CN115593299A - Mining storage battery rubber wheel type double-cab unit support carrying robot - Google Patents
Mining storage battery rubber wheel type double-cab unit support carrying robot Download PDFInfo
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- CN115593299A CN115593299A CN202211171569.5A CN202211171569A CN115593299A CN 115593299 A CN115593299 A CN 115593299A CN 202211171569 A CN202211171569 A CN 202211171569A CN 115593299 A CN115593299 A CN 115593299A
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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
- B60S9/12—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 of telescopic type
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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
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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
- B66F9/125—Platforms; Forks; Other load supporting or gripping members rotatable about a longitudinal axis
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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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Abstract
The invention provides a mining storage battery rubber wheel type double-cab 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 power assembly and a rubber wheel travelling mechanism, wherein the main frame is arranged on the front cab; the carrying mechanism is arranged in the middle of the main frame; the rear frame is arranged on the main frame; two groups of vertically opposite hinge points are arranged on the middle frame, and the two groups of hinge points are respectively hinged with the rear frame and the front frame; the middle frame is driven by a middle frame overturning driving part and overturns left and right around a hinge joint of the middle frame and the rear frame; the front frame is driven by the front frame turning driving part and turns left and right around a hinge point of the middle frame and the front frame; the bracket shovel plate is hinged at the front side of the front frame and driven by the shovel plate overturning driving part to overturn up and down. The invention solves the technical problems of complex carrying operation, low efficiency and potential safety hazard of the unit bracket in the prior art, and can realize bidirectional driving.
Description
Technical Field
The invention belongs to the technical field of underground transportation equipment, and particularly discloses a mining storage battery rubber wheel type double-cab unit support transfer robot.
Background
The gob-side entry retaining support scheme can recover resources to the maximum extent, avoids coal loss, is an advanced coal mining roadway arrangement method, and can reduce roadway excavation, relax excavation relation, improve recovery of coal resources, prolong mine service life and improve roadway surrounding rock stress. The flexible formwork concrete gob-side entry retaining support technology in the gob-side entry retaining support scheme is a support mode I which is widely applied at present, a one-beam four-column support mode is generally adopted, but the flexible formwork concrete gob-side entry retaining support technology has the problems of single support mode, low roadway surrounding rock support strength and poor safety.
The unit support has avoided the monomer pillar to hinder the drawback of people because of the rock burst easy rupture because of its intensity is higher, simultaneously, compares with conventional leading support, and the unit support does not have the disadvantage of repeatedly supporting the roof, only struts once to the roof at every turn, has the advantage to preventing the roof breakage, can effectively protect gentle die wall. In the application of the unit support in the gob-side roadway, the most critical technology ensures the rapid support moving of the unit support. However, the existing unit support is carried by generally adopting a winch traction mode, so that the operation is complex, the efficiency is low and potential safety hazards exist. 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 mining storage battery rubber wheel type double-cab unit bracket transfer robot, 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 the transportation operation is carried out in a narrow roadway or a coal mine crossheading, the unidirectional transportation equipment cannot turn around or needs a large turning field to turn around, and the method has poor operability, low safety and low transportation efficiency.
The mining storage battery rubber wheel type double-cab unit support transfer robot comprises a transfer mechanism, a main frame, a front cab, a rear cab, a hydraulic system, a power assembly and a rubber wheel travelling mechanism; 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 rubber wheel travelling mechanisms 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 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 rear frame, an intermediate frame overturning driving part, a front frame overturning driving part, a support shovel plate and a shovel plate overturning driving part; the rear frame is arranged on the main frame; two groups of vertically opposite hinge points are arranged on the middle frame, and the two groups of hinge points are respectively hinged with the rear frame and the front frame; the middle frame is driven by a middle frame overturning driving part and overturns left and right around a hinge point of the middle frame and the rear frame, the minimum overturning angle is 0, and the maximum overturning angle is 90 degrees; the front frame is driven by the front frame turning driving part and turns left and right around a hinge point of the middle frame and the front frame, the minimum turning angle is 0, and the maximum turning angle is 90 degrees; the support shovel plate is hinged to the front side of the front frame and driven by the shovel plate overturning driving portion to overturn up and down, the minimum overturning angle is 0, and the maximum overturning angle is 90 degrees.
Furthermore, the bottom of the rear frame is provided with a telescopic supporting leg I, and the telescopic supporting leg I is driven by a supporting leg telescopic part I to extend downwards to be supported on the ground or to be contracted upwards to be in a suspended state;
or both sides of the main frame are provided with a telescopic supporting leg II and a supporting leg telescopic part II, and the telescopic supporting leg II is driven by the supporting leg telescopic part II to extend downwards to be supported on the ground or to be contracted upwards to be in a suspended state.
Furthermore, the middle frame is connected with the rear frame through a hinge lug and a hinge shaft, the front frame is connected with the middle frame through a hinge lug and a hinge shaft, and the support shovel plate is connected with the front frame through a hinge lug and a hinge shaft.
Furthermore, the middle frame overturning driving part, the front frame overturning driving part, the shovel plate overturning driving part, the supporting leg expansion part I and the supporting leg expansion part II are all oil cylinders.
Furthermore, avoidance grooves are formed in the tops of the middle frame and the rear frame, oil cylinder mounting lugs I are mounted on the avoidance grooves, and two ends of the middle frame overturning oil cylinder are hinged with the two oil cylinder mounting lugs I respectively; the middle part of the front frame is provided with an avoidance hole, the top of the avoidance hole and the front side of the middle frame are provided with oil cylinder mounting lugs II, and two ends of the front frame turning oil cylinder are respectively hinged with the two oil cylinder mounting lugs II; and oil cylinder mounting lugs III are arranged at the bottom of the avoiding hole and on the support shovel plate, and two ends of the shovel plate overturning oil cylinder are hinged with the two oil cylinder mounting lugs III respectively.
Further, the mining storage battery rubber-tyred double-cab unit bracket carrying robot further comprises an emulsion system, wherein the emulsion system is used for supplementing liquid for the unit bracket and receiving return liquid 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 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 rubber wheel travelling mechanism 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 an oil inlet and outlet mode through a pilot operation handle, and hydraulic oil is respectively sent to the middle frame overturning oil cylinder, the front frame overturning oil cylinder, the shovel plate overturning oil cylinder, the supporting leg telescopic oil cylinder I, the supporting leg telescopic oil cylinder II 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 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 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 and the power assembly are arranged on the rear main frame; the carrying mechanism is arranged on the middle bearing frame.
The invention has the following beneficial effects:
1. the mining storage battery rubber wheel type double-cab unit support carrying robot has the functions of turning the middle frame and the front frame left and right and turning the support shovel plate up and down, can quickly fork the unit supports, and solves the technical problems that in the prior art, unit support carrying is dragged by a winch, operation is complex, efficiency is low, and potential safety hazards exist;
2. the carrying mechanism is simple in integral structure and convenient and fast to operate;
3. the designed middle bearing frame effectively improves the stress strength of the carrying mechanism and ensures the safety of the carrying process of the unit support;
4. 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;
5. the bidirectional driving can be realized, the U-turn is not needed in a narrow roadway or a coal mine crossheading, a turning site is not needed to be additionally built, the operation is simple and convenient, the operability is strong, the vehicle safety is high, and the transportation efficiency is high;
6. the supporting legs are arranged at the bottom of the rear frame or on two sides of the main frame, and when the unit support is forked, the supporting legs extend out of and support the ground, so that the stability of the forking process is ensured, and the supporting legs can be folded away from the ground when the unit support is driven;
7. the unit support can be supplemented with emulsion, has the functions of manual remote control switching, personnel approach alarm and the like, can effectively improve the carrying efficiency of the unit support, reduce the labor intensity, achieve the purpose of automatic reduction of personnel and increase of efficiency, and has good social benefits for popularizing the application of the unit support in the underground coal mine.
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 mining battery rubber-tyred double-cab unit bracket 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 view of the handling mechanism flipped to the right;
fig. 5 is a schematic view of the conveying mechanism turned to the left.
In the figure: 1-a carrying mechanism; 1.1-rear frame; 1.2-intermediate shelf; 1.3-front frame; 1.4-a support blade; 1.5-middle frame turnover oil cylinder; 1.6-front frame turning oil cylinder; 1.7-shovel plate turning oil cylinder; 1.8-telescopic supporting leg I;
2.1-front main frame; 2.2-a middle carrier; 2.3-rear main frame;
3 a-front cab; 3 b-rear cab; 3.1-seat;
4.1-an electric cabinet; 4.2-instrument display; 4.3-alarm;
5.1-hydraulic oil tank; 5.2-hydraulic pump; 5.3-a multi-way valve; 5.4-pilot operating handle;
6.1-emulsion tank; 6.2-emulsion pump station; 6.3-operating a valve;
7.1-storage battery; 7.2-three-phase asynchronous motor;
8-a rubber wheel travelling mechanism; 8.1-hydraulic motor;
9-telescopic supporting leg II.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Example 1
The embodiment provides a mining storage battery rubber-tyred double-cab unit bracket carrying robot which comprises a carrying mechanism 1, a main frame, a front cab 3a, a rear cab 3b, an electric control system, a hydraulic system, an emulsion system, a power assembly and a rubber-tyred travelling mechanism 8. The power assembly takes a storage battery 7.1 as an energy storage power source.
The carrying mechanism 1 comprises a rear frame 1.1, a middle frame 1.2, a middle frame overturning driving part, a front frame 1.3, a front frame overturning driving part, a support shovel plate 1.4 and a shovel plate overturning driving part; the rear frame 1.1 is arranged in the middle of the main frame; two groups of vertically opposite hinge points are arranged on the middle frame 1.2, and the two groups of hinge points are respectively hinged with the rear frame 1.1 and the front frame 1.3; the middle frame 1.2 is driven by a middle frame overturning driving part and overturns left and right around a hinge point of the middle frame 1.2 and the rear frame 1.1; the front frame 1.3 is driven by the front frame overturning driving part and overturns left and right around the hinge point of the middle frame 1.2 and the front frame 1.3; the bracket shovel plate 1.4 is hinged at the front side of the front frame 1.3 and is driven by the shovel plate overturning driving part to overturn up and down. The turning angles of the middle frame 1.2, the front frame 1.3 and the support shovel plate 1.4 are all 0-90 degrees, when the turning angles are all 0, the middle frame 1.2 is stacked on the front side of the rear frame 1.1, the front frame 1.3 is stacked on the front side of the middle frame 1.2, and the support shovel plate 1.4 is stacked on the front side of the front frame 1.3.
Furthermore, the middle frame 1.2 is connected with the rear frame 1.1 through a hinge lug and a hinge shaft, the front frame 1.3 is connected with the middle frame 1.2 through a hinge lug and a hinge shaft, and the support shovel plate 1.4 is connected with the front frame 1.3 through a hinge lug and a hinge shaft.
Furthermore, the middle frame overturning driving part, the front frame overturning driving part and the shovel plate overturning driving part are all oil cylinders. The turning of the middle frame 1.2, the front frame 1.3 and the bracket shovel plate 1.4 is realized through the contraction of the oil cylinder.
Furthermore, avoidance grooves are formed in the tops of the middle frame 1.2 and the rear frame 1.1, oil cylinder mounting lugs I are mounted on the avoidance grooves, and two ends of the middle frame overturning oil cylinder 1.5 are hinged to the two oil cylinder mounting lugs I respectively; an avoidance hole is formed in the middle of the front frame 1.3, oil cylinder mounting lugs II are arranged at the top of the avoidance hole and the front side of the middle frame 1.2, and two ends of the front frame overturning oil cylinder 1.6 are hinged to the two oil cylinder mounting lugs II respectively; and oil cylinder mounting lugs III are arranged at the bottom of the avoiding hole and on the support shovel plate 1.4, and two ends of the shovel plate overturning oil cylinder 1.7 are respectively hinged with the two oil cylinder mounting lugs III.
Furthermore, the bottom of after-frame 1.1 is provided with telescopic leg I1.8, and telescopic leg I1.8 is stretched out downwards by the drive of landing leg pars contractilis I and is supported subaerial or upwards shrink and be in unsettled state. Except that the telescopic supporting legs are arranged on the rear frame 1.1, the stable operation of the unit support in the carrying process can be ensured by arranging the telescopic supporting legs II 9 and the supporting leg telescopic parts II on the two sides of the main frame. The telescopic supporting leg II 9 is driven by the supporting leg telescopic part II to extend downwards to be supported on the ground or to be contracted upwards to be in a suspended state. The telescopic parts of the supporting legs are all oil cylinders.
The electric control system can realize one-key starting and stopping and manual remote control automatic switching, improves the automation of the mining storage battery rubber-tyred double-cab unit bracket carrying robot, and ensures the overall safety. The electric control system comprises an electric control box 4.1, an instrument display 4.2 and an alarm 4.3. The instrument display 4.2 has a data uploading function and monitors the whole running state of the mining storage battery rubber wheel type double-cab unit bracket transfer robot in real time. The alarm 4.3 has a person approach alarm function.
The hydraulic system provides power for the movement of the carrying mechanism 1 and the walking of the rubber wheel walking mechanism 7, and comprises a hydraulic oil tank 5.1, a hydraulic pump 5.2, a multi-way valve 5.3 and a pilot operation handle 5.4; a driving piece in the rubber wheel travelling mechanism 8 is a hydraulic motor 8.1; the hydraulic pump 5.2 is connected with the power assembly and used for pumping hydraulic oil in the hydraulic oil tank 5.1 to the multi-way valve 5.3; the multi-way valve 5.3 changes the direction of oil inlet and outlet through a pilot operation handle 5.4, and sends hydraulic oil to the middle frame overturning oil cylinder 1.5, the front frame overturning oil cylinder 1.6, the shovel board overturning oil cylinder 1.7, the supporting leg telescopic oil cylinder I, the supporting leg telescopic oil cylinder II and the hydraulic motor 8.1 respectively.
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 6.1, an emulsion pump station 6.2 and an operating valve 6.3; the emulsion tank 6.1 and the emulsion pump station 6.2 are both arranged on the main frame, the emulsion tank 6.1 and the emulsion pump station 6.2 are connected through an emulsion pipe, and the emulsion pump station 6.2 is driven by a power assembly; the operating valve 6.3 is used to control the emulsion pump station 6.2.
The front cab 3a is arranged on the front side of the main frame, the rear cab 3b is arranged on the rear side of the main frame, a seat 3.1, a pilot operating handle 5.4 and an instrument display 4.2 are arranged in the cab, the pilot operating handle 5.4 is located right in front of the seat 3.1, and the instrument display 4.2 is located on one side of the seat 3.1.
The main machine frame comprises a front main machine frame 2.1, a middle bearing frame 2.2 and a rear main machine frame 2.3; the front main frame 2.1 is connected with the middle bearing frames 2.2 through bolts, and the middle bearing frame 2.2 is connected with the rear main frame 2.2 through bolts.
A front group of rubber wheels and a rear group of rubber wheels in the rubber wheel travelling mechanism 8 are respectively arranged on the front main frame 2.1 and the rear main frame 2.3; the emulsion system, the front cab 3a, the electric cabinet 4.1 and the alarm 4.3 are arranged on the front main frame 2.1; the rear cab 3b, the hydraulic oil tank 5.1, the hydraulic pump 5.2, the multi-way valve 5.3 and the power assembly are arranged on the rear main frame 2.3; the handling device 1 is arranged on the middle carriage 2.2.
A three-phase asynchronous motor 7.2 in the power assembly is connected with a hydraulic pump 5.2 through a coupler.
Example 2
In fig. 1-5, the middle frame 1.2 is a left roll-over frame, and the front frame 1.3 is a right roll-over frame. Two single hinge lugs are arranged on the left side of the middle frame 1.2, an upper group of double hinge lugs and a lower group of double hinge lugs are arranged on the left side of the rear frame 1.1, and the single hinge lug on the left side of the middle frame 1.2 is embedded into the middle of the double hinge lugs on the left side of the rear frame 1.1 and connected through a hinge shaft. Two groups of upper and lower double-hinged lugs are arranged on the right side of the middle frame 1.2, two single-hinged lugs are arranged on the right side of the front frame 1.3, and the single-hinged lug on the right side of the front frame 1.3 is embedded into the middle of the double-hinged lug on the right side of the middle frame 1.2 and connected through a hinged shaft. The operation of the engine-driven crawler type double cab unit carrier transfer robot will be described with reference to the positional relationship shown in fig. 1 to 5 as an example.
When the unit support needing to be carried is positioned on the right side of the unit support carrying robot, the unit support carrying robot runs to the front of the unit support needing to be carried, the supporting legs I1.8 or the telescopic supporting legs II 9 are driven by the operation hydraulic system to extend until the supporting legs are completely contacted with the ground, supporting action is completed, and stability of the unit support carrying process is guaranteed. The initial state of the carrying mechanism 1 is as shown in fig. 1 and fig. 2, a bracket shovel plate 1.4, a front frame 1.3 and a middle frame 1.2 are completely folded, a front frame overturning oil cylinder 1.6 stretches outwards to push the front frame 1.3 to swing towards the right front until the front frame 1.3 is parallel to a unit bracket; then the shovel plate turning oil cylinder 1.7 is stretched, so that the support shovel plate 1.4 extends between the top beam of the unit support and the base of the unit support and turns upwards at the same time until the angle between the support shovel plate and the initial position is 90 degrees, as shown in fig. 4; operating the emulsion system to be communicated with a quick insertion valve on the unit support to contract the unit support upright post, firstly contacting the unit support top beam with a support shovel plate 1.4, and continuously contracting the unit support upright post until the unit support base is suspended; and finally, the front frame overturning oil cylinder 1.6 contracts inwards to drive the front frame 1.3 to return to the initial position, and the unit support swings right in front of the conveying mechanism 1 to complete one-time complete right-side unit support conveying action.
When the unit support needing to be carried is positioned in the left front of the unit support carrying robot, the unit support carrying robot runs to the front of the unit support needing to be carried, the supporting legs I1.8 or the telescopic supporting legs II 9 are driven by the operation hydraulic system to extend until the supporting legs are completely contacted with the ground, the supporting action is completed, and the stability of the unit support carrying process is ensured. The initial state of the carrying mechanism is still as shown in fig. 1 and fig. 2, at this time, the middle frame overturning oil cylinder 1.5 stretches outwards to push the middle frame 1.2 to swing towards the left front until the middle frame 1.2 is parallel to the unit support; then the shovel plate turning oil cylinder 1.7 is stretched, so that the support shovel plate 1.4 extends between the top beam of the unit support and the base of the unit support and turns upwards at the same time until the angle between the support shovel plate and the initial position is 90 degrees, as shown in fig. 5; operating the emulsion system to be communicated with a quick insertion valve on the unit bracket to enable the upright post of the unit bracket to contract, firstly enabling the top beam of the unit bracket to be in contact with a bracket shovel plate 1.4, and continuously contracting the upright post of the unit bracket until the base of the unit bracket is suspended; and finally, the middle frame overturning oil cylinder 1.5 contracts inwards to drive the middle frame 1.2 to return to the initial position, and the unit support swings right in front of the conveying mechanism 1 to complete one complete left unit support conveying action.
The operator can remotely control the bracket carrying action by operating the remote control/manual switching valve.
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 (9)
1. A mining storage battery rubber wheel type double-cab unit support transfer robot is characterized by comprising a transfer mechanism, a main frame, a front cab, a rear cab, a hydraulic system, a power assembly and a rubber wheel traveling mechanism;
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 rubber wheel travelling mechanisms 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 conveying mechanism and the rubber wheel travelling mechanism are powered by a hydraulic system;
the carrying mechanism is arranged in the middle of the main rack and comprises a rear rack, an intermediate rack overturning driving part, a front rack overturning driving part, a bracket shovel plate and a shovel plate overturning driving part;
the rear frame is arranged on the main frame;
two groups of vertically opposite hinge points are arranged on the middle frame, and the two groups of hinge points are respectively hinged with the rear frame and the front frame;
the middle frame is driven by a middle frame overturning driving part and overturns left and right around a hinge point of the middle frame and the rear frame, the minimum overturning angle is 0, and the maximum overturning angle is 90 degrees;
the front frame is driven by a front frame turning driving part and turns left and right around a hinge point of the middle frame and the front frame, the minimum turning angle is 0, and the maximum turning angle is 90 degrees;
the support shovel plate is hinged to the front side of the front frame and driven by the shovel plate overturning driving portion to overturn up and down, the minimum overturning angle is 0, and the maximum overturning angle is 90 degrees.
2. The mining storage battery rubber-tyred double-cab unit support transfer robot according to claim 1, characterized in that the bottom of the rear frame is provided with a telescopic leg I, and the telescopic leg I is driven by a leg telescopic part I to extend downwards to be supported on the ground or to be retracted upwards to be in a suspended state;
or both sides of the main frame are provided with a telescopic supporting leg II and a supporting leg telescopic part II, and the telescopic supporting leg II is driven by the supporting leg telescopic part II to extend downwards to be supported on the ground or to be contracted upwards to be in a suspended state.
3. The mining battery rubber-tyred double-cab unit bracket transfer robot of claim 2, wherein the intermediate frame is connected to the rear frame by means of hinge eyes and hinge shafts, the front frame is connected to the intermediate frame by means of hinge eyes and hinge shafts, and the bracket shovel is connected to the front frame by means of hinge eyes and hinge shafts.
4. The mining battery rubber-tyred double-cab unit support transfer robot of claim 3, wherein the middle frame overturning driving part, the front frame overturning driving part, the shovel plate overturning driving part, the leg telescoping part I and the leg telescoping part II are all oil cylinders.
5. The mining storage battery rubber-wheeled double-cab unit support transfer robot as claimed in claim 4, wherein avoidance grooves are formed in the tops of the middle frame and the rear frame, oil cylinder mounting lugs I are mounted on the avoidance grooves, and two ends of the middle frame overturning oil cylinder are hinged to the two oil cylinder mounting lugs I respectively;
the middle part of the front frame is provided with an avoidance hole, the top of the avoidance hole and the front side of the middle frame are provided with oil cylinder mounting lugs II, and two ends of the front frame turning oil cylinder are respectively hinged with the two oil cylinder mounting lugs II;
and oil cylinder mounting lugs III are arranged at the bottom of the avoiding hole and on the support shovel plate, and two ends of the shovel plate overturning oil cylinder are respectively hinged with the two oil cylinder mounting lugs III.
6. The mining storage battery rubber-wheeled double-cab unit support transfer robot as claimed in claim 5, further comprising an emulsion system, wherein the emulsion system is used for replenishing liquid for the unit support and receiving returned 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 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.
7. The mining battery rubber-tyred double cab unit bracket transfer robot of claim 6, characterized in that, hydraulic system includes hydraulic tank, hydraulic pump, multiple-way valve and guide's operating handle;
a driving piece in the rubber wheel travelling mechanism 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 used for reversing oil inlet and outlet through a pilot operation handle, and hydraulic oil is respectively sent to the middle frame overturning oil cylinder, the front frame overturning oil cylinder, the shovel plate overturning oil cylinder, the supporting leg telescopic oil cylinder I, the supporting leg telescopic oil cylinder II and the hydraulic motor.
8. The mining storage battery rubber-tyred double-cab unit bracket carrying robot as claimed in claim 7, wherein an electric control system for one-key start and stop and manual remote control automatic switching is further provided on the main frame, and 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.
9. The mining battery rubber-tyred dual-cab unit frame transfer robot of claim 8, wherein the main frame comprises a front main frame, a middle carrier, 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;
a front rubber wheel and a rear rubber wheel in the rubber wheel travelling mechanism are respectively arranged on a front main frame and a 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 and the power assembly are arranged on the rear main frame;
the carrying mechanism is arranged on the middle bearing frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211171569.5A CN115593299A (en) | 2022-09-26 | 2022-09-26 | Mining storage battery rubber wheel type double-cab unit support carrying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211171569.5A CN115593299A (en) | 2022-09-26 | 2022-09-26 | Mining storage battery rubber wheel type double-cab unit support carrying robot |
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| Publication Number | Publication Date |
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| CN115593299A true CN115593299A (en) | 2023-01-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211171569.5A Pending CN115593299A (en) | 2022-09-26 | 2022-09-26 | Mining storage battery rubber wheel type double-cab unit support carrying robot |
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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 |
| CN115447467A (en) * | 2022-09-23 | 2022-12-09 | 中国煤炭科工集团太原研究院有限公司 | Mining engine-driven rubber wheel type double-cab unit support transfer robot |
-
2022
- 2022-09-26 CN CN202211171569.5A patent/CN115593299A/en active Pending
Cited By (4)
| 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 |
| CN115447467A (en) * | 2022-09-23 | 2022-12-09 | 中国煤炭科工集团太原研究院有限公司 | Mining engine-driven rubber wheel type double-cab unit support transfer robot |
| CN115447467B (en) * | 2022-09-23 | 2024-03-26 | 中国煤炭科工集团太原研究院有限公司 | Mining engine driving rubber wheel type double cab unit support transfer robot |
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