CN115476938A - Two-way driving unit support transfer robot of battery crawler-type - Google Patents
Two-way driving unit support transfer robot of battery crawler-type Download PDFInfo
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- CN115476938A CN115476938A CN202211148360.7A CN202211148360A CN115476938A CN 115476938 A CN115476938 A CN 115476938A CN 202211148360 A CN202211148360 A CN 202211148360A CN 115476938 A CN115476938 A CN 115476938A
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- frame
- oil cylinder
- cab
- bracket
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- 238000012546 transfer Methods 0.000 title claims description 21
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 238000004146 energy storage Methods 0.000 claims abstract description 5
- 230000000712 assembly Effects 0.000 claims abstract description 3
- 238000000429 assembly Methods 0.000 claims abstract description 3
- 239000003921 oil Substances 0.000 claims description 105
- 239000000839 emulsion Substances 0.000 claims description 46
- 230000008093 supporting effect Effects 0.000 claims description 45
- 239000010720 hydraulic oil Substances 0.000 claims description 17
- 230000007306 turnover Effects 0.000 claims description 15
- 238000013459 approach Methods 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 5
- 238000005086 pumping Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 239000003245 coal Substances 0.000 description 3
- 239000004567 concrete Substances 0.000 description 3
- 230000008602 contraction Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 238000007711 solidification Methods 0.000 description 3
- 230000008023 solidification Effects 0.000 description 3
- 230000001502 supplementing effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005345 coagulation 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
- 210000005069 ears Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009415 formwork Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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- 239000011435 rock Substances 0.000 description 1
- 239000011376 self-consolidating concrete Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
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- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
-
- 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
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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
- B66F9/12—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
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- 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)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Civil Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (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)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides a crawler-type bidirectional driving unit support carrying robot for a storage battery, 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 power assembly and a crawler chassis assembly, wherein the main frame is arranged on the front cab; the carrying mechanism, the front cab, the rear cab, the hydraulic system and the power assembly are all arranged on the main frame, and the crawler chassis assemblies are arranged on two sides of the main frame; the power assembly takes a storage battery as an energy storage power source; 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 hydraulic system is powered by the power assembly; the carrying mechanism and the crawler chassis assembly are powered by a hydraulic system. The invention solves the technical problems that in the prior art, the unit support is dragged by a winch, the operation is complex, the efficiency is low and potential safety hazards exist, and can realize bidirectional driving.
Description
Technical Field
The invention belongs to the technical field of underground transportation equipment, and particularly discloses a crawler-type bidirectional driving unit support transfer robot for a storage battery.
Background
The flexible mold concrete gob-side entry retaining support technology is a technology that mining is carried out next to a working face, before the support effect of the end of the working face disappears, an adjustable-coagulation strength-adjusting self-compacting concrete is pumped into a disposable flexible template under the shielding and supporting of a bracket or a single prop, a closed concrete continuous wall is built between a goaf and a transportation crossheading, a lost side of a roadway caused by the reconstruction mining is integrated with the support in the original roadway, the bearing is carried together, and a closed air duct is formed for the recovery of the next working face.
The flexible formwork concrete gob-side entry retaining support technology generally adopts a support form of one beam and four columns, and has the problems of single support form, low support strength of roadway surrounding rock and poor safety.
Unit support has and struts intensity height, stability advantage such as good, can effectively protect gentle die wall, but present unit support transport adopts the mode that the winch was pull usually, and the operation is complicated, inefficiency and have the potential safety hazard. Therefore, the problem of handling the unit bracket becomes a key factor for limiting the popularization of the unit bracket on the gob-side entry retaining process.
Meanwhile, when the transportation operation is carried out in a narrow roadway or a coal mine crossheading, the unidirectional transportation equipment cannot be turned around or needs a large turning field, and the unidirectional transportation equipment is poor in operability, low in safety and low in transportation efficiency.
Disclosure of Invention
The invention provides a crawler-type bidirectional driving unit support transfer robot for a storage battery, which solves the following technical problems:
1. the unit support is hauled by a winch, so that the operation is complex, the efficiency is low and potential safety hazards exist;
2. when carrying out the transportation operation in narrow tunnel or colliery crossheading, one-way transportation equipment can't turn around or need very big turn place can turn around, and maneuverability is poor, the security is low, the conveying efficiency is low.
The robot for transporting the crawler-type bidirectional driving unit bracket of the storage battery comprises a transporting mechanism, a main frame, a front cab, a rear cab, a hydraulic system, a power assembly and a crawler chassis assembly; the carrying mechanism, the front cab, the rear cab, the hydraulic system and the power assembly are all arranged on the main frame, and the crawler chassis assemblies are 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 power assembly takes a storage battery as an energy storage power source; the hydraulic system is powered by the power assembly; the carrying mechanism and the crawler chassis assembly are powered by a hydraulic system; the carrying mechanism 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 at the front end of the main frame; the vertical lifting frame is driven by a vertical driving part to slide up and down along the bracket; the transverse moving platform is driven by a 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 upper side and the lower side of the bracket shovel plate are respectively provided with a limiting groove.
Furthermore, the carrying mechanism also comprises a telescopic supporting leg and a supporting leg overturning part; the telescopic supporting legs are rotatably arranged on two sides of the bracket and are driven by the supporting leg overturning parts to overturn downwards to be supported on the ground or overturn upwards to be collected on two sides of the bracket.
Furthermore, two vertical grooves with opposite openings are arranged on the bracket; the vertical lifting frame comprises a front frame and a rear frame fixed behind the front frame; the left and right sides of after-poppet all is provided with spacing round I and spacing round II, and the shaft of spacing round I is arranged along left right direction, and the shaft of spacing round II is arranged along the fore-and-aft direction, and the after-poppet slip gomphosis is in the bracket, and spacing round I and spacing round II are located vertical recess.
Further, the vertical driving part is a lifting oil cylinder, and the supporting leg overturning part is a supporting leg 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 used for connecting the two side plates; the rear frame of the vertical lifting frame comprises two side plates and a top plate connected with the side plates, a limiting wheel I and a limiting wheel II are arranged on the outer sides of the two side plates, and a lifting oil cylinder upper connecting lug is arranged on the top plate; two ends of the lifting oil cylinder are respectively in rotating connection with the lower connecting lug and the upper connecting lug of the lifting oil cylinder; the telescopic supporting leg is rotatably connected with the telescopic supporting leg connecting lug, and a supporting leg oil cylinder lower connecting lug is arranged on the telescopic supporting leg; two ends of the supporting leg oil cylinder are respectively connected with the upper connecting lug of the supporting leg oil cylinder and the lower connecting lug of the supporting leg oil cylinder in a rotating manner.
Further, 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 the bottom surface of the top plate and the top surface of the bottom plate are provided with limit wheels III, the back surface of the turnover table mounting plate is provided with limit wheels IV, wheel shafts of the limit wheels III are arranged along the up-down direction, wheel shafts of the limit wheels IV are arranged along the front-back direction, the limit wheels III on the top plate are embedded in a transverse groove on the top surface of the front frame in a sliding mode, the limit wheels III on the bottom plate are embedded in a transverse groove on the bottom surface of the front frame in a sliding mode, and the limit wheels IV are embedded in a transverse groove in the front surface of the front frame in a sliding mode; the overturning platform is arranged in front of the overturning platform mounting plate; the overturning platform is provided with a rack and a rotating shaft mounting seat, the rack is arranged in a sliding manner, and the rotating shaft mounting seats are symmetrically arranged on two sides of the rack; the rotating shaft is rotatably connected with the rotating shaft mounting seat, and a gear is arranged on the rotating shaft and meshed with the rack; the overturning driving part is an overturning oil cylinder and drives the rack to slide left and right through extension.
Furthermore, 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 arranged on the upper side and the lower side of the cylinder body respectively, wheel shafts of the chain wheels are arranged along 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 of the upper chain and the front of the lower chain are connected with the back of the turnover table mounting plate through a front connecting block, and the back of the upper chain and the back of the lower chain are connected with the rear frame through a back connecting block.
Further, the crawler-type bidirectional driving unit support carrying robot for the storage battery further comprises an emulsion system, wherein the emulsion system is used for supplementing liquid for the unit support and receiving return liquid of the unit support and comprises an emulsion tank, an emulsion pump station and an operating valve; the emulsion tank and the emulsion pump station are both arranged on the main frame, the emulsion tank is connected with the emulsion pump station through an emulsion pipe, and the emulsion pump station is driven by the power 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; a driving piece in the crawler chassis assembly is a hydraulic motor; the hydraulic pump is connected with the power assembly and used for pumping the hydraulic oil in the hydraulic oil tank to the multi-way valve; the multi-way valve is reversed in oil inlet and outlet through a pilot operation handle, and the hydraulic oil is respectively sent to the overturning oil cylinder, the lifting oil cylinder, the double-outlet-rod oil cylinder, the supporting leg oil cylinder and the hydraulic motor.
Furthermore, an electric control system for one-key starting and stopping and manual remote control automatic switching is further arranged on the main rack and comprises an electric control box, an instrument display and an alarm, and the alarm has a personnel approach alarm function; the front cab and the rear cab are respectively provided with a seat, and the front cab and the rear cab are respectively provided with a pilot operation handle and an instrument display.
Further, the main frame comprises a front main frame, a rear main frame and a balancing weight; the front main frame is connected with the rear main frame through a bolt, and the balancing weight is arranged below the rear main frame; the crawler chassis assembly, the emulsion system, the front cab, the hydraulic oil tank, the multi-way valve, the electric cabinet and the alarm are arranged on the front main frame, and the rear cab, the hydraulic pump and the power assembly are arranged on the rear main frame.
The invention has the following beneficial effects:
above-mentioned two-way driving unit support transfer robot of battery crawler-type possesses support shovel board and controls the upset, control the sideslip, reciprocate, supply the emulsion for the unit support, manual remote control switches, functions such as personnel approach warning, can effectively improve unit support handling efficiency, reduce intensity of labour, guarantee the security of unit support handling process, reach the purpose of automatic reduction of personnel and increase efficiency, unit support handling adopts the winch to pull among the prior art, the operation is complicated, the inefficiency and the technical problem who has the potential safety hazard, can realize two-way going simultaneously, need not turn around in constrictive tunnel or colliery crossheading, need not construct in addition the place of turning, easy and simple to handle, maneuverability is strong, vehicle security is high, and high transportation efficiency has good social to popularization unit support in the application in the pit of colliery. Meanwhile, the storage battery is used as an energy storage power source, so that the pollution of tail gas of diesel engine vehicles to the underground environment is avoided, and the working environment is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a front view of a battery tracked bi-directional drive unit rack transfer robot;
FIG. 2 is an axial view of FIG. 1;
FIG. 3 is a schematic structural view of a carrying mechanism;
FIG. 4 is a schematic view of the bracket;
FIG. 5 is a schematic structural view of the vertical lifting frame;
FIG. 6 is a view in the other direction of FIG. 5;
FIG. 7 is a layout view of the chain wheel, the chain and the connecting block on the double-rod oil cylinder;
FIG. 8 is a schematic view of the configuration of the traverse platform;
FIG. 9 is a schematic view of the main frame;
FIG. 10 is a hydraulic schematic;
FIG. 11 is a schematic view of the handling mechanism handling the unit carrier;
FIG. 12 is a schematic view of the arrangement of unit brackets on both sides of a roadway;
fig. 13 is a schematic view of the arrangement of unit brackets on one side of a roadway.
In the figure: 101-a handling mechanism; 101.1-a bracket; 101.2-a vertical lifting frame; 101.3-traversing platform; 101.4-a rack blade; 101.5-rotation axis; 101.6-rack; 101.7-rotating shaft mount; 101.8-gear; 101.9-overturning oil cylinder; 101.10-vertical grooves; 101.11-anterior carriage; 101.12-backshelf; 101.13-spacing wheel I; 101.14-spacing wheel ii; 101.15-lift cylinder; 101.16-lower connecting lug of lift cylinder; 101.17-upper connection lug of lift cylinder; 101.18-transverse grooves; 101.19-a traversing link; 101.20-overturning platform; 101.21-limiting wheel iii; 101.22-limiting wheel iv; 101.23-double-rod oil cylinder; 101.24-sprocket; 101.25-chain loading; 101.26-lower chain; 101.27-front connector block; 101.28-rear connection block; 101.29-telescoping legs; 101.30-supporting leg oil cylinder; 101.30 a-left leg oil cylinder; 101.30 b-right leg oil cylinder; 101.31-upper connecting lug of supporting leg oil cylinder; 101.32-telescoping leg attachment ears; 101.33-limiting groove; 101.34-tilting cylinder;
102-a main frame; 102.1-front main frame; 102.2-rear main frame; 102.3-counterweight block;
103 a-front cab; 103 b-rear cab; 103.1-seat; 103.2-seat shield;
104.1-an electric cabinet; 104.2-instrument display; 104.3-alarm;
105.1-hydraulic oil tank; 105.2-hydraulic pump; 105.3-multiple-way valve; 105.3 a-proportional multi-way valve I; 105.3 b-proportional multi-way valve II; 105.4-pilot operating handle; 105.4 a-a pilot operating handle I; 105.4 b-a pilot operating handle II; 105.4 c-pilot operating handle iii; 105.4 d-a pilot operating handle iv; 105.4 e-pilot operating handle v; 105.5-pilot oil source valve group;
106.1-emulsion tank; 106.2-emulsion pump station; 106.3-operating the valve;
107.1-accumulator; 107.2-motor;
108-a crawler chassis assembly; 108.1-hydraulic motor; 108.1 a-left hydraulic motor; 108.1 b-right hydraulic motor;
200-unit support; 201-quick plug valve; 202-shovel plate holes;
300-roadway; 400-flexible mold walls; 500-coal wall.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In the embodiment, the unit support transfer robot is horizontal in the left-right direction, vertical in the front-back direction, and vertical in the up-down direction.
Example 1
The embodiment provides a crawler-type bidirectional driving unit support transfer robot with storage batteries, which comprises a transfer mechanism 101, a main frame 102, a front cab 103a, a rear cab 103b, an electric control system, a hydraulic system, an emulsion system, a power assembly and a crawler chassis assembly 108. The power assembly takes a storage battery 107.1 as an energy storage power source.
The conveying 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 shoveling plate 101.4, a rotating shaft 101.5 and an overturning driving part; the bracket 101.1 is arranged at the front end of the main frame 102; 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 shovels 101.4 are connected through a rotating shaft 101.5, the rotating shaft 101.5 is rotatably mounted on the traverse platform 101.3, and the overturning driving part drives the rotating shaft 101.5 to rotate so as to enable the support shovels 101.4 to overturn left and right, so that the conveying mechanism 101 can be ensured to quickly convey the unit supports 200 on the two sides.
Preferably, a rack 101.6 and a rotating shaft mounting seat 101.7 are arranged on the traverse platform 101.3, the rack 101.6 is arranged in a sliding manner, and the rotating shaft mounting seats 101.7 are symmetrically arranged on two sides of the rack 101.6; the rotating shaft 101.5 is rotatably 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 a rack 101.6; the overturning driving part is an overturning oil cylinder 101.9, and the rack 101.6 is driven to slide left and right through expansion and contraction, so that the gear 101.8 rotates, and the support shovel plate 101.4 rotates by 0-180 degrees.
Preferably, two vertical grooves 101.10 with opposite openings are arranged on the bracket 101.1; the vertical lifting frame 101.2 comprises a front frame 101.11 and a rear frame 101.12 fixed behind a front frame 101.11; the left side and the right side of the rear frame 101.12 are provided with a limiting wheel I101.13 and a limiting wheel II 101.14, the wheel shaft of the limiting wheel I101.13 is arranged along the left-right direction, the wheel shaft of the limiting wheel II 101.14 is arranged along the front-back direction, the rear frame 101.12 is embedded in the bracket 101.1 in a sliding mode, the limiting wheel I101.13 and the limiting wheel II 101.14 are located in the vertical groove 101.11, the limiting wheel I101.13 is used for limiting the vertical lifting frame 101.2 to swing back and forth, and the limiting wheel II 101.14 is used for limiting the vertical lifting frame 101.2 to swing left and right.
Preferably, the vertical driving part is a lifting oil 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, a vertical groove 101.10 is formed in the inner sides of the two side plates, the back plate is connected with the main frame 102, and a lower connecting lug 101.16 of the lifting oil cylinder is arranged on the bottom plate; 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, a limiting wheel I101.13 and a limiting wheel II 101.14 are arranged on the outer sides of the two side plates, and a lifting oil cylinder upper connecting lug 101.17 is arranged on the top plate; two ends of the lifting oil cylinder 101.15 are respectively connected with the lower connecting lug 101.16 of the lifting oil cylinder and the upper connecting lug 101.17 of the lifting oil cylinder in a rotating mode, and the vertical lifting frame 101.2 can slide up and down through the expansion and contraction of the lifting oil cylinder 101.15.
Preferably, the top surface, the front surface and the bottom surface of the front frame 101.11 are provided with transverse grooves 101.18; the transverse moving platform 101.3 comprises a transverse moving 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 an overturning platform mounting plate which connects the top plate and the bottom plate, the bottom surface of the top plate and the top surface of the bottom plate are provided with limiting wheels III 101.21, the rear surface of the overturning platform mounting plate is provided with limiting wheels IV 101.22, the wheel shafts of the limiting wheels III 101.21 are arranged in the vertical direction, the wheel shafts of the limiting wheels IV 101.22 are arranged in the front-back direction, the limiting wheels III 101.21 on the top plate are slidably embedded in transverse grooves 101.18 on the top surface of a front frame 101.11, the limiting wheels III 101.21 on the bottom plate are slidably embedded in transverse grooves 101.18 on the bottom surface of the front frame 101.11, the limiting wheels IV 101.22 is slidably embedded in transverse grooves 101.18 on the front surface of a front frame 101.11, the limiting wheels 101.21 is used for limiting the vertical moving platform 101.3 to swing, and the forward-back of the transverse moving platform III 4924; the overturning platform 101.20 is arranged in front of the overturning platform mounting plate; the bracket shovel plate 101.4, the rotating shaft 101.5, the rack 101.6, the rotating shaft mounting seat 101.7 and the overturning oil cylinder 101.9 are all arranged on the overturning platform 101.20.
Preferably, the transverse driving part is a double-rod-out oil cylinder 101.23 transversely arranged in the front frame 101.11, piston rods on two sides are connected with two sides of a front frame 101.11, two chain wheels 101.24 are respectively arranged on the upper side and the lower side of the cylinder body, an axle of the chain wheel 101.24 is arranged in the vertical direction, the chain wheel 101.24 on the upper side is connected through an upper chain 101.25, the chain wheel on the lower side is 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 turnover table 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 a rear frame 101.12 through a rear connecting block 101.28. When the cylinder body is transversely moved, 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 carrying mechanism further comprises telescopic legs 101.29 and a leg overturning part; the telescopic supporting legs 101.29 are rotatably arranged on two sides of the bracket 101.1 and driven by the leg overturning parts to overturn downwards to be supported on the ground or overturn upwards to be folded on two sides of the bracket 101.1.
Preferably, the leg overturning part is a leg oil cylinder 101.30; the outer side of the bracket side plate is provided with an upper connecting lug 101.31 of a supporting leg oil cylinder and a connecting lug 101.32 of a telescopic supporting leg; the telescopic supporting leg 101.29 is rotatably connected with a telescopic supporting leg connecting lug 101.32, and a supporting leg oil cylinder lower connecting lug is arranged on the telescopic supporting leg 101.30; two ends of the supporting leg oil cylinder 101.30 are respectively connected with the supporting leg oil cylinder upper connecting lug 101.31 and the supporting leg oil cylinder lower connecting lug in a rotating mode. When the unit support is conveyed, the telescopic supporting legs 101.29 are ensured to be attached to the ground, and after the unit support is lifted, the telescopic supporting legs 101.29 are contracted, so that the stable operation of the unit support in the conveying process is ensured. The pivot angle range of the telescopic legs 101.29 is 0-100 deg..
Preferably, the upper side and the lower side of the bracket shovel plate 101.4 are respectively provided with a limiting groove 101.33.
The emulsion system is used for supplementing the unit support 200 and receiving the return liquid of the unit support 200, and comprises an emulsion tank 106.1, an emulsion pump station 106.2 and an operating valve 106.3; the emulsion tank 106.1 and the emulsion pump station 106.2 are both arranged on the main frame 102, the emulsion tank 106.1 is connected with the emulsion pump station 106.2 through an emulsion pipe, and the emulsion pump station 106.2 is driven by a power assembly; the operating valve 106.3 is used to control the emulsion pump station 106.2.
The hydraulic system provides power for the movement of the carrying mechanism 101 and the walking of the crawler chassis assembly 108, 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 member in the caterpillar chassis assembly 108 is a hydraulic motor 108.1; the hydraulic pump 105.2 is connected with the power assembly and is used for pumping the hydraulic oil in the hydraulic oil tank 105.1 to the multi-way valve 105.3; the multi-way valve 105.3 changes the direction of oil inlet and outlet through the pilot operation handle 105.4, and respectively sends the hydraulic oil to the turnover oil cylinder 101.9, the lifting oil cylinder 101.15, the double-rod oil cylinder 101.23, the supporting leg oil cylinder 101.30 and the hydraulic motor 108.1.
The hydraulic system further comprises a pilot oil source valve group 105.5. The switching valve 105.3 comprises a proportional switching valve I105.3 a and a proportional switching valve II 105.3b. Four groups of valve plates in the proportional multi-way valve I105.3 a control a left hydraulic motor 108.1a, a lifting oil cylinder 101.15, a traversing oil cylinder (namely a double-rod-out oil cylinder 101.23) and a left support oil cylinder 101.30a respectively, and four groups of valve plates in the proportional multi-way valve II 105.3b control a right hydraulic motor 108.1b, a turnover oil cylinder 101.9, an inclined oil cylinder 101.34 and a right support oil cylinder 101.30b respectively. The inclined oil cylinder 101.34 is used for achieving the forward and backward inclination of the carrying mechanism 101 by 10 degrees, the adaptability is stronger, the specific installation mode is that the bracket 101.1 is hinged to the main frame 102, and two ends of the inclined oil cylinder 101.34 are hinged to the bracket 101.1 and the main frame 102 respectively. The pilot operation handle 105.4 comprises a pilot operation handle I105.4 a, a pilot operation handle II 105.4b, a pilot operation handle III 105.4c, a pilot operation handle IV 105.4d and a pilot operation handle V105.4 e.
The motor 107.2 in the drive train 107 is rigidly connected to the hydraulic pump 105.2 (in this embodiment, a plunger pump) via a coupling. An oil inlet of the hydraulic pump 105.2 is connected with a hydraulic oil tank 105.1, an oil outlet is divided into three paths, the first path is connected with an oil inlet of a pilot oil source valve group 105.5, the second path is connected with an oil inlet of a proportional multi-way valve I105.3 a, and the third path is connected with an oil inlet of a proportional multi-way valve II 105.3b. An oil outlet of the pilot oil source valve group 105.5 is connected with an oil inlet of a pilot operation handle I105.4 a, and the pilot oil source valve group 105.5 provides power for a pilot loop of the hydraulic system. The oil outlet of the pilot operation handle I105.4 a is divided into two paths: the first path is directly connected with oil inlets of the left hydraulic motor 108.1a and the right hydraulic motor 108.1b respectively (not shown in the figure), the speed of the hydraulic motor 108.1 is controlled, when the hydraulic system is in no-load state, the hydraulic motor 108.1 can be in a high-speed small-torque working condition, when the system load is large, the hydraulic motor 108.1 can be in a low-speed large-torque working condition, and the crawler chassis assembly 108 has better environmental adaptability aiming at underground complex working conditions; the second path is divided into two paths which are respectively a remote control operation oil path and a manual operation oil path, and the remote control operation oil path and the manual operation oil path can be interlocked, so that the safety of system operation is improved; the remote control operation oil way is respectively connected with pilot ports of a proportional multi-way valve I105.3 a and a proportional multi-way valve II 105.3b and is controlled by a remote controller; and the manual operation oil path is respectively connected with oil inlets of a pilot operation handle II 105.4b, a pilot operation handle III 105.4c, a pilot operation handle IV 105.4d and a pilot operation handle V105.4 e. Two oil outlets of the pilot operation handle II 105.4b are respectively connected with a valve plate (not shown in the figure) of the lifting oil cylinder 101.15 and a valve plate of the transverse moving oil cylinder (namely, the double-rod-out oil cylinder 101.23) in the proportional multi-way valve I105.3 a, and are used for controlling the stretching of the lifting oil cylinder 101.15 and the transverse moving oil cylinder (namely, the double-rod-out oil cylinder 101.23). Two oil outlets of the pilot operation handle III 105.4c are respectively connected with a valve plate (not shown in the figure) of the proportional multi-way valve II 105.3b for controlling the inclination oil cylinder 101.34 and a valve plate for controlling the turnover oil cylinder 101.9, and are used for controlling the expansion and contraction of the inclination oil cylinder 101.34 and the turnover oil cylinder 101.9. Two oil outlets of the pilot operation handle IV 105.4d are respectively connected with a valve plate (not shown in the figure) of the proportional multi-way valve I105.3 a for controlling the left leg oil cylinder 101.30a and a valve plate of the proportional multi-way valve II 105.3b for controlling the right leg oil cylinder 101.30 to stretch and retract. Two oil outlets of the pilot operation handle V105.4 e are respectively connected with a valve plate (not shown in the figure) of the proportional multi-way valve I105.3 a for controlling the left hydraulic motor 108.1a and a valve plate of the proportional multi-way valve II 105.3b for controlling the right hydraulic motor 108.1 to rotate.
The four groups of valve plates in the proportional multi-way valve can be controlled by a pilot port of the proportional multi-way valve, and can also be controlled by a pilot operating handle II 105.4b, a pilot operating handle III 105.4c, a pilot operating handle IV 105.4d and a pilot operating handle V105.4 e.
The electric control system can realize one-key starting and stopping and manual remote control automatic switching, improves the automation of the crawler-type bidirectional driving unit support carrying robot for the storage battery, and guarantees the overall safety. The electric control system comprises an electric control box 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 integral running state of the storage battery crawler type bidirectional driving unit support transfer robot in real time. The alarm 104.3 has a person approach alarm function.
The front cab 103a is arranged at the front side of the main frame 102 and comprises a seat 103.1 and a seat baffle 103.2 hinged on the top of the seat 103.1, and the seat baffle 103.2 has a height self-adaptive and adjustable function. The pilot operating handle 105.4 and the instrument display 104.2 are arranged on the same side or on both sides of the seat 103.1. A rear cab 103b is provided on the rear side of the main frame 102, a seat 103.1, a pilot operation handle 105.4, and an instrument display 104.2 are disposed in the rear cab 103b, the pilot operation handle 105.4 is located directly in front of the seat 103.1, and the instrument display 104.2 is located on the side of the seat 103.1.
The main frame 102 comprises a front main frame 102.1, a rear main frame 102.2 and a balancing weight 102.3; the front main frame 102.1 is connected with the rear main frame 102.2 through bolts; the balancing weight 102.3 is arranged below the rear main frame 102.2 and mainly used for balancing the gravity center of the storage battery crawler type bidirectional driving unit support transfer robot and improving the stability of the storage battery crawler type bidirectional driving unit support transfer robot in the advancing process.
The crawler chassis assembly 108, the emulsion system, the front cab 103a, the hydraulic oil tank 105.1, the multi-way valve 105.3, the electric cabinet 104.1 and the alarm 104.3 are arranged on the front main frame 102.1, and the rear cab 103b, the hydraulic pump 105.2 and the power assembly are arranged in the mounting groove of the rear main frame 102.2.
Example 2
The embodiment provides a unit support gob-side entry retaining method implemented on the basis of the storage battery crawler-type bidirectional driving unit support conveying robot, which comprises the following steps of:
s1, pouring a flexible mold wall 400 in a roadway 300, wherein the flexible mold wall 400 has the characteristic of rapid roadway forming;
s2, the unit supports 200 are sequentially extended forwards according to the solidification time of the flexible mold wall 400, a supporting effect is achieved before the flexible mold wall 400 is solidified, the unit supports 200 are provided with quick insertion valves 201 used for being connected with an emulsion system and shovel plate holes 202 for enabling support shovel plates 101.4 to penetrate through, the unit supports 200 can be arranged on one side of the roadway 300 (namely, the unit supports are close to the flexible mold wall 400) or on two sides of the roadway 300 (namely, one side is close to the flexible mold wall 400, the other side is arranged in front of the coal wall 500), the step distance between every two adjacent unit supports 200 is two meters, and the unit supports are arranged 100-120 meters in advance according to the solidification time of the flexible mold wall 400;
and S3, arranging the crawler-type bidirectional driving unit bracket conveying robot for the storage battery in the middle of the roadway 300, and conveying the unit brackets 200 sequentially from back to front according to the solidification speed of the flexible mold wall 400 along the pouring direction of the flexible mold wall 400.
Wherein, step S3 includes the following steps:
t1, the crawler-type bidirectional driving unit support carrying robot for the storage battery runs to the front of a unit support 200 to be carried, the supporting leg oil cylinder 101.30 extends out to enable the telescopic supporting leg 101.29 to be expanded until the telescopic supporting leg 101.29 is in contact with the ground to ensure the stability of the carrying process of the crawler-type bidirectional driving unit support carrying robot for the storage battery, an emulsion system is communicated with a quick insertion valve 201 on the unit support 200, the emulsion system is operated to enable the unit support 200 to be contracted, the early-stage carrying preparation of the unit support 200 is completed, and the emulsion system is separated from the unit support 200;
t2, the support shoveling plates 101.4 are turned to one side of the unit support 200, the vertical lifting frames 101.2 slide up and down until the heights of the two support shoveling plates 101.4 are aligned with the heights of the shoveling plate holes 202, the transverse moving platform 101.3 approaches to one side of the unit support 200, the two support shoveling plates 101.4 are inserted into the shoveling plate holes 202, then the vertical lifting frames 101.2 lift upwards to drive the unit support 200 to move upwards to leave the ground, the transverse moving platform 101.3 moves in the opposite direction, and the unit support 200 is moved to the middle position of the carrying mechanism 101;
t3, the supporting leg oil cylinder 101.30 contracts to enable the telescopic supporting leg 101.29 to contract to an original state, the storage battery crawler type bidirectional driving unit support carrying robot moves forwards until the unit support 200 is carried to a front designated position, the transverse moving platform 101.3 approaches to one side of the flexible mold wall 400, then the vertical lifting frame 101.2 moves downwards, the unit support 200 is placed on the ground, the transverse moving platform 101.3 moves in the opposite direction, and the two support shovel plates 101.4 are pulled out from the shovel plate holes 202;
t4, communicating the emulsion system with the quick insertion valve 201 on the unit support 200, supplementing the emulsion, lifting the unit support 200 to be in contact with the top beam of the roadway, separating the emulsion system from the unit support 200, and completing one-time carrying action of the unit support 200;
and T5, repeating the steps T1-T4.
The operator can realize remote control/manual switching through the pilot operation handle I105.4 a, and the support carrying action is operated in a remote control mode.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A crawler-type bidirectional driving unit support carrying robot for storage batteries is characterized by comprising a carrying mechanism, a main frame, a front cab, a rear cab, a hydraulic system, a power assembly and a crawler chassis assembly;
the carrying mechanism, the front cab, the rear cab, the hydraulic system and the power assembly are all arranged on the main frame, and the crawler chassis assemblies are 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 power assembly takes a storage battery as an energy storage power source;
the hydraulic system is powered by a power assembly;
the carrying mechanism and the crawler chassis assembly are powered by a hydraulic system;
the carrying mechanism 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 at the front end of the main frame;
the vertical lifting frame is driven by a vertical driving part to slide up and down along the bracket;
the transverse moving platform is driven by a 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;
and the upper side and the lower side of the bracket shovel plate are respectively provided with a limiting groove.
2. The battery tracked bi-directional drive unit rack transfer robot of claim 1, wherein the transfer mechanism further comprises telescoping legs and leg flipping sections;
the telescopic supporting legs are rotatably arranged on two sides of the bracket and driven by the supporting leg overturning parts to overturn downwards to be supported on the ground or overturn upwards to be collected on two sides of the bracket.
3. The battery tracked bidirectional steering unit rack transfer robot of claim 2, wherein the carrier is provided with two vertical grooves with opposite openings;
the vertical lifting frame comprises a front frame and a rear frame fixed behind the front frame;
the left and right sides of after-poppet all is provided with spacing round I and spacing round II, and the shaft of spacing round I is arranged along left right direction, and the shaft of spacing round II is arranged along the fore-and-aft direction, and the after-poppet slip gomphosis is in the bracket, and spacing round I and spacing round II are located vertical recess.
4. The battery crawler-type bidirectional drive unit support transfer robot of claim 3, wherein the vertical driving portion is a lift cylinder and the leg overturning portion is a leg 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 rear frame of the vertical lifting frame comprises two side plates and a top plate connected with the side plates, a limiting wheel I and a limiting wheel II are arranged on the outer sides of the two side plates, and a connecting lug on the lifting oil cylinder is arranged on the top plate;
two ends of the lifting oil cylinder are respectively in rotating connection with the lower connecting lug and the upper connecting lug of the lifting oil cylinder;
the telescopic supporting leg is rotatably connected with the telescopic supporting leg connecting lug, and the telescopic supporting leg is provided with a supporting leg oil cylinder lower connecting lug;
two ends of the supporting leg oil cylinder are respectively connected with the upper connecting lug of the supporting leg oil cylinder and the lower connecting lug of the supporting leg oil cylinder in a rotating mode.
5. The battery tracked bi-directional drive unit carrier transfer robot of claim 4, wherein the top, front and bottom surfaces of the front frame are each provided with a transverse groove;
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 the bottom surface of the top plate and the top surface of the bottom plate are provided with limit wheels III, the back surface of the turnover table mounting plate is provided with limit wheels IV, wheel shafts of the limit wheels III are arranged along the up-down direction, wheel shafts of the limit wheels IV are arranged along the front-back direction, the limit wheels III on the top plate are embedded in a transverse groove on the top surface of the front frame in a sliding mode, the limit wheels III on the bottom plate are embedded in a transverse groove on the bottom surface of the front frame in a sliding mode, and the limit wheels IV are embedded in a transverse groove in the front surface of the front frame in a sliding mode;
the overturning platform is arranged in front of the overturning platform mounting plate;
the overturning platform is provided with a rack and a rotating shaft mounting seat, the rack is arranged in a sliding manner, and the rotating shaft mounting seats are symmetrically arranged on two sides of the rack;
the rotating shaft is rotatably 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 extension.
6. The battery crawler-type bidirectional driving unit support transfer robot as claimed in claim 5, wherein the transverse driving part is a double-rod cylinder transversely disposed in the front frame, piston rods at both sides are connected to both sides of the front frame, two sprockets are respectively disposed at upper and lower sides of the cylinder body, wheel shafts of the sprockets are disposed in an up-down direction, the sprockets at an upper side are connected by an upper chain, the sprockets at a lower side are connected by a lower chain, front sides of the upper chain and the lower chain are connected to a rear side of the mounting plate of the flipping table by a front connecting block, and rear sides of the upper chain and the lower chain are connected to the rear frame by a rear connecting block.
7. The battery crawler-type bidirectional driving unit bracket transfer robot as recited in claim 6, further comprising an emulsion system, wherein the emulsion system is used for replenishing liquid for the unit bracket and receiving liquid return of the unit bracket, and comprises an emulsion tank, an emulsion pump station and an operating valve;
the emulsion tank and the emulsion pump station are both arranged on the main rack, the emulsion tank is connected with the emulsion pump station through an emulsion pipe, and the emulsion pump station is driven by the power assembly;
and the operating valve is used for controlling the emulsion pump station.
8. The battery tracked, bi-directional drive unit carrier transfer robot of claim 7, wherein the hydraulic system comprises a hydraulic oil tank, a hydraulic pump, a multi-way valve and a pilot operating handle;
a driving piece in the crawler chassis assembly is a hydraulic motor;
the hydraulic pump is connected with the power assembly and used for pumping the hydraulic oil in the hydraulic oil tank to the multi-way valve;
the multi-way valve is reversed in oil inlet and outlet through a pilot operation handle, and the hydraulic oil is respectively sent to the overturning oil cylinder, the lifting oil cylinder, the double-outlet-rod oil cylinder, the supporting leg oil cylinder and the hydraulic motor.
9. The battery crawler-type bidirectional driving unit support carrying robot as recited in claim 8, wherein an electric control system for one-key start and stop and manual remote control automatic switching is further provided on the main frame, the electric control system comprises an electric control box, an instrument display and an alarm, and the alarm has a personnel approach alarm function;
the front cab and the rear cab are respectively provided with a seat, and the front cab and the rear cab are respectively provided with a pilot operation handle and an instrument display.
10. The battery tracked bidirectional drive unit carrier transfer robot of claim 9, wherein the main frame comprises a front main frame, a rear main frame, and a counterweight;
the front main frame is connected with the rear main frame through a bolt, and the balancing weight is arranged below the rear main frame;
the crawler chassis assembly, the emulsion system, the front cab, the hydraulic oil tank, the multi-way valve, the electric cabinet and the alarm are arranged on the front main frame, and the rear cab, the hydraulic pump and the power assembly are arranged on the rear main frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211148360.7A CN115476938A (en) | 2022-09-21 | 2022-09-21 | Two-way driving unit support transfer robot of battery crawler-type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211148360.7A CN115476938A (en) | 2022-09-21 | 2022-09-21 | Two-way driving unit support transfer robot of battery crawler-type |
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| Publication Number | Publication Date |
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| CN115476938A true CN115476938A (en) | 2022-12-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211148360.7A Pending CN115476938A (en) | 2022-09-21 | 2022-09-21 | Two-way driving unit support transfer robot of battery crawler-type |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115416560A (en) * | 2022-09-19 | 2022-12-02 | 中国煤炭科工集团太原研究院有限公司 | A battery rubber-tyred car for transport of unit support |
-
2022
- 2022-09-21 CN CN202211148360.7A patent/CN115476938A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115416560A (en) * | 2022-09-19 | 2022-12-02 | 中国煤炭科工集团太原研究院有限公司 | A battery rubber-tyred car for transport of unit support |
| 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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