WO2024066291A1 - 一种中置起吊型单元支架搬运车 - Google Patents

一种中置起吊型单元支架搬运车 Download PDF

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Publication number
WO2024066291A1
WO2024066291A1 PCT/CN2023/087773 CN2023087773W WO2024066291A1 WO 2024066291 A1 WO2024066291 A1 WO 2024066291A1 CN 2023087773 W CN2023087773 W CN 2023087773W WO 2024066291 A1 WO2024066291 A1 WO 2024066291A1
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WIPO (PCT)
Prior art keywords
support
lifting
unit
hydraulic
mid
Prior art date
Application number
PCT/CN2023/087773
Other languages
English (en)
French (fr)
Inventor
张定堂
李宗杰
杨文明
刘磊
李帅
张继业
马亚辉
黄自炎
索俊杰
王昊
Original Assignee
郑州煤矿机械集团股份有限公司
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Publication of WO2024066291A1 publication Critical patent/WO2024066291A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/10—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of fluid gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K25/00—Auxiliary drives
    • B60K25/06—Auxiliary drives from the transmission power take-off
    • 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
    • B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B60P1/54—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading
    • B60P1/5485—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading with arrangements to fold away the crane out of sight or in order to save space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
    • B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
    • B60S9/10—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • 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
    • B60S9/22—Means for attaching lifting, supporting, or manoeuvring devices to vehicles
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F13/00—Transport specially adapted to underground conditions
    • E21F13/006—Equipment transport systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K25/00—Auxiliary drives
    • B60K25/06—Auxiliary drives from the transmission power take-off
    • B60K2025/065—Auxiliary drives from the transmission power take-off the transmission being fluidic, e.g. hydraulic

Definitions

  • the invention relates to the technical field of underground equipment in coal mines, and more specifically, to a mid-mounted lifting unit bracket transport vehicle.
  • Unit hydraulic support (referred to as unit support) is particularly suitable for advance support of two lanes of underground coal mining working face due to its simple and reliable structure, compact size, light weight, and flexible use. It has been widely promoted and used in major coal mining enterprises across the country, and has replaced traditional single pillars to become a more efficient and safe hydraulic support product.
  • the conventional transportation methods of unit supports are mainly two methods: rail flatbed trucks with small winches or monorail cranes. These two methods can achieve basic transportation of unit supports, but there are still disadvantages such as complex use conditions, high cost, low transportation efficiency, more manpower and time consumption, and high labor intensity.
  • the flatbed truck equipped with a winch for transportation requires the layout of tracks in advance, and the monorail crane transportation requires good roof conditions and the ability to hang monorail crane equipment. The applicable conditions are relatively high, and it is not flexible enough when used underground in coal mines, and the efficiency is also low.
  • a Chinese invention patent document with publication number CN112390195B discloses a fork-mounted unit support transporter for mining, including a frame platform, a support leg mechanism installed at the front end of the frame platform, and a crawler-type walking drive mechanism installed under the frame platform.
  • a gantry mechanism, a cab, a power box and a counterweight device are installed on the frame platform from front to back.
  • a fork-mounted mechanism is installed on the gantry mechanism.
  • a variable-length oil cylinder capable of controlling the gantry mechanism to tilt forward or backward is connected between the gantry mechanism and the frame platform.
  • a support leg oil cylinder for driving the support leg mechanism to extend and touch the ground for support is connected to the outer side of the gantry mechanism.
  • the above fork-mounted unit support transporter for mining adopts a crawler-type walking drive mechanism, which can adapt to complex road conditions underground.
  • the fork-mounted mechanism is flexible in handling, has strong capacity, and reduces The labor intensity of employees is high, but the following problems still need to be overcome: 1. Difficult maintenance: The fork-mounted mechanism has a complex structure, and maintenance is difficult and costly; 2. Poor stability and safety during transportation: The supporting leg mechanism only supports the ground at the front end of the frame platform, and the stability is poor.
  • the unit bracket and fork-mounted mechanism are located at the front end of the frame platform, and a large counterweight needs to be set at the rear of the frame platform to ensure the stability of the vehicle body; 3.
  • High energy consumption of the equipment The fork-mounted mechanism always remains in a suspended working state during transportation, and the equipment consumes a lot of energy; 4. Poor passability: When transporting the unit bracket, the front fork-mounted mechanism needs to lift the unit bracket to a certain height, and it is more difficult to pass when the coal mine tunnel is low; 5. Exhaust pollution: The transport vehicle uses a diesel internal combustion engine as the power source, and exhaust emissions are inevitable, which pollutes the fresh airflow underground and affects ventilation.
  • the purpose of the present invention is to propose a mid-mounted lifting unit support transporter, which can solve the technical problems of the prior art mining fork-mounted unit support transporters, such as difficult maintenance, poor stability and passability during transportation, and high energy consumption of the equipment.
  • a mid-lifting type unit support carrier comprising a head unit, a middle lifting and bearing unit, and a tail unit respectively arranged from front to rear
  • the middle lifting and bearing unit comprises a boat-shaped frame and a mid-lifting and loading mechanism and a hydraulic support mechanism arranged on the boat-shaped frame, wherein the boat-shaped frame is high at both ends and low in the middle, and comprises a support bearing frame in the middle and a front platform and a rear platform located at both ends
  • the mid-lifting and loading mechanism is located at the front and rear ends of the support bearing frame, and comprises two lifting arms, four variable-length jacks, two connecting mechanisms, and a lifting structure located at the top of the lifting arms, wherein the two lifting arms are symmetrically arranged at the front of the support bearing frame
  • the variable-length jacks are located on the left and right sides of the lifting arm, and a first hydraulic jack for extension and retraction is arranged inside the lifting arm.
  • the lower ends of the lifting arm and the variable-length jack are respectively rotatably connected to the support bearing frame, and the upper ends of the lifting arm and the variable-length jack are respectively rotatably connected to the connecting mechanism;
  • the hydraulic support mechanism is arranged at the front and rear ends of the support bearing frame, and includes four transverse telescopic arms and four supporting legs.
  • the transverse telescopic arms are arranged in the transverse direction, including at least one level of transverse telescopic arms and a second hydraulic jack for controlling the extension and retraction of the transverse telescopic arms.
  • the supporting legs are located at the outer ends of the transverse telescopic arms and are mainly composed of vertical jacks. When the vertical jacks are extended, the supporting legs are supported on the ground;
  • the head unit and the tail unit are connected to the front platform and the rear platform respectively. Both the head unit and the tail unit are provided with a traveling mechanism.
  • the head and tail units are provided with a power system for providing power for the traveling mechanism, the hydraulic support mechanism and the mid-mounted lifting and loading mechanism, and a control system for controlling the movement of the power system.
  • the second hydraulic jack is driven to extend the horizontal telescopic arm outward, and the vertical jack is controlled to extend the outer supporting legs of the hydraulic support mechanism downward to support the ground, thereby increasing the supporting strength and stability of the equipment.
  • the inclination angle of the lifting arm is adjusted by controlling the telescopic jack to tilt it toward the side of the unit bracket, and the lifting arm is controlled to extend and hook the unit bracket through the lifting structure at its top.
  • the present invention adopts a central lifting and loading mechanism to lift the unit bracket, avoiding complicated structure and low processing cost, and is easier to implement and maintain, reliable and durable.
  • This lifting method is simple to operate, and the force application point is located in the middle of the vehicle. No additional counterweight is required. After lifting, the unit bracket is supported on the ship-shaped frame and transported with the vehicle.
  • the central lifting and loading mechanism can maintain a non-working state and consumes less energy.
  • the hydraulic support mechanism in the present invention is mainly composed of a transverse telescopic arm and a support leg to form a vertical cantilever support structure.
  • the support point is located in the middle of the vehicle, and the supporting force and structural stability are greatly improved.
  • the transverse telescopic arm extends outward when in use, and the equipment bearing surface has a large support span and a long support force arm.
  • the overall support strength of the vehicle is large and the stability is good.
  • the hydraulic support mechanism is retracted and the central lifting and loading mechanism is retracted, away from the ground and the top of the tunnel, thereby reducing the external dimensions of the equipment and improving driving passability and safety.
  • the walking mechanism is mainly composed of a crawler structure, which includes a walking hydraulic motor, a driving wheel, a tensioning wheel, a load-bearing wheel, a hydraulic tensioning mechanism and an alloy crawler.
  • the crawler structure is connected to the front platform and the rear platform through a front connecting structure and a rear connecting structure respectively.
  • the crawler structure can adapt to various complex road conditions and harsh working conditions in coal mines, and has strong climbing and obstacle-crossing capabilities.
  • a hydraulic turntable is provided between the front connection structure and the front platform, and the hydraulic turntable is used to be driven by the power system to drive the walking mechanism to turn.
  • the combination of the hydraulic turntable and the crawler structure can realize on-the-spot turning, thereby adapting to a smaller turning radius and improving the equipment's passability.
  • the front connecting structure and the rear connecting structure include a base and an adjustable support installed on the base, the base is connected to the walking mechanism, the adjustable support is connected to the front platform or the rear platform, and the base is provided with at least two levels of height adjustment holes connected to the adjustable support through pins.
  • the height adjustment hole on the base can be used to adjust the height of the adjustable support and even the boat-shaped frame relative to the ground.
  • the body can be raised/lowered through the pin shaft to ensure the load stability of the whole vehicle. If necessary, the ground clearance of the boat-shaped frame can be adjusted to make the vehicle have better road adaptability and obstacle-crossing ability.
  • the power system includes an on-board gear pump, a pump motor, a fuel tank and a hydraulic pipeline, and the pump motor is connected to an external power source through a power supply cable.
  • This hydraulic power system is different from the diesel internal combustion engine powertrain used in the unit support transporter in the prior art. It is small in size, low in cost, has no exhaust emission pollution, has good environmental performance, is more suitable for use in high-gas mines, and has good safety.
  • the head unit also includes a cable retracting mechanism, which is mainly composed of a cable winding drum, a drum hydraulic motor and a cable supporting frame, and is used to be driven by the power system to retract and release the power supply cable.
  • a cable retracting mechanism which is mainly composed of a cable winding drum, a drum hydraulic motor and a cable supporting frame, and is used to be driven by the power system to retract and release the power supply cable.
  • the collecting mechanism can automatically retract and release the power supply cable during the movement of the vehicle body, so that the length of the power supply cable is adapted to the travel distance of the vehicle, eliminating the manual dragging step and saving manpower and material resources.
  • the support frame is a frame structure mainly composed of I-beams and channel steels.
  • the frame structure takes into account both lightweight design and overall structural strength, is not easy to accumulate coal, and the floating coal carried by the lifting unit bracket during the lifting process can leak through the gaps on the frame structure.
  • a plurality of bubble levels are provided on the head unit and the tail unit.
  • the bubble level meter can be used to calibrate the horizontal degree of the supporting state of the hydraulic support mechanism to ensure the stable support of the hydraulic support mechanism.
  • the support leg also includes a support shoe plate located at the bottom of the vertical jack.
  • FIG1 is a schematic structural diagram of a specific embodiment 1 of a mid-mounted lifting unit support transport vehicle of the present invention from a side view;
  • FIG2 is a schematic diagram of the three-dimensional structure of a specific embodiment 1 of a mid-mounted lifting type unit support transport vehicle of the present invention
  • FIG3 is a schematic diagram of the structure of a specific embodiment 1 of a mid-mounted lifting unit support transport vehicle of the present invention from a top side perspective;
  • FIG4 is a schematic structural diagram of a middle lifting bearing unit of a specific embodiment 1 of a middle lifting type unit support transport vehicle of the present invention
  • FIG5 is a schematic structural diagram of the intermediate lifting and carrying unit in FIG4 from a front side perspective
  • FIG. 6 is a schematic diagram of a traveling mechanism and a front connection structure of a head unit in a specific embodiment 1 of a mid-mounted lifting type unit support transporter of the present invention
  • FIG7 is a schematic diagram of a walking mechanism and a front connection structure in a head unit in a specific embodiment 1 of a mid-mounted lifting type unit support transporter of the present invention from another perspective;
  • FIG8 is a schematic diagram of a walking mechanism and a rear connection structure in a tail unit in a specific embodiment 1 of a mid-mounted lifting type unit support transporter of the present invention
  • FIG9 is a schematic diagram of a walking mechanism and a rear connection structure in a tail unit in a specific embodiment 1 of a mid-mounted lifting unit support transporter of the present invention from another perspective;
  • FIG. 10 is a schematic structural diagram of a cable retracting mechanism in a specific embodiment 1 of a mid-mounted lifting unit support transport vehicle of the present invention
  • FIG. 11 is a schematic structural diagram of a control system in a specific embodiment 1 of a mid-mounted lifting unit support transport vehicle of the present invention
  • FIG. 12 is a schematic diagram of a working state of a specific embodiment 1 of a mid-mounted lifting unit support transporter of the present invention.
  • FIG13 is a schematic diagram of a working state of a specific embodiment 1 of a mid-mounted lifting unit support transporter of the present invention at another angle;
  • 3-Hydraulic support mechanism 3.1-First-stage lateral telescopic arm; 3.2-Second-stage lateral telescopic arm; 3.3-Vertical jack; 3.4-Supporting shoe plate; 3.5-Inner arm;
  • the overall structure of the mid-lifting unit support transporter is shown in Figures 1-3, which includes a head unit 100, a mid-lifting load-bearing unit 200, and a tail unit 300 from front to back.
  • the mid-lifting load-bearing unit 200 is mainly composed of a boat-shaped frame 1, a mid-lifting loading mechanism 2, and a hydraulic support mechanism 3.
  • the specific structure of the boat-shaped frame 1 is shown in Figures 4-5.
  • the overall shape is "concave", with high ends and low middle.
  • the boat-shaped frame 1 includes a support frame 1.2 in the middle for supporting the unit support 13, and a front platform 1.1 and a rear platform 1.3 at both ends.
  • the mid-lifting loading mechanism 2 is located at the front and rear ends of the support frame 1.2.
  • the mid-lifting loading mechanism 2 includes two lifting arms 2.1, two connecting mechanisms 2.2, four variable-length jacks 2.3, and a lifting structure located at the top of the lifting arm 2.1.
  • the lifting structure is a lifting round link chain and a sling 2.4.
  • Two lifting arms 2.1 are symmetrically arranged at the front and rear ends of the support bearing frame 1.2, and luffing jacks 2.3 are respectively arranged on the left and right sides of the lifting arms 2.1.
  • the lifting arm 2.1 is mainly composed of a bottom arm, a vertical telescopic arm, and a first hydraulic jack.
  • the first hydraulic jack is located between the bottom arm and the vertical telescopic arm, and adjusts the overall length of the lifting arm 2.1 when it is extended or retracted.
  • the lower ends of the lifting arm 2.1 and the luffing jack 2.3 are respectively rotatably connected to the support bearing frame 1.2, and the upper ends of the lifting arm 2.1 and the luffing jack 2.3 are respectively rotatably connected to the connecting mechanism 2.2, and the lifting arm 2.1 changes its tilt angle by controlling the extension and retraction of each luffing jack 2.3.
  • the hydraulic support mechanism 3 is arranged at the front and rear ends of the support carrier 1.2, and is set close to the lifting and loading mechanism 2, including four transverse telescopic arms and four support legs, wherein the transverse telescopic arms can be extended in the transverse direction, including an inner arm 3.5 located on the inner side and two-stage transverse telescopic arms that can be extended step by step along the inner arm 3.5, and the two-stage transverse telescopic arms are respectively a first-stage transverse telescopic arm 3.1 and a second-stage transverse telescopic arm 3.2, and a second hydraulic jack is arranged inside the transverse telescopic arm for driving the two-stage transverse telescopic arms to extend/retract in sequence.
  • the support leg is located at the outer end of the second-stage transverse telescopic arm 3.2, and the support leg includes a vertical jack 3.3 and a support shoe 3.4 located at the bottom of the vertical jack 3.3.
  • the transverse telescopic arm is extended outward, and the support leg is extended downward, and the support shoe 3.4 is supported on the ground.
  • the head unit 100 and the tail unit 300 are connected to the front platform 1.1 and the rear platform 1.3 respectively.
  • Walking mechanisms are arranged on the lower sides of the head unit 100 and the tail unit 300, as shown in FIGS. 6-9.
  • the walking mechanism is mainly composed of a crawler structure 4.1.
  • the crawler structure 4.1 includes a walking hydraulic motor 4.1.1, a driving wheel 4.1.2, a tensioning wheel 4.1.3, a load-bearing wheel 4.1.4, a hydraulic tensioning mechanism 4.1.5 and an alloy crawler track 4.1.6.
  • the front and rear walking mechanisms are connected to the front platform 1.1 and the rear platform 1.3 respectively through the front connecting structure 4.2 and the rear connecting structure 4.3.
  • the structures of the front connection structure 4.2 and the rear connection structure 4.3 are similar, both of which include a base and an adjustable support that can be adjusted and mounted on the base.
  • the base is provided with two-stage height adjustment holes.
  • the adjustable support is used to connect with the front platform 1.1 or the rear platform 1.3.
  • the base is connected to the crawler structure 4.1, and the adjustable support is fixed to the base through a pin. Switching the height adjustment holes can adjust the distance of the adjustable support and even the boat-shaped frame relative to the ground.
  • a hydraulic turntable 4.4 is also provided between the front connection structure 4.2 and the front platform 1.1, which can drive the front walking mechanism to steer under the action of hydraulic drive.
  • the head unit 100 also includes a collection mechanism 5 and a power system located on the front platform 1.1, and a head unit shield 10 is provided on the outside of the collection mechanism 5 and the power system for protection.
  • the tail unit 300 includes a control system located on the rear platform 1.3, and a tail unit shield 11 is provided on the outside of the control system.
  • the power system includes a vehicle-mounted gear pump 6.1, a pump motor 6.2, a radiator 6.3, an oil tank 6.4 and a hydraulic pipeline.
  • the pump motor 6.2 is driven by the power supply cable to drive the vehicle-mounted gear pump 6.1 to work.
  • the power system is used to provide hydraulic power to the central lifting and loading mechanism 2, the hydraulic support mechanism 3, the crawler structure 4.1, and the hydraulic turntable 4.4.
  • the collection mechanism 5 is mainly composed of a cable drum 5.1, a cable support frame 5.2, a drum hydraulic motor 5.3, a cable winding device junction box 5.4 and a transmission part, wherein the drum hydraulic motor 5.3 is rotated by the power system to retract and release the power supply cable, so that the length of the power supply cable is adapted to the vehicle's travel distance, thereby eliminating the manual dragging process.
  • the support frame 1.2 is a frame structure mainly composed of I-beams and channel steels. This structure not only meets the requirements of high strength and light weight, but also is not easy to accumulate coal. The coal dropped during the lifting and transfer of the unit support is not easy to accumulate on the support frame 1.2.
  • the control system in the tail unit 300 is a remote control system, as shown in Figure 11, mainly composed of a manual-automatic electro-hydraulic control valve group 7.1, a synchronous distribution valve group 7.2, a power starter switch 7.3, a control power box 7.4 and a remote controller 7.5. This control system can realize both manual operation and remote control operation by receiving remote control signals.
  • It can also be connected to the mine ring network through wireless communication, and can realize the video monitoring operation of the underground remote control warehouse and the remote control of the above-ground dispatching center.
  • the operator can indirectly or directly control the power system, the central lifting and loading mechanism 2, the hydraulic support mechanism 3, the crawler structure 4.1, the hydraulic turntable 4.4, and the collection mechanism 5 through the control system.
  • the process of lifting and transporting the unit support using the present invention is as follows: as shown in Figures 12-13, the remote controller controls the first-level horizontal telescopic arm 3.1 and the second-level horizontal telescopic arm 3.2 to extend outward through the remote control system, and the support legs on the hydraulic support mechanism extend downward to support the ground 14, and the variable-length jack 2.3 is controlled to extend/shorten, so that the lifting arm 2.1 tilts toward the unit support 13, and the lifting arm 2.1 is extended so that the top hoisting ring chain and the sling 2.4 hook the unit support 13, and then the variable-length jack 2.3 and the lifting arm 2.1 are operated to lift the unit support 13 to the support carrier 1.2 in the middle of the transport vehicle, and the hydraulic support mechanism is retracted, so that the transport vehicle can be moved through the crawler structure to realize the transport function.
  • a plurality of bubble levels 12 for calibrating the horizontality of the hydraulic support mechanism are provided on the head unit shield 10 and the tail unit shield 11.
  • the present invention has the following advantages:
  • the present invention uses a central lifting and loading mechanism to lift the unit bracket, which has a simple structure, low processing cost, easier maintenance and manufacturing, and good durability.
  • the lifting force point is located in the middle of the vehicle and no additional counterweight structure is required.
  • the central lifting and loading mechanism only needs to lift the unit bracket onto the ship-shaped frame during the process, and does not need to maintain a working state during the subsequent transportation process. Compared with the fork-loading mechanism on the existing forklift that always maintains the fork-lifting state, the equipment consumes less energy.
  • the hydraulic support mechanism is a vertical cantilever support structure, which increases the support span of the equipment bearing surface and the length of the support arm when in use, and has good support stability.
  • the hydraulic support mechanism can be retracted onto the ship-shaped frame, and the central lifting and loading mechanism can be retracted, which can reduce the width and height of the vehicle respectively, thereby improving drivability and safety.
  • the unit bracket handling equipment is powered by an internal combustion diesel engine, which provides kinetic energy through internal compression of diesel combustion.
  • the diesel engine is large in size, and it emits harmful gases during combustion and pollutes the fresh air flow underground, which affects the breathing and health of the workers on the working face.
  • the present invention uses a power supply cable to power the vehicle-mounted gear pump, and each mechanism (central lifting and loading mechanism, hydraulic support mechanism, collecting mechanism, and walking mechanism) is supplied with hydraulic oil by the vehicle-mounted gear pump for movement.
  • the equipment has good explosion-proof performance, is not only small in size and low in cost, but also has excellent environmental protection performance. It is powered by cables and does not produce any polluting gases, making it more suitable for use in high-gas mines.
  • Remote control is more intelligent and safer, reducing the personal safety risk of operators.

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  • Mechanical Engineering (AREA)
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Abstract

一种中置型单元支架搬运车，包括从前至后分别设置的头部单元、中间起吊承载单元、尾部单元，中间起吊承载单元包括船型车架和中置起吊装载机构、液压支撑机构，船型车架包括中间的支架承载架和前端平台、后端平台；中置起吊装载机构位于支架承载架的前后两端，包括两个起吊臂、四个变幅千斤顶、两个连接机构、位于起吊臂顶端的起吊结构，液压支撑机构布置在支架承载架的前后两端，包括四条横向伸缩臂和四个支撑腿，横向伸缩臂沿横向设置，支撑腿位于横向伸缩臂的外端、主要由竖向千斤顶构成，竖向千斤顶伸出时支撑腿支撑于地面。

Description

一种中置起吊型单元支架搬运车 技术领域
本发明涉及煤矿井下设备技术领域，更具体地说，它涉及一种中置起吊型单元支架搬运车。
 背景技术
单元液压支架(简称单元支架)因其结构简单可靠、体积小巧、重量轻、使用灵活等优点，特别适用于井下采煤工作面两巷进行超前支护，在全国各大煤矿企业得到了大面积推广使用，已经替代传统单体支柱成为一种更为高效安全的液压支架产品。单元支架的常规搬运方式主要为轨道平板车配合小绞车或者单轨吊两种方式，这两种方式能实现单元支架的基本搬运，但仍存在使用条件复杂、成本高、搬运效率低、耗费人力和时间较多、工作劳动强度大等缺点，并且平板车配置绞车搬运需要提前布置轨道，单轨吊搬运需顶板条件好、能悬挂单轨吊设备，适用条件要求较高，在煤矿井下使用时不够灵活，效率也较低下。
针对以上问题提出的问题，公开号为CN112390195B的中国发明专利文件公开了一种矿用叉装式单元支架搬运车，包括车架平台、安装在车架平台前端的支撑腿机构和安装在车架平台下方的履带式行走驱动机构，车架平台上由前至后依次安装有门架机构、驾驶室、动力箱和配重装置，门架机构上安装有叉装机构，门架机构与车架平台之间连接有能够控制门架机构前倾或后仰的变幅油缸，支撑腿机构与门架机构外侧连接有驱动支撑腿机构伸出触碰地面进行支撑的支腿油缸，以上矿用叉装式单元支架搬运车采用履带式行走驱动机构，可适应井下复杂路况，叉装机构搬运灵活、能力强、降低了职工劳动强度，但是仍存在以下问题需要克服：1、维修困难：叉装机构结构复杂，保养维修困难、成本高；2、搬运过程稳定性差、安全性不好：支撑腿机构仅在车架平台前端对地面进行支撑，稳定性不好，单元支架和叉装机构位于车架平台前端，车架平台后部需要设置大重量配重才能保证车身稳定；3、设备耗能大：搬运时叉装机构始终保持悬空做功状态，设备耗能多；4、通过性差：搬运单元支架时，前部叉装机构需要将单元支架抬起至一定高度，煤矿巷道较低时通过较为困难；5、尾气污染：该搬运车采用柴油内燃机作为动力来源，不可避免的存在尾气排放，污染井下新鲜风流，影响通风。
 发明内容
本发明的目的在于提出一种中置起吊型单元支架搬运车，能够解决现有技术中的矿用叉装式单元支架搬运车存在的维修困难、搬运过程中稳定性和通过性差、设备耗能大的技术问题。
本发明提供了如下技术方案：一种中置起吊型单元支架搬运车，包括从前至后分别设置的头部单元、中间起吊承载单元、尾部单元，中间起吊承载单元包括船型车架和设置在船型车架上的中置起吊装载机构、液压支撑机构，所述船型车架两端高中间低、包括中间的支架承载架和位于两端的前端平台与后端平台；中置起吊装载机构位于所述支架承载架的前后两端，包括两个起吊臂、四个变幅千斤顶、两个连接机构、位于起吊臂顶端的起吊结构，两起吊臂对称设置在支架承载架的前后两端，变幅千斤顶位于起吊臂的左右两侧，起吊臂内部设有用以伸缩的第一液压千斤顶，起吊臂、变幅千斤顶下端分别与支架承载架转动连接，起吊臂、变幅千斤顶上端分别与连接机构转动连接；所述液压支撑机构布置在所述支架承载架的前后两端，包括四条横向伸缩臂和四个支撑腿，横向伸缩臂沿横向设置、包括至少一级横向伸缩臂和用于控制横向伸缩臂伸缩的第二液压千斤顶，支撑腿位于横向伸缩臂的外端、主要由竖向千斤顶构成，竖向千斤顶伸出时支撑腿支撑于地面；
头部单元和尾部单元分别与前端平台、后端平台连接，头部单元和尾部单元上均设有行走机构，头部、尾部单元上设有用于为行走机构、液压支撑机构、中置起吊装载机构动作提供动力的动力系统和用于控制动力系统动作的控制系统。
有益效果：本中置起吊型单元支架搬运车使用时，驱动第二液压千斤顶使横向伸缩臂向外伸出，控制竖向千斤顶使液压支撑机构外侧支撑腿向下伸出支撑于地面，增大设备支撑强度与稳定性，通过控制变幅千斤顶伸缩调节起吊臂的倾斜角度、使其向单元支架一侧倾斜，控制起吊臂伸出并通过其顶端的起吊结构钩住单元支架，再次调节起吊臂倾斜角度、起吊臂伸缩长度将单元支架移至搬运车中间的支架承载架上；收回液压支撑机构，通过头部单元、尾部单元上的行走机构实现单元支架在巷道内的转运。综上可以发现，本发明中采用中置起吊装载机构实现对单元支架的起吊，避免繁复结构、加工成本低，更易于实现与维护、可靠耐用，该种起吊方式操作简单，施力点位于车辆中部，无需额外配重，吊起后单元支架被承托于船型车架上随车辆转运，中置起吊装载机构可维持不做功状态，耗能较少；相对于现有技术中的支撑腿机构，本发明中的液压支撑机构主要由横向伸缩臂和支撑腿组成垂直式悬臂支撑结构，支撑点位于车辆中间位置，支撑力和结构稳定性得到大大提升，横向伸缩臂使用时向外伸出，设备承载面支撑跨距大、支撑力臂长，车辆整体支撑强度大、稳定性好，行驶过程中液压支撑机构收回、中置起吊装载机构收缩，远离地面与巷道顶部，缩小设备外部尺寸，提高行驶通过性与安全性。
进一步的，所述行走机构主要由履带式结构构成，履带式结构包括行走液压马达、驱动轮、张紧轮、承重轮、液压张紧机构和合金履带，所述履带式结构分别通过前部连接结构、后部连接结构与前端平台、后端平台连接。
有益效果：履带式结构可适应煤矿井下各种复杂路况和恶劣工况，爬坡、过障能力强。
进一步的，所述前部连接结构与前端平台之间设有液压转盘，所述液压转盘用于受到动力系统驱动带动行走机构进行转向。
有益效果：将液压转盘与履带式结构相互配合，可实现原地转向、从而适应更小的转弯半径，提高设备通过性。
进一步的，前部连接结构和后部连接结构包括底座和安装在底座上的可调支座，底座与行走机构连接，可调支座与前端平台或后端平台连接，底座上设有至少两级通过销轴与可调支座连接的高度调节孔。
有益效果：底座上的高度调节孔可用于调节可调支座乃至船型车架相对地面的高度，通过销轴可实现车身的抬高/降低，保证整车载重稳定性，必要时调节船型车架离地间隙，使车辆具有更好的路况适应性与过障能力。
进一步的，动力系统包括车载齿轮泵、泵电机、油箱和液压管路，泵电机通过供电电缆与外部电源连接。
有益效果：该种液压动力系统与现有技术中单元支架搬运车使用的柴油内燃机动力总成相区别，体积小巧、成本低，无尾气排放污染，环保性能好，更适用于在高瓦斯矿井下使用，安全性好。
进一步的，所述头部单元还包括收缆机构，收揽机构主要由卷缆滚筒、滚筒液压马达和托缆架构成，用于受到所述动力系统驱动收放供电电缆。
有益效果：收揽机构能够在车身移动过程中对供电电缆自动收放，使供电电缆长度与车辆行驶距离相适配，省去人工拖拽步骤，节省人力物力。
进一步的，所述支架承载架为主要由工字钢和槽钢构成的框架结构。
有益效果：框架结构兼顾轻量化设计与整体结构强度，不易积煤，起吊单元支架过程中带上的浮煤可通过框架结构上空隙漏下。
进一步的，头部单元和尾部单元上设有多个气泡水平仪。
有益效果：气泡水平仪表可用于校准液压支撑机构支撑状态水平程度，保证液压支撑机构支撑稳定。
进一步的，所述支撑腿还包括位于竖向千斤顶底部的支撑靴板。
有益效果：增大支撑腿与地面接触、支撑面积，提高支撑牢固程度。
 附图说明
图1是本发明的一种中置起吊型单元支架搬运车的具体实施例1从侧面视角的结构示意图；
图2是本发明的一种中置起吊型单元支架搬运车的具体实施例1的立体结构示意图；
图3是本发明的一种中置起吊型单元支架搬运车的具体实施例1的于顶侧视角的结构示意图；
图4是本发明的一种中置起吊型单元支架搬运车的具体实施例1的中间起吊承载单元的结构示意图；
图5是图4中的中间起吊承载单元于前侧视角的结构示意图；
图6是本发明的一种中置起吊型单元支架搬运车的具体实施例1中头部单元的行走机构和前部连接结构的示意图；
图7是本发明的一种中置起吊型单元支架搬运车的具体实施例1中头部单元中行走机构和前部连接结构于另一视角的示意图；
图8是本发明的一种中置起吊型单元支架搬运车的具体实施例1中尾部单元中行走机构和后部连接结构的示意图；
图9是本发明的一种中置起吊型单元支架搬运车的具体实施例1中尾部单元中行走机构和后部连接结构于另一视角的示意图；
图10是本发明的一种中置起吊型单元支架搬运车的具体实施例1中收缆机构的结构示意图；
图11是本发明的一种中置起吊型单元支架搬运车的具体实施例1中控制系统的结构示意图；
图12是本发明的一种中置起吊型单元支架搬运车的具体实施例1工作状态的示意图；
图13是本发明的一种中置起吊型单元支架搬运车的具体实施例1工作状态于另一角度的示意图；
附图标记：100-头部单元；200-中间起吊承载单元；300-尾部单元；
1-船型车架；1.1-前端平台；1.2-支架承载架；1.3-后端平台；
2-中置起吊装载机构；2.1-起吊臂；2.2-连接机构；2.3-变幅千斤顶；2.4-吊装圆环链和吊具；
3-液压支撑机构；3.1-一级横向伸缩臂；3.2-二级横向伸缩臂；3.3-竖向千斤顶；3.4-支撑靴板；3.5-内臂；
4-行走机构；4.1-履带式结构；4.1.1-行走液压马达；4.1.2-驱动轮；4.1.3-张紧轮；4.1.4-承重轮；4.1.5-液压张紧机构；4.1.6-合金履带；4.2-前部连接结构；4.3-后部连接结构；4.4-液压转盘；
5-收缆机构；5.1-卷缆滚筒；5.2-托缆架；5.3-滚筒液压马达；5.4-卷缆装置接线箱；
6.1-车载齿轮泵；6.2-泵电机；6.3-散热器；6.4-油箱；
7.1-手自一体电液控制阀组；7.2-同步分配阀组；7.3-电源启动器开关；7.4-控制电源箱；7.5-遥控器；
8-声光一体灯；9-工作探照灯；10-头部单元护罩；11-尾部单元护罩；12-气泡水平仪；13-单元支架；14-地面。
 实施方式
下面结合附图对本发明进行详细描述。
本发明的一种中置起吊型单元支架搬运车的具体实施例1：
本中置起吊型单元支架搬运车的整体结构如图1-3所示，从前到后依次包括头部单元100、中间起吊承载单元200、尾部单元300，中间起吊承载单元200主要由船型车架1、中置起吊装载机构2和液压支撑机构3构成。船型车架1的具体结构见图4-5，整体呈“凹”型，两端高中间低，船型车架1包括中间用于托载单元支架13的支架承载架1.2以及位于两端的前端平台1.1、后端平台1.3。中置起吊装载机构2位于支架承载架1.2的前后两端，中置起吊装载机构2包括两个起吊臂2.1、两个连接机构2.2、四个变幅千斤顶2.3、位于起吊臂2.1顶端的起吊结构，本实施例中起吊结构为吊装圆环链和吊具2.4。两个起吊臂2.1对称设置在支架承载架1.2的前后两端，并且起吊臂2.1的左右两侧分别设有变幅千斤顶2.3，起吊臂2.1主要由底臂、竖向伸缩臂、第一液压千斤顶构成，第一液压千斤顶位于底臂与竖向伸缩臂之间、伸缩时对起吊臂2.1的整体长度进行调节。起吊臂2.1、变幅千斤顶2.3下端分别与支架承载架1.2转动连接，起吊臂2.1、变幅千斤顶2.3上端分别与连接机构2.2转动连接，通过控制各变幅千斤顶2.3伸缩使起吊臂2.1改变倾斜角度。
液压支撑机构3布置在支架承载架1.2的前后两端，紧贴起吊装载机构2设置，包括四条横向伸缩臂和四个支撑腿，其中横向伸缩臂可沿横向伸出，包括位于内侧的内臂3.5以及可沿内臂3.5逐级伸出的两级横向伸缩臂，两级横向伸缩臂分别为一级横向伸缩臂3.1、二级横向伸缩臂3.2，横向伸缩臂内部设有用于驱动两级横向伸缩臂依次伸出/收回的第二液压千斤顶。支撑腿位于二级横向伸缩臂3.2的外端，支撑腿包括竖向千斤顶3.3和位于竖向千斤顶3.3底部的支撑靴板3.4，液压支撑机构3使用时将横向伸缩臂向外伸出，并将支撑腿向下伸出、支撑靴板3.4支撑于地面。
头部单元100和尾部单元300分别与前端平台1.1、后端平台1.3连接，头部单元100和尾部单元300下侧均设置行走机构，如图6-9所示，本实施例中行走机构主要由履带式结构4.1构成，履带式结构4.1包括行走液压马达4.1.1、驱动轮4.1.2、张紧轮4.1.3、承重轮4.1.4、液压张紧机构4.1.5和合金履带4.1.6，前侧、后侧的行走机构分别通过前部连接结构4.2、后部连接结构4.3与前端平台1.1、后端平台1.3连接。前部连接结构4.2、后部连接结构4.3的结构相似，均包括底座和可调安装在底座上的可调支座，底座上设有两级高度调节孔，可调支座用于与前端平台1.1或后端平台1.3连接，底座与履带式结构4.1相接，通过销轴将可调支座固定在底座上，切换高度调节孔可调节可调支座乃至船型车架相对于地面的距离。为实现转向功能，如图6和图7所示，在前部连接结构4.2与前端平台1.1之间还设有液压转盘4.4，在液压驱动作用下可带动前端的行走机构进行转向。
头部单元100还包括位于前端平台1.1上的收揽机构5、动力系统，并在收揽机构5和动力系统的外侧设置起到保护作用的头部单元护罩10，尾部单元300包括位于后端平台1.3上的控制系统，在控制系统外侧设有尾部单元护罩11。如图10所示，动力系统包括车载齿轮泵6.1、泵电机6.2、散热器6.3、油箱6.4和液压管路，泵电机6.2受到供电电缆提供电能运转带动车载齿轮泵6.1工作，动力系统用于向中置起吊装载机构2、液压支撑机构3、履带式结构4.1、液压转盘4.4提供液压动力。收揽机构5主要由卷缆滚筒5.1、托缆架5.2、滚筒液压马达5.3、卷缆装置接线箱5.4和传动部分构成，其中滚筒液压马达5.3受到动力系统作用转动，以收放供电电缆，使供电电缆长度与车辆行驶距离相适配，省去人工拖拽工序。
本发明中，支架承载架1.2为主要由工字钢和槽钢构成的框架结构，该种结构不但兼具高强度与轻量化需求，还不易积煤，起吊、转运单元支架过程中掉落的煤不易在支架承载架1.2上积累。尾部单元300中的控制系统为遥控控制系统，如图11所示，主要由手自一体电液控制阀组7.1、同步分配阀组7.2、电源启动器开关7.3、控制电源箱7.4以及遥控器7.5构成，该种控制系统既能够实现手动操作又能够接受遥控器信号进行遥控操作，通过无线通讯还可以接入矿井环网，可实现井下远距离集控仓视频监控操作与井上调度中心远程控制，操作人员可通过控制系统间接或直接操控动力系统、中置起吊装载机构2、液压支撑机构3、履带式结构4.1、液压转盘4.4、收揽机构5动作。
使用本发明对单元支架进行起吊转运的过程如下：如图12-13所示，遥控器通过遥控控制系统控制一级横向伸缩臂3.1、二级横向伸缩臂3.2向外伸出，液压支撑机构上的支撑腿向下伸出支撑于地面14，控制变幅千斤顶2.3伸长/缩短，使起吊臂2.1向单元支架13倾斜，伸长起吊臂2.1使顶部的吊装圆环链和吊具2.4钩住单元支架13，之后再操作变幅千斤顶2.3和起吊臂2.1将单元支架13吊至搬运车中间的支架承载架1.2上，收回液压支撑机构，即可通过履带式结构实现搬运车的移动，实现转运功能。本实施例中，头部单元护罩10和尾部单元护罩11上设有多个用于校正液压支撑机构状态水平程度的气泡水平仪12。
综合以上过程，本发明具有以下优点：
1）本发明使用中置起吊装载机构吊起单元支架，结构简单，加工成本低，更易维护与制造，耐用性较好。
2）该种吊运方式起吊施力点位于车辆的中间位置，不需要额外配重结构。
3）中置起吊装载机构在过程中仅需将单元支架起吊至船型车架上，后续转运过程中可不必维持做功状态，相比现有技术叉车上的叉装机构始终保持叉起状态而言，设备耗能较少。
4）液压支撑机构为垂直式悬臂支撑结构，使用时增大设备承载面支撑跨度与支撑力臂长度，支撑稳定性好。
5）液压支撑机构使用完成可收回至船型车架上，中置吊起装载机构收回，分别减小车辆宽度尺寸与高度尺寸，因而提高行驶通过性与安全性。
6）由于现有技术中单元支架搬运设备动力提供方式为内燃柴油机，柴油机是通过内部压缩柴油燃烧提供动能，瓦斯突出矿井、高瓦斯矿井使用时具有一定风险，柴油机体积较大，燃烧排放有害气体、污染井下新鲜风流，对工作面工作人员呼吸、身体健康造成影响，并且价格也十分昂贵，搬运设备整体成本较高；本发明使用供电电缆给车载齿轮泵供电，各机构（中置起吊装载机构、液压支撑机构、收揽机构、行走机构）均由车载齿轮泵供给液压油运动，设备防爆性好，不但体积小巧、成本低，还具有优越的环保性能，通过电缆供能、不产生任何污染气体，更适用于在高瓦斯矿井下使用。
7）遥控操纵方式更为智能安全，降低操作人员人身安全风险。
以上仅是本发明的优选实施方式，本发明的保护范围并不仅局限于上述实施例，凡属于本发明思路下的技术方案均属于本发明的保护范围。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理前提下的若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (9)

  1.  一种中置起吊型单元支架搬运车，其特征是，包括从前至后分别设置的头部单元、中间起吊承载单元、尾部单元，中间起吊承载单元包括船型车架和设置在船型车架上的中置起吊装载机构、液压支撑机构，所述船型车架两端高中间低、包括中间的支架承载架和位于两端的前端平台与后端平台；中置起吊装载机构位于所述支架承载架的前后两端，包括两个起吊臂、四个变幅千斤顶、两个连接机构、位于起吊臂顶端的起吊结构，两起吊臂对称设置在支架承载架的前后两端，变幅千斤顶位于起吊臂的左右两侧，起吊臂内部设有用以伸缩的第一液压千斤顶，起吊臂、变幅千斤顶下端分别与支架承载架转动连接，起吊臂、变幅千斤顶上端分别与连接机构转动连接；所述液压支撑机构布置在所述支架承载架的前后两端，包括四条横向伸缩臂和四个支撑腿，横向伸缩臂沿横向设置、包括至少一级横向伸缩臂和用于控制横向伸缩臂伸缩的第二液压千斤顶，支撑腿位于横向伸缩臂的外端、主要由竖向千斤顶构成，竖向千斤顶伸出时支撑腿支撑于地面；
    头部单元和尾部单元分别与前端平台、后端平台连接，头部单元和尾部单元上均设有行走机构，头部、尾部单元上设有用于为行走机构、液压支撑机构、中置起吊装载机构动作提供动力的动力系统和用于控制动力系统动作的控制系统，所述控制系统为遥控控制系统，主要由手自一体电液控制阀组和遥控器构成。
  2.  如权利要求1所述的一种中置起吊型单元支架搬运车，其特征是，所述行走机构主要由履带式结构构成，履带式结构包括行走液压马达、驱动轮、张紧轮、承重轮、液压张紧机构和合金履带，所述履带式结构分别通过前部连接结构、后部连接结构与前端平台、后端平台连接。
  3.  如权利要求2所述的一种中置起吊型单元支架搬运车，其特征是，所述前部连接结构与前端平台之间设有液压转盘，所述液压转盘用于受到动力系统驱动带动行走机构进行转向。
  4.  如权利要求2或3所述的一种中置起吊型单元支架搬运车，其特征是，前部连接结构和后部连接结构包括底座和安装在底座上的可调支座，底座与行走机构连接，可调支座与前端平台或后端平台连接，底座上设有至少两级通过销轴与可调支座连接的高度调节孔。
  5.  如权利要求1或2或3所述的一种中置起吊型单元支架搬运车，其特征是，动力系统包括车载齿轮泵、泵电机、油箱和液压管路，泵电机通过供电电缆与外部电源连接。
  6.  如权利要求5所述的一种中置起吊型单元支架搬运车，其特征是，所述头部单元或尾部单元还包括收缆机构，收揽机构主要由卷缆滚筒、滚筒液压马达和托缆架构成，用于受到所述动力系统驱动收放供电电缆。
  7.  如权利要求1或2或3或6所述的一种中置起吊型单元支架搬运车，其特征是，所述支架承载架为主要由工字钢和槽钢构成的框架结构。
  8.  如权利要求1或2或3或6所述的一种中置起吊型单元支架搬运车，其特征是，头部单元和尾部单元上设有多个气泡水平仪。
  9.  如权利要求1或2或3或6所述的一种中置起吊型单元支架搬运车，其特征是，所述支撑腿还包括位于竖向千斤顶底部的支撑靴板。
PCT/CN2023/087773 2022-09-27 2023-04-12 一种中置起吊型单元支架搬运车 WO2024066291A1 (zh)

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