煤机电科技有限公司 | Mining fork dress formula unit support carrier |
| CN114803960A (en) * | 2022-05-11 | 2022-07-29 | 江苏天煤机电科技有限公司 | Mining explosion-proof battery driven new energy unit support carrier |
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