CN214643600U

CN214643600U - Automatic carrying robot for unit support

Info

Publication number: CN214643600U
Application number: CN202120666452.9U
Authority: CN
Inventors: 曹伟; 滕飞; 邱洋; 杨宏光; 郭懿赟; 彭帅
Original assignee: Shenyang Tian'an Special Robot Co ltd
Current assignee: Shenyang Tian'an Special Robot Co ltd
Priority date: 2021-04-01
Filing date: 2021-04-01
Publication date: 2021-11-09
Anticipated expiration: 2031-04-01

Abstract

The utility model provides an automatic transfer robot of unit support, solves among the support antedisplacement, the handling in the tunnel of prior art, has great safe risk, and colliery staff intensity of labour is high, and production efficiency is low, is unfavorable for reducing the problem of borehole operation number. Including sliding the supporting body that sets up on the walking track through loose pulley assembly, its characterized in that: the upper part of the bearing body and the positions at the two sides of the walking track are respectively provided with a supporting mechanism; the lower part of the bearing body is provided with a lifting base, and the middle part of the lifting base is provided with a swing mechanism; a lifting mechanism is arranged between the lifting base and the bearing body; the lifting base is provided with a support carrying manipulator in a telescopic mode at the front end in the horizontal direction, and the rear end of the lifting base is provided with a horizontal telescopic driving mechanism. Its reasonable in design, compact structure can realize unmanned automatic transport buttress formula unit support, effectively shortens the transport time, promotes the operating efficiency, the cost of using manpower sparingly ensures personal safety, and the suitability is strong.

Description

Automatic carrying robot for unit support

Technical Field

The utility model belongs to the technical field of mine engineering equipment, concretely relates to can realize unmanned automatic transport buttress formula unit support, effectively shorten the transport time of unit support, promote the operating efficiency, the cost of using manpower sparingly to but furthest guarantee operation personnel's personal safety, the unit support automatic handling robot that the suitability is strong.

Background

The coal mine production system is very complicated, the operation environment is extremely severe, and natural disasters are more, so the life safety of coal mine workers is seriously threatened. In addition, underground transportation and installation roadways of coal mines are narrow, light is dark, road conditions are poor, and safety of manual operation is affected; particularly, the safety risk exists in the forward moving and carrying processes of the support bracket in the gob-side entry retaining tail lane. Meanwhile, along with the rise of labor cost, the problems of difficult recruitment, labor employment, difficult worker retention and the like in the coal mine industry become more and more prominent, and how to reduce the number of underground operation people, reduce safety risks, improve the production efficiency and reduce the labor intensity of coal mine workers becomes a problem to be solved urgently. Therefore, based on the principle of 'safety under the condition of few people' and 'safety under the condition of no people', the concepts of 'mechanical people changing, automatic people reduction and intelligent nobody' are advocated, and improvement on the carrying mode and the device of the support bracket of the existing underground coal mine roadway is needed.

SUMMERY OF THE UTILITY MODEL

The utility model discloses just to above-mentioned problem, provide one kind and can realize unmanned automatic transport buttress formula unit support, effectively shorten the transport time of unit support, promote the operating efficiency, the cost of using manpower sparingly to but furthest guarantee operation personnel's personal safety, the unit support automatic handling robot that the suitability is strong.

The utility model adopts the technical proposal that: this unit support automatic handling robot includes supporting body, its characterized in that: the supporting body is arranged on the walking track in a sliding mode through the pulley assembly, and supporting mechanisms are arranged on the upper portion of the supporting body and at the positions on the two sides of the walking track respectively; the lower part of the bearing body is provided with a lifting base, and the middle part of the lifting base is provided with a slewing mechanism for rotating the direction of the lifting base; a lifting mechanism for driving the lifting base to move up and down is arranged between the lifting base and the bearing body; the support carrying manipulator used for moving the stack type unit support is arranged on the lifting base in a telescopic mode at the front end in the horizontal direction, and a horizontal telescopic driving mechanism used for driving the support carrying manipulator is arranged at the rear end of the lifting base.

The bearing body comprises a bearing platform which is horizontally arranged, the upper side of the bearing platform is provided with the supporting and jacking mechanism, and the lower side of the bearing platform is provided with a vertical guide rail which is used for being connected with the lifting base; the bearing platform is composed of a bearing platform main body, the left side and the right side of the bearing platform main body are respectively provided with a connecting sleeve mounting part, the connecting sleeve mounting parts are provided with a supporting connecting sleeve of a supporting mechanism, a supporting telescopic cylinder is arranged in the supporting connecting sleeve, a supporting hydraulic cylinder is further arranged in the supporting telescopic cylinder and the supporting connecting sleeve, and a supporting shoe is hinged to the upper end of the supporting hydraulic cylinder; the front end and the rear end of the bearing table main body are respectively provided with a pulley connecting part, and the pulley connecting parts are provided with the pulley assemblies; and meanwhile, the fixing seat mounting part in the middle of the bearing table main body is provided with a lifting fixing seat used for being connected with the lifting mechanism. The lifting mechanism is connected with the lifting base through a vertical guide rail on the lower side of the bearing platform, and the upper part of the lifting mechanism is connected with a lifting fixing seat in the middle of the bearing platform; meanwhile, in the process of carrying the stack type unit support by the support carrying manipulator on the lifting base, the top-supporting hydraulic cylinder is utilized to drive the top-supporting shoe of the top-supporting mechanism to be in contact with the roadway top plate, and then the whole supporting body is stabilized.

The lifting base is composed of a lifting base body, a lifting guide cylinder is rotatably arranged in a guide cylinder mounting hole in the middle of the lifting base body, a guide rail inserting cavity is formed in the middle of the lifting guide cylinder, and a vertical guide rail at the lower part of the bearing body is slidably arranged in the guide rail inserting cavity; still be provided with annular rotation mechanism between lift guide cylinder and the lift seat main part, the stiff end of rotation mechanism upside links to each other with the ring flange of lift guide cylinder upper end, and the rotation end of rotation mechanism downside then links to each other through the upside that rotates connection pad and lift seat main part. The lifting base is connected with the vertical guide rail at the lower part of the bearing body by utilizing the guide rail inserting cavity at the middle part of the lifting guide cylinder, and the lifting base body and the support carrying manipulator on the lifting base body are driven by the rotary mechanism to rotate around the axis of the lifting guide cylinder together.

A plurality of groups of roller mounting holes are formed in the middle of the lifting base and on the wall of the rotatably arranged lifting guide cylinder, and lifting guide rollers are respectively arranged in the roller mounting holes and on one side facing the inside of the guide rail inserting cavity; correspondingly, vertical pulley guide grooves matched with the lifting guide rollers of each group are also respectively arranged on the outer side wall of the vertical guide rail at the lower part of the bearing body. The lifting guide rollers arranged in the guide rail inserting cavity in the middle of the lifting base are matched with the pulley guide grooves in the outer wall of the vertical guide rail at the lower part of the bearing body, so that the lifting base is guided along the ascending and descending of the vertical guide rail.

The support carrying manipulator comprises a manipulator base, the manipulator base is composed of a base body, the base body is connected with a manipulator mounting part at the front end of the lifting base through a horizontal guide rod, and a manipulator top seat is arranged at the upper part of the base body of the manipulator base; the manipulator footstock is composed of a footstock base body, and a support lifting arm is arranged at the upper end of the footstock base body. The support carrying manipulator is telescopically connected with a manipulator mounting part at the front end of the lifting base by utilizing two groups of horizontal guide rods arranged on the manipulator base, and the stack type unit support is lifted and carried by a support lifting arm at the upper end of a manipulator top seat.

A vertically arranged support lifting hydraulic cylinder is arranged between a manipulator base and a manipulator top seat of the support carrying manipulator, and two ends of the support lifting hydraulic cylinder are respectively connected with a base substrate and a top seat substrate through a lifting cylinder hinge part; meanwhile, a lifting guide mechanism is further arranged between the manipulator base and the manipulator top seat and comprises a lifting guide sleeve vertically arranged on the base body, a lifting guide column is inserted in the lifting guide sleeve in a telescopic mode, and the upper end of the lifting guide column is connected with the top seat base body. The lifting mechanism drives the lifting base and the support carrying manipulator on the lifting base, the stack unit support is taken and placed in the process, the support lifting hydraulic cylinder stretches out and draws back to assist in increasing the lifting stroke of the support carrying manipulator, the situation that a support top beam cannot be effectively abutted due to the fact that a roadway top plate is uneven and the support top beam is caused is avoided, and supporting safety is guaranteed.

The horizontal telescopic driving mechanism is connected with a telescopic mechanism mounting part at the rear end of the lifting base through a horizontal telescopic lead screw, and one end of the horizontal telescopic lead screw is inserted into a lead screw inserting hole at the end part of a horizontal guide rod of the manipulator base; the horizontal telescopic screw is fixedly connected with the end part of the corresponding horizontal guide rod; the other end of the horizontal telescopic lead screw is provided with a transmission device, the input end of the transmission device is connected with the output end of the speed reducer through a coupler, and the input end of the speed reducer is connected with the horizontal telescopic hydraulic motor. The hydraulic motor drives the speed reducer and the transmission device to drive the horizontal telescopic lead screw to rotate continuously, and the support carrying mechanical arm is driven to move in a telescopic mode through the horizontal telescopic screw connected with the end portion of the horizontal guide rod of the mechanical arm base, so that the stack type unit support is convenient to take and place.

The lifting mechanism comprises a lifting hydraulic cylinder which is vertically arranged, the lifting hydraulic cylinder is arranged in a lifting cylinder arrangement cavity in the middle of a vertical guide rail of the bearing body, a fixed end of the lifting cylinder at the lower part of the lifting hydraulic cylinder is connected with the lower end of the lifting cylinder arrangement cavity through a fixed end connecting flange, and a free end of the lifting cylinder at the upper part of the lifting hydraulic cylinder is provided with a lifting chain connecting part; the upper ends of a plurality of lifting pulling chains for lifting the lifting base are fixedly connected with the lifting chain connecting part at the free end of the lifting cylinder through a wear-resistant sleeve and a wear-resistant gland, and the lower ends of the lifting pulling chains are respectively connected with corresponding lifting connecting columns on the lifting base through base connecting parts; and a plurality of groups of lifting guide chain wheels are respectively arranged in the moving direction of the lifting pulling chain. The lifting hydraulic cylinders in the cavity are arranged through the lifting cylinders arranged in the middle of the supporting body, so that the lifting pulling chains are pulled to and fro under the guiding action of the lifting guide chain wheels, and the lifting base is driven to ascend or descend together with the support carrying manipulator arranged on the lifting base.

The lifting fixed seat in the middle of the bearing platform of the bearing body is composed of a fixed seat main body, the middle of the fixed seat main body is provided with a lifting through hole, and each lifting pulling chain connected with the free end of a lifting cylinder at the upper part of the lifting hydraulic cylinder respectively passes through the lifting through hole and is arranged on a lifting guide chain wheel in a plurality of lifting guide grooves arranged on the fixed seat main body; correspondingly, the positions, corresponding to the lifting pulling chains, on the bearing platform are also respectively provided with a lifting guide seat; and the lower ends of the lifting pulling chains extend downwards and penetrate through corresponding lifting chain through holes on the bearing platform respectively through lifting guide chain wheels arranged in lifting chain wheel mounting grooves on the lifting guide seats, and are connected with the lifting base. The lifting guide chain wheel arranged in the lifting guide groove of the lifting fixing seat and the lifting guide chain wheel arranged in the lifting chain wheel mounting groove of the lifting guide seat are used for guiding the reciprocating pulling of each lifting pulling chain of the lifting mechanism, so that the lifting smoothness of the lifting base is improved, and the abrasion of the chains is reduced.

The stack type unit support comprises a support base, a support top beam is arranged above the support base, and a telescopic upright post is arranged between the support top beam and the support base; meanwhile, a stand column avoiding notch is formed in the front side of a support lifting arm at the upper end of the support carrying manipulator, a liquid inlet and return rubber pipe joint is further arranged on the support lifting arm, and the liquid inlet and return rubber pipe joint is connected with a joint connecting seat on the top seat base body through a supporting spring; correspondingly, a liquid inlet and return joint plug-in socket used for being matched and connected with a liquid inlet and return rubber pipe joint of the support lifting arm is arranged on a support top beam of the stack type unit support. When the support top beam of the stack unit support is lifted by the support carrying manipulator, the stand column is utilized to avoid the telescopic stand column at the middle part from the opening, the liquid inlet and return rubber tube joint arranged on the support lifting arm is connected with the liquid inlet and return joint plug socket of the support top beam in a matching manner, the liquid inlet and return rubber tube is connected with the liquid inlet and return port of the telescopic stand column of the stack unit support, and then the telescopic stand column is driven to stretch by high-pressure fluid, so that the stack unit support is lifted or lowered.

The pulley assembly comprises a pulley mounting frame, a plurality of groups of walking wheels matched and connected with the walking tracks are arranged on the upper portion of the pulley mounting frame, guide wheels are arranged on two sides of the end portion of the pulley mounting frame respectively, and the pulley mounting frame is connected with the pulley connecting portion on the bearing platform of the bearing body through a wheel group connecting frame.

The utility model has the advantages that: because the utility model adopts the supporting body which is arranged on the walking track in a sliding way through the pulley component, the supporting mechanism is respectively arranged at the upper part of the supporting body and the positions which are positioned at the two sides of the walking track; the lower part of the bearing body is provided with a lifting base, and the middle part of the lifting base is provided with a swing mechanism for rotating the direction of the lifting base; a lifting mechanism for driving the lifting base to move up and down is arranged between the lifting base and the bearing body; on the lifting base, along the front end of horizontal direction, the flexible support transport manipulator that is used for removing buttress formula unit support that is provided with, lifting base rear end is provided with the structural style that is used for driving the flexible actuating mechanism of level of support transport manipulator, so its reasonable in design, compact structure, utilize the supporting body that sets up on the walking track, as the carrier of whole unit support automatic handling robot reciprocating transport in the underworkings, under the prerequisite that fully satisfies automatic transport buttress formula unit support demand, through rotatable and flexible support transport manipulator, hold up a set of buttress formula unit support that treats the removal, afterwards, rethread along the supporting body that the walking track removed, move the buttress formula unit support to the front end along coal face advancing direction frame by frame.

This unit support automatic handling robot can realize unmanned automatic transport buttress formula unit support, effectively shortens the transport time of unit support, promotes the operating efficiency, the cost of using manpower sparingly to can furthest ensure operation personnel's personal safety, be applicable to the environmental space uses such as various mines including the colliery, tunnel, the practicality is strong. Meanwhile, the automatic unit support carrying robot adopts a large-cycle carrying mode of the supports moving from the rearmost end to the foremost end, and each stack type unit support only carries out once supporting force application on each supporting area of the roadway roof, so that the roadway roof can be effectively protected, repeated support of the roof is prevented, and the supporting safety of the roadway roof is guaranteed.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a view in the direction a of fig. 1.

Fig. 3 is an exploded view of fig. 1.

Figure 4 is a schematic view of a structure of the carrier of figure 3.

Fig. 5 is a schematic structural diagram of the load-bearing platform in fig. 4.

Fig. 6 is a schematic structural view of the lifting fixing base in fig. 4.

Figure 7 is a schematic view of one construction of the sheave assembly of figure 3.

Fig. 8 is a schematic diagram of a construction of the lifting mechanism of fig. 3.

Fig. 9 is an exploded view of fig. 8.

Fig. 10 is a schematic diagram of a structure of the lifting base of fig. 3.

Fig. 11 is an exploded view of fig. 10.

Fig. 12 is a sectional view showing an internal structure of the elevating guide cylinder of fig. 11.

Fig. 13 is a schematic view of a connection structure of the lifting mechanism of fig. 1 with the carrier and the lifting base.

Fig. 14 is a schematic diagram of one configuration of the rack handling robot of fig. 3.

Figure 15 is a schematic diagram of one configuration of the robot base of figure 14.

Figure 16 is a schematic diagram of one configuration of the robot top mount of figure 14.

Fig. 17 is a schematic view showing a structure of the horizontal telescopic driving mechanism in fig. 3.

Fig. 18 is a schematic view showing an operation state in which the swing mechanism of fig. 1 rotates the lifting base together with the rack carrying robot thereon.

Fig. 19 is a schematic diagram of a stack unit support according to the present invention.

Fig. 20 is a schematic view of a usage state of the present invention.

The sequence numbers in the figures illustrate: 1 bearing body, 2 supporting mechanism, 3 lifting base, 4 lifting mechanism, 5 bracket carrying mechanical arm, 6 horizontal telescopic driving mechanism, 7 revolving mechanism, 8 pulley components, 9 walking track, 10 positioning hydraulic cylinder, 11 bearing platform, 12 vertical guide rail, 13 pulley guide groove, 14 supporting connecting sleeve, 15 supporting telescopic cylinder, 16 supporting hydraulic cylinder, 17 supporting shoe, 18 lifting fixed seat, 19 bearing platform body, 20 connecting sleeve installation part, 21 fixed seat installation part, 22 lifting guide seat, 23 lifting chain wheel installation groove, 24 lifting chain through hole, 25 pulley connecting part, 26 fixed seat body, 27 lifting through hole, 28 lifting guide groove, 29 pulley installation frame, 30 wheel group connecting frame, 31 walking wheel, 32 guide wheel, 33 lifting hydraulic cylinder, 34 lifting cylinder fixed end, 35 lifting cylinder free end, 36 lifting pulling chain, 37 base connecting part, 38 lifting guide chain wheel, 39 chain wheel blocking cover, 40 wear-resistant sleeve, 41 lifting chain connecting part, 42 wear-resistant gland, 43 lifting seat body, 44 lifting guide cylinder, 45 guide rail inserting cavity, 46 lifting connecting column, 47 mechanical arm mounting part, 48 telescopic mechanism mounting part, 49 guide cylinder mounting hole, 50 rotating connecting disc, 51 roller mounting hole, 52 lifting guide roller, 53 lifting cylinder arrangement cavity, 54 fixed end connecting flange, 55 mechanical arm base, 56 mechanical arm top seat, 57 support lifting hydraulic cylinder, 58 lifting guide mechanism, 59 base body, 60 horizontal guide rod, 61 lead screw inserting hole, 62 lifting guide sleeve, 63 lifting cylinder hinging part, 64 top seat base body, 65 lifting guide column, 66 support lifting arm, 67 vertical column avoiding notch, 68 joint connecting seat, 69 liquid inlet and outlet rubber tube joint, 70 supporting spring, 71 worm gear transmission device, 72 transition connecting plate, 73 horizontal telescopic lead screw transmission rod, 73 lifting guide screw rod, 74 horizontal telescopic screw nuts, 75 double-output shaft speed reducers, 76 couplings, 77 horizontal telescopic hydraulic motors, 78 rolling bearings, 79 support bases, 80 telescopic vertical columns, 81 support top beams, 82 liquid inlet and return joint plug sockets, 83 support-state unit supports and 84 support-down unit supports.

Detailed Description

The specific structure of the present invention is described in detail with reference to fig. 1 to 20. The automatic carrying robot for the unit support comprises a bearing body 1, wherein the bearing body 1 is composed of a bearing platform 11 which is horizontally arranged, the front end and the rear end of the bearing platform 11 are respectively connected to a walking rail 9 which is arranged on a roadway top plate through a pulley assembly 8 in a sliding mode, and a positioning hydraulic cylinder 10 which is used for accurate positioning is further arranged on the pulley assembly 8. The upper part of the bearing platform 11 is positioned at the two sides of the walking track 9 and is respectively provided with a supporting mechanism 2; in the middle of the underside of the load-bearing platform 11, a vertical guide rail 12 is provided for connection with the lifting base 3.

The bearing platform 11 of the bearing body 1 is composed of a bearing platform main body 19, the left side and the right side of the bearing platform main body 19 are respectively provided with a connecting sleeve mounting part 20, and the connecting sleeve mounting part 20 is provided with a supporting connecting sleeve 14 of the supporting mechanism 2; a top-supporting telescopic cylinder 15 is arranged in the top-supporting connecting sleeve 14, a top-supporting hydraulic cylinder 16 is further arranged in the top-supporting telescopic cylinder 15 and the top-supporting connecting sleeve 14, and a top-supporting shoe 17 is hinged to the upper end of the top-supporting hydraulic cylinder 16. The front end and the rear end of the bearing table main body 19 are respectively provided with a pulley connecting part 25, and the pulley connecting parts 25 are connected with the pulley components 8 arranged on the traveling track 9; the pulley assembly 8 consists of a pulley mounting frame 29, and a plurality of groups of travelling wheels 31 matched and connected with the travelling rail 9 are arranged at the upper part of the pulley mounting frame 29; guide wheels 32 are respectively arranged on two sides of the end part of the pulley mounting frame 29, and the pulley mounting frame 29 is connected with the pulley connecting part 25 on the bearing platform 11 of the bearing body 1 through a wheel set connecting frame 30. Meanwhile, a fixed seat mounting part 21 in the middle of the bearing table main body 19 is provided with a lifting fixed seat 18 for connecting with the lifting mechanism 4; the lifting mechanism is further connected with the lifting base 3 through a vertical guide rail 12 on the lower side of the bearing platform 11, and the upper part of the lifting mechanism 4 is connected with a lifting fixed seat 18 in the middle of the bearing platform 11; meanwhile, in the process of carrying the stack unit support by the support carrying manipulator 5 on the lifting base 3, the top-receiving support shoe 17 of the top-supporting mechanism 2 is driven to contact with the roadway roof by the top-supporting hydraulic cylinder 16 so as to stabilize the state of the whole supporting body 1.

A lifting base 3 is arranged on a vertical guide rail 12 at the lower part of the bearing body 1, the lifting base 3 is composed of a lifting base main body 43, and a lifting guide cylinder 44 is rotatably arranged in a guide cylinder mounting hole 49 at the middle part of the lifting base main body 43; the middle part of the lifting guide cylinder 44 is provided with a guide rail insertion cavity 45, and the vertical guide rail 12 at the lower part of the bearing body 1 is arranged in the guide rail insertion cavity 45 of the lifting guide cylinder 44 in a sliding way. In addition, a ring-shaped revolving mechanism 7 (for example, a revolving speed reducer driven by hydraulic pressure) for rotating the direction of the lifting base 3 is arranged between the lifting guide cylinder 44 and the lifting seat body 43, the fixed end of the upper side of the revolving mechanism 7 is connected with the flange plate at the upper end of the lifting guide cylinder 44, and the rotating end of the lower side of the revolving mechanism 7 is connected with the upper side of the lifting seat body 43 through a rotating connecting plate 50; so as to connect the lifting base 3 with the vertical guide rail 12 at the lower part of the carrier 1 by using the guide rail insertion cavity 45 at the middle part of the lifting guide cylinder 44, and drive the lifting base body 43 and the bracket carrying manipulator 5 thereon to rotate together around the axis of the lifting guide cylinder 44 by the swing mechanism 7, namely: and a rotational movement in the horizontal plane relative to the elevation guide cylinder 44.

Moreover, a plurality of groups of roller mounting holes 51 are formed in the middle of the lifting base 3 and on the wall of the rotatably arranged lifting guide cylinder 44, and lifting guide rollers 52 are respectively arranged in the roller mounting holes 51 and on one side facing the inside of the guide rail insertion cavity 45; the elevation guide roller 52 is fixed in the roller mounting hole 51 through a roller cover. Correspondingly, vertical pulley guide grooves 13 for matching with the sets of lifting guide rollers 52 are respectively arranged on the outer side walls of the vertical guide rails 12 at the lower part of the carrier 1. Therefore, the lifting guide rollers 52 arranged in the guide rail insertion cavities 45 of the lifting guide cylinders 44 in the middle of the lifting base 3 are matched with the pulley guide grooves 13 on the outer wall of the vertical guide rail 12 at the lower part of the carrier 1, so that the lifting base 3 is guided to ascend and descend along the vertical guide rail 12, the rotation of the lifting guide cylinders 44 in the horizontal plane is limited, and the reliability of the device operation is ensured.

Meanwhile, a support carrying manipulator 5 used for moving the stack unit support is arranged on the lifting base 3 in a telescopic mode at the front end in the horizontal direction, and a horizontal telescopic driving mechanism 6 used for driving the support carrying manipulator 5 is arranged at the rear end of the lifting base 3. The rack carrying robot 5 includes a robot base 55, the robot base 55 is composed of a base body 59, and the base body 59 is connected to a robot mounting portion 47 at the front end of the lifting base 3 through two sets of horizontal guide rods 60. A manipulator top seat 56 is arranged above a base body 59 of the manipulator base 55, the manipulator top seat 56 is composed of a top seat base body 64, and a support lifting arm 66 is arranged at the upper end of the top seat base body 64; and then, the support carrying manipulator 5 is telescopically connected with the manipulator mounting part 47 at the front end of the lifting base 3 by using two groups of horizontal guide rods 60 arranged on the manipulator base 55, and the stack type unit support is lifted and carried by a support lifting arm 66 at the upper end of the manipulator top seat 56.

The stack type unit support comprises a support base 79, a support top beam 81 is arranged above the support base 79, and a telescopic upright column 80 is arranged between the support top beam 81 and the support base 79. Meanwhile, the front side of the support lifting arm 66 at the upper end of the support carrying manipulator 5 is provided with an upright post avoiding notch 67, the support lifting arm 66 is also provided with a liquid inlet and return hose joint 69, and the liquid inlet and return hose joint 69 is connected with a joint connecting seat 68 on the top seat base body 64 through a supporting spring 70. The support spring 70 may be a tower spring structure having better lateral stability than a general cylindrical compression spring; and the main function of the supporting spring 70 is to centralize the liquid inlet and return hose joint 69 and the hose connected therewith, so as to avoid the change of the relative position of the liquid inlet and return hose joint 69 on the manipulator top seat 56. Correspondingly, a support top beam 81 of the stack type unit support is provided with a liquid inlet and return joint plug-in socket 82 which is used for being matched and connected with the liquid inlet and return rubber pipe joint 69 of the support lifting arm 66; and a female plug for mating with the liquid inlet and return hose connector 69 is provided inside the liquid inlet and return connector socket 82. Therefore, when the support carrying manipulator 5 lifts the support top beam 81 of the stack type unit support, the upright post avoiding notch 67 is used for avoiding the telescopic upright post 80 in the middle of the unit support, and the liquid inlet and return rubber hose joint 69 arranged on the support lifting arm 66 is connected with the liquid inlet and return joint plug socket 82 of the support top beam 81 in a matching manner, so that the liquid inlet and return rubber hose is connected with the liquid inlet and return port of the telescopic upright post 80 of the stack type unit support, and the telescopic upright post 80 is driven to stretch by high-pressure fluid (such as high-pressure emulsion) to lift or lower the stack type unit support.

In order to avoid the situation that the top beam 81 of the support cannot be effectively abutted due to the fact that the top plate of the roadway is uneven in the process of taking and placing the stack type unit support, a vertically-arranged support lifting hydraulic cylinder 57 is arranged between a manipulator base 55 and a manipulator top seat 56 of the support carrying manipulator 5; and both ends of the support lifting hydraulic cylinder 57 are connected with the middle parts of the base body 59 and the top base body 64 through lifting cylinder hinge parts 63, respectively. Meanwhile, lifting guide mechanisms 58 are respectively arranged between the manipulator base 55 and the manipulator top seat 56 and on two sides of the support lifting hydraulic cylinder 57. The lifting guide mechanism 58 comprises a lifting guide sleeve 62 vertically arranged on the base body 59, a lifting guide column 65 is inserted in the lifting guide sleeve 62 in a telescopic mode, and the upper end of the lifting guide column 65 is connected with the top base body 64; and then in the process that the lifting mechanism 4 drives the lifting base 3 and the support carrying manipulator 5 on the lifting base to take and place the stack type unit support, the lifting stroke of the support carrying manipulator 5 is increased in an auxiliary mode through the extension and retraction of the support lifting hydraulic cylinder 57, and the support safety of the stack type unit support is ensured.

The horizontal telescopic driving mechanism 6 arranged at the rear end of the lifting base 3 is connected with the telescopic mechanism mounting part 48 at the rear end of the lifting base 3 through two groups of horizontal telescopic lead screws 73, and one end of each horizontal telescopic lead screw 73 is inserted into a lead screw inserting hole 61 at the end part of the hollow horizontal guide rod 60 on the manipulator base 55; and a wear-resistant rolling bearing 78 is arranged between the horizontal telescopic lead screw 73 and the lead screw inserting hole 61 of the horizontal guide rod 60. Meanwhile, a horizontal extension screw nut 74 which is provided on the horizontal extension screw 73 and can reciprocate along the extension screw is fixedly connected with the end of the corresponding group of horizontal guide rods 60. The other ends of the two groups of horizontal telescopic screw rods 73 are respectively provided with a worm gear transmission device 71, and the worm gear transmission devices 71 are fixedly connected with the rear end of the lifting seat main body 43 of the lifting base 3 through a transition connecting plate 72. The input ends of two symmetrically arranged worm and gear transmissions 71 are respectively connected with the output end of a double-output shaft speed reducer 75 positioned in the middle through a coupler 76, and the input end of the double-output shaft speed reducer 75 is connected with a horizontal telescopic hydraulic motor 77. Therefore, the horizontal telescopic hydraulic motor 77 is used for driving the speed reducer and the transmission device to drive the horizontal telescopic screw 73 to rotate continuously, and the support carrying manipulator 5 is driven to move telescopically through the horizontal telescopic screw 74 connected with the end part of the horizontal guide rod 60 of the manipulator base 55, so that the stack type unit support is convenient to take and place. It will be appreciated that the horizontal telescopic driving mechanism 6 may also adopt an existing mechanism capable of realizing horizontal push-pull according to specific use requirements.

In addition, a lifting mechanism 4 for driving the lifting base 3 to move up and down is arranged between the lifting base 3 and the supporting body 1. The lifting mechanism 4 comprises a vertically arranged lifting hydraulic cylinder 33, and the lifting hydraulic cylinder 33 is arranged in a lifting cylinder arrangement cavity 53 in the middle of the vertical guide rail 12 of the bearing body 1; the lift cylinder fixed end 34 of the lower portion of the lift cylinder 33 is fixedly connected to the lower end of the lift cylinder disposition chamber 53 through the fixed end connection flange 54, and the lift cylinder free end 35 of the upper portion of the lift cylinder 33 is provided with the lift chain connection portion 41. The upper ends of a plurality of lifting pulling chains 36 for lifting the lifting base 3 are fixedly connected with a lifting chain connecting part 41 of the free end 35 of the lifting cylinder on the upper part of the lifting hydraulic cylinder 33 through a wear-resistant sleeve 40 and a wear-resistant gland 42; the lower ends of the lifting and pulling chains 36 are connected to lifting connection posts 46 provided at the upper side and corresponding positions of the lifting guide cylinders 44 at the middle of the lifting base 3 through base connection portions 37. It will be appreciated that the base attachment portion 37 at the lower end of the lift pull chain 36 may also be directly connected to the oblong hole in the upper side of the lift guide cylinder 44. Meanwhile, according to specific use requirements, the lifting mechanism 4 can also adopt a structural form that a steel wire rope is connected with a lifting motor.

Furthermore, the lifting fixing seat 18 in the middle of the carrying platform 11 of the carrying body 1 is constituted by a fixing seat main body 26, and the middle of the fixing seat main body 26 is provided with a lifting through hole 27 for passing a lifting pulling chain 36. Each lifting pulling chain 36 connected to the free end 35 of the lifting cylinder at the upper part of the lifting hydraulic cylinder 33 passes through the lifting through hole 27 at the middle part of the fixing base body 26 of the lifting fixing base 18 and is arranged on a lifting guide chain wheel 38 in a plurality of lifting guide grooves 28 arranged on the fixing base body 26. Correspondingly, the upper side of the bearing platform 11, at the position corresponding to each lifting and pulling chain 36, is also provided with a lifting guide seat 22; the lower end of each lifting pulling chain 36 extends downwards through a lifting guide chain wheel 38 arranged in a lifting chain wheel mounting groove 23 on the lifting guide seat 22, passes through a corresponding lifting chain through hole 24 on the bearing platform 11, and is connected with a lifting connecting column 46 on the upper side of a lifting guide cylinder 44 of the lifting base 3; a chain guard 39 is also provided above each lift guide chain wheel 38. Then, through the extension and contraction of the lifting hydraulic cylinder 33 arranged in the lifting cylinder arrangement cavity 53 in the middle of the carrier 1, each lifting pulling chain 36 is pulled in a reciprocating manner so as to drive the lifting base 3 to ascend or descend together with the support carrying manipulator 5 arranged on the lifting base; furthermore, the continuous rolling of the lifting guide sprocket 38 disposed in the lifting guide groove 28 of the lifting fixing seat 18 and the lifting guide sprocket 38 disposed in the lifting sprocket mounting groove 23 of the lifting guide seat 22 in the movement direction of the lifting pulling chain 36 guides the reciprocating pulling of each lifting pulling chain 36 of the lifting mechanism 4, so as to increase the smoothness of the lifting base 3 and reduce the wear of the chains.

When the unit support automatic conveying robot is used, firstly, the whole bearing body 1, the lifting base 3 and the support conveying manipulator 5 at the lower part of the bearing body are connected on a walking rail 9 arranged in the middle of a top plate of a roadway (for example, a gob-side entry retaining tail roadway) in a sliding mode through pulley assemblies 8 at the front end and the rear end of a bearing platform 11. Meanwhile, two rows of a plurality of groups of stacking unit supports which are arranged at equal intervals along the extending direction of the roadway are respectively arranged on two sides of the walking track 9; and the telescopic upright columns 80 of the stack type unit supports are lifted, so that the top beams 81 of the supports support the top plate of the roadway. And the walking track 9 is also provided with an auxiliary transportation device for driving the pulley assembly 8 (namely, a monorail crane track system which comprises a driving and braking part and is used for driving the pulley assembly 8 on the bearing body 1 to move on the walking track 9), an auxiliary power device such as an emulsion tank, a control box, an operating valve assembly and the like, and an automatic control device such as an electric cabinet, a computer, various sensors (such as vision, laser and displacement sensors) and related hardware and the like, so that corresponding action instructions are output through signals fed back by the sensors, and the automatic handling robot for the control unit support finishes various actions such as taking, lowering, transporting, delivering and lifting of the stack type unit support.

When the stack type unit support in the roadway and at the rear end needs to be conveyed forward along with extraction, the auxiliary conveying device drives the pulley assembly 8, so that the supporting body 1 is driven to move to the position of the stack type unit support to be conveyed, and the positioning hydraulic cylinder 10 is utilized to push the supporting body 1 to be accurately positioned and then stop. Then, the jacking hydraulic cylinders 16 of the jacking mechanisms 2 extending out of the two sides of the upper part of the bearing body 1 drive the jacking shoes 17 to contact with the roadway roof, so that the state of the whole bearing body 1 is stabilized in the process of carrying the stacked unit support by the support carrying manipulator 5 on the lifting base 3. Thereafter, the rotating mechanism 7 drives the lifting base 3 provided on the lower vertical rail 12 of the carrier 1 and the rack carrying robot 5 thereon to rotate together by 90 degrees about the axis of the lifting guide cylinder 44 toward the rack of the stacker unit to be carried (as shown in FIG. 18). After the lifting base 3 rotates to the position, the horizontal telescopic driving mechanism 6 drives the support lifting arm 66 of the support carrying manipulator 5 to extend to a support taking position below the support top beam 81 of the stack type unit support.

Subsequently, by retracting the lifting hydraulic cylinders 33 in the lifting cylinder arrangement cavities 53 arranged in the middle of the supporting body 1, the lifting pulling chains 36 of the lifting mechanisms 4 are lifted upwards to drive the lifting base 3 to ascend together with the support carrying manipulator 5 thereon, so that the support lifting arms 66 lift the support top beams 81 of the stacked unit supports, and meanwhile, the liquid inlet and return rubber pipe joints 69 on the support lifting arms 66 are inserted into the liquid inlet and return joint insertion seats 82 of the support top beams 81. If the stroke of the lifting mechanism 4 is insufficient, the liquid inlet and return rubber pipe joint 69 and the liquid inlet and return joint plug-in socket 82 cannot be in sufficient butt joint, and the lifting stroke of the support carrying manipulator 5 can be increased in an auxiliary mode through the extension and contraction of the support lifting hydraulic cylinder 57 between the manipulator base 55 and the manipulator top seat 56. After the liquid inlet and return rubber hose joint 69 on the support lifting arm 66 and the liquid inlet and return joint plug-in socket 82 on the support top beam 81 are plugged in place, the auxiliary power device fills and discharges liquid through the liquid inlet and return rubber hose connected with the liquid inlet and return rubber hose joint 69 to the telescopic upright column 80 of the stack type unit support to be carried, so that the telescopic upright column 80 is retracted upwards to drive the support base 79 to ascend (descend); at this time, the rack top beam 81 is lifted by the rack lifting arm 66 of the rack conveyance robot 5 and is always in contact with the roof of the roadway.

After the telescopic vertical column 80 is completely retracted, the lifting hydraulic cylinder 33 of the lifting mechanism 4 extends out and releases the lifting force of each lifting pulling chain 36 of the lifting mechanism 4, so that the lifting base 3 and the support carrying manipulator 5 and the stacking unit support thereon fall back to the initial height under the action of gravity, and the horizontal telescopic driving mechanism 6 drives the support lifting arm 66 of the support carrying manipulator 5 and the unit support 84 in the upper frame falling state thereof to retract to the frame conveying position in the middle of the roadway. Thereafter, the swing mechanism 7 drives the lifting base 3 and the rack carrying robot 5 and the stacker unit rack thereon to rotate reversely by 90 degrees together, and retracts the jack cylinders 16 and the positioning cylinders 10 of the respective jack mechanisms 2.

Then, the auxiliary transport device drives the unit carrier 84 in the lowered state on the carrier 1 and the carrier transfer robot 5, and moves along the travel rail 9 to the top plate position to be supported at the front end of the roadway. The swing mechanism 7 drives the lifting base 3 and the stack type unit support on the support carrying manipulator 5 to rotate 90 degrees to the support conveying position to be supported, and then the horizontal telescopic driving mechanism 6 drives the support carrying manipulator 5 to extend out; then, each lift of the lift mechanism 4 pulls the chain 36 upward, so that the rack top beam 81 of the stack unit rack lifted by the rack lifting arm 66 of the rack carrying robot 5 moves upward and comes into contact with the roadway roof at the position to be supported. In addition, under the condition that the top plate of the roadway is uneven and the support top beam 81 cannot be effectively abutted, the lifting stroke of the support carrying manipulator 5 can be increased in an auxiliary mode through the stretching and retracting of the support lifting hydraulic cylinder 57 between the manipulator base 55 and the manipulator top seat 56, and the supporting safety of the stack type unit support is ensured. After the support top beam 81 of the unit support 84 in the up-down state of the support carrying manipulator 5 is fully contacted with the roadway top plate, the auxiliary power device reversely fills and discharges liquid to the telescopic upright column 80 of the unit support 84 in the down-down state, so that the telescopic upright column 80 extends downwards, and the support base 79 is contacted with the roadway bottom plate (lifted) to form support. And stopping the liquid supply of the auxiliary power device after the stack type unit support at the moving position is stably supported. Subsequently, the lifting mechanism 4 drives the lifting base 3 together with the rack carrying manipulator 5 thereon to fall back to the initial height, and separates the liquid inlet and return hose joint 69 on the rack lifting arm 66 from the liquid inlet and return joint socket 82 of the rack top beam 81. Meanwhile, the horizontal telescopic driving mechanism 6 drives the support carrying manipulator 5 to withdraw, and the slewing mechanism 7 drives the lifting base 3 and the support carrying manipulator 5 thereon to rotate reversely for 90 degrees again to prepare for the next operation cycle of automatic carrying of the unit supports of taking, lowering, transporting, delivering and lifting.

Claims

1. The utility model provides a unit support automatic handling robot, includes supporting body (1), its characterized in that: the supporting body (1) is arranged on the traveling track (9) in a sliding mode through the pulley assembly (8), and supporting mechanisms (2) are arranged on the upper portion of the supporting body (1) and located on the two sides of the traveling track (9) respectively; the lower part of the bearing body (1) is provided with a lifting base (3), and the middle part of the lifting base (3) is provided with a rotating mechanism (7) for rotating the direction of the lifting base (3); moreover, a lifting mechanism (4) for driving the lifting base (3) to move up and down is arranged between the lifting base (3) and the bearing body (1); the support conveying mechanical arm (5) used for moving the stack type unit support is arranged on the lifting base (3) in a telescopic mode at the front end in the horizontal direction, and a horizontal telescopic driving mechanism (6) used for driving the support conveying mechanical arm (5) is arranged at the rear end of the lifting base (3).

2. The cell support automated transfer robot of claim 1, wherein: the bearing body (1) comprises a bearing platform (11) which is horizontally arranged, the upper side of the bearing platform (11) is provided with the supporting and jacking mechanism (2), and the lower side of the bearing platform (11) is provided with a vertical guide rail (12) which is used for being connected with the lifting base (3); the bearing platform (11) is composed of a bearing platform main body (19), connecting sleeve mounting portions (20) are respectively arranged on the left side and the right side of the bearing platform main body (19), a supporting connecting sleeve (14) of a supporting mechanism (2) is arranged on each connecting sleeve mounting portion (20), a supporting telescopic cylinder (15) is arranged in each supporting connecting sleeve (14), supporting hydraulic cylinders (16) are further arranged inside each supporting telescopic cylinder (15) and each supporting connecting sleeve (14), and a supporting shoe (17) is hinged to the upper end of each supporting hydraulic cylinder (16); the front end and the rear end of the bearing table main body (19) are respectively provided with a pulley connecting part (25), and the pulley connecting part (25) is provided with the pulley assembly (8); meanwhile, a fixed seat mounting part (21) in the middle of the bearing platform main body (19) is provided with a lifting fixed seat (18) used for being connected with the lifting mechanism (4).

3. The cell support automated transfer robot of claim 2, wherein: the lifting base (3) is composed of a lifting base body (43), a lifting guide cylinder (44) is rotationally arranged in a guide cylinder mounting hole (49) in the middle of the lifting base body (43), a guide rail inserting cavity (45) is arranged in the middle of the lifting guide cylinder (44), and a vertical guide rail (12) at the lower part of the bearing body (1) is slidably arranged in the guide rail inserting cavity (45); still be provided with annular rotation mechanism (7) between lift guide cylinder (44) and lift seat main part (43), the stiff end of rotation mechanism (7) upside links to each other with the ring flange of lift guide cylinder (44) upper end, and the rotation end of rotation mechanism (7) downside then links to each other with the upside of lift seat main part (43) through rotating connection pad (50).

4. The cell support automated transfer robot of claim 3, wherein: a plurality of groups of roller mounting holes (51) are formed in the middle of the lifting base (3) and on the wall of a rotatably arranged lifting guide cylinder (44), and lifting guide rollers (52) are respectively arranged in the roller mounting holes (51) and on one side facing the inside of the guide rail inserting cavity (45); correspondingly, vertical pulley guide grooves (13) matched with the lifting guide rollers (52) of each group are respectively arranged on the outer side wall of the vertical guide rail (12) at the lower part of the bearing body (1).

5. The cell support automated transfer robot of claim 1, wherein: the support carrying manipulator (5) comprises a manipulator base (55), the manipulator base (55) is composed of a base body (59), the base body (59) is connected with a manipulator mounting part (47) at the front end of the lifting base (3) through a horizontal guide rod (60), and a manipulator top seat (56) is arranged on the upper part of the base body (59) of the manipulator base (55); the manipulator footstock (56) is composed of a footstock base body (64), and a support lifting arm (66) is arranged at the upper end of the footstock base body (64).

6. The cell support automated transfer robot of claim 5, wherein: a vertically arranged support lifting hydraulic cylinder (57) is arranged between a manipulator base (55) and a manipulator top seat (56) of the support carrying manipulator (5), and two ends of the support lifting hydraulic cylinder (57) are respectively connected with a base body (59) and a top seat base body (64) through lifting cylinder hinge parts (63); meanwhile, a lifting guide mechanism (58) is further arranged between the manipulator base (55) and the manipulator top seat (56), the lifting guide mechanism (58) comprises a lifting guide sleeve (62) vertically arranged on the base body (59), a lifting guide column (65) is inserted in the lifting guide sleeve (62) in a telescopic mode, and the upper end of the lifting guide column (65) is connected with the top seat base body (64).

7. The cell support automated transfer robot of claim 5, wherein: the horizontal telescopic driving mechanism (6) is connected with a telescopic mechanism mounting part (48) at the rear end of the lifting base (3) through a horizontal telescopic lead screw (73), and one end of the horizontal telescopic lead screw (73) is inserted in a lead screw inserting hole (61) at the end part of a horizontal guide rod (60) of the manipulator base (55); a horizontal telescopic screw nut (74) arranged on the horizontal telescopic screw rod (73) is fixedly connected with the end part of the corresponding horizontal guide rod (60); the other end of the horizontal telescopic lead screw (73) is provided with a transmission device, the input end of the transmission device is connected with the output end of the speed reducer through a coupler (76), and the input end of the speed reducer is connected with a horizontal telescopic hydraulic motor (77).

8. The cell support automated transfer robot of claim 2, wherein: the lifting mechanism (4) comprises a lifting hydraulic cylinder (33) which is vertically arranged, the lifting hydraulic cylinder (33) is arranged in a lifting cylinder arrangement cavity (53) in the middle of a vertical guide rail (12) of the bearing body (1), a lifting cylinder fixed end (34) at the lower part of the lifting hydraulic cylinder (33) is connected with the lower end of the lifting cylinder arrangement cavity (53) through a fixed end connecting flange (54), and a lifting chain connecting part (41) is arranged at a lifting cylinder free end (35) at the upper part of the lifting hydraulic cylinder (33); the upper ends of a plurality of lifting pulling chains (36) used for lifting the lifting base (3) are fixedly connected with a lifting chain connecting part (41) of the free end (35) of the lifting cylinder through a wear-resistant sleeve (40) and a wear-resistant gland (42), and the lower ends of the lifting pulling chains (36) are respectively connected with corresponding lifting connecting columns (46) on the lifting base (3) through base connecting parts (37); and a plurality of groups of lifting guide chain wheels (38) are respectively arranged in the moving direction of the lifting pulling chain (36).

9. The cell support automated transfer robot of claim 8, wherein: the lifting fixed seat (18) in the middle of the bearing platform (11) of the bearing body (1) is composed of a fixed seat main body (26), the middle of the fixed seat main body (26) is provided with a lifting through hole (27), and each lifting pulling chain (36) connected with the free end (35) of the lifting cylinder at the upper part of the lifting hydraulic cylinder (33) respectively passes through the lifting through hole (27) and is arranged on a lifting guide chain wheel (38) in a plurality of lifting guide grooves (28) arranged on the fixed seat main body (26); correspondingly, lifting guide seats (22) are respectively arranged on the bearing platform (11) at positions corresponding to the lifting pulling chains (36); and the lower end of each lifting pulling chain (36) respectively extends downwards through a lifting guide chain wheel (38) arranged in a lifting chain wheel mounting groove (23) on the lifting guide seat (22), passes through a corresponding lifting chain through hole (24) on the bearing platform (11) and is connected with the lifting base (3).

10. The cell support automated transfer robot of claim 5, wherein: the stack type unit support comprises a support base (79), a support top beam (81) is arranged above the support base (79), and a telescopic upright post (80) is arranged between the support top beam (81) and the support base (79); meanwhile, an upright post avoiding notch (67) is formed in the front side of a support lifting arm (66) at the upper end of the support carrying manipulator (5), a liquid inlet and return rubber pipe joint (69) is further arranged on the support lifting arm (66), and the liquid inlet and return rubber pipe joint (69) is connected with a joint connecting seat (68) on the top seat base body (64) through a supporting spring (70); correspondingly, a support top beam (81) of the stack type unit support is provided with a liquid inlet and return joint plug socket (82) which is used for being matched and connected with a liquid inlet and return rubber pipe joint (69) of a support lifting arm (66).