CN221051513U - Fork-mounted unit hydraulic support transfer robot - Google Patents

Abstract

The utility model relates to the technical field of coal mine equipment, in particular to a forklift-mounted unit hydraulic support carrying robot, which aims to solve the problems that an existing unit hydraulic support adopts a frame moving mode of a monorail crane, the stability of the support is poor in the frame moving process, potential safety hazards exist, and the working efficiency is low. According to the forklift unit hydraulic support carrying robot, forklift unit hydraulic supports of a working face lowering frame are forklift through forklift units, forklift carrying is carried on the supports on two sides through rotating a swinging cylinder, and repeated turning of the direction of a robot body is not needed; the support device has the advantages that the balance stability of the whole forklift in the forklift loading process is realized through the support device, the balance state of the support transfer robot is judged through the inclination sensor, the pose adjustment is realized through the primary balance oil cylinder, the secondary balance oil cylinder and the adapter, the intelligent transfer of the underground unit hydraulic support is realized, the repeated support damage to the top plate is effectively prevented, the stability of the support in the rack moving process is higher, the potential safety hazard is effectively avoided, and the working efficiency is improved.

Description

Fork-mounted unit hydraulic support transfer robot

Technical Field

The utility model relates to the technical field of coal mine equipment, in particular to a fork-mounted unit hydraulic support carrying robot.

Background

The unit hydraulic support explores a new way for the design and development of the advanced support of the fully-mechanized coal mining face roadway, and can effectively solve the problem that the traditional advanced hydraulic support repeatedly supports a broken top plate as a single independent unit. However, as the fully mechanized coal face advances, the unit hydraulic mount, which is located 120m away from the lead support, also needs to be advanced synchronously with the advance of the face.

The underground traditional frame moving mode adopts a monorail crane mode. The track is paved in advance in the process of moving the frame by adopting the monorail crane, so that the work variety is increased, the unit hydraulic support is required to be moved from the two sides of the roadway to the center of the roadway during the frame moving, and the unit hydraulic support is required to be moved from the center of the roadway to the two sides of the roadway after the frame moving, so that the underground work efficiency is lower; in addition, the single-rail crane is adopted to move the frame, so that the stability of the support is poor in the frame moving process, and certain potential safety hazards exist.

Disclosure of utility model

The utility model provides a fork-mounted unit hydraulic support carrying robot which aims at solving the problems that an existing unit hydraulic support adopts a frame moving mode of a monorail crane, the stability of the support is poor in the frame moving process, potential safety hazards exist, and the working efficiency is low.

In order to achieve the above purpose, the utility model provides a forklift unit hydraulic support transfer robot, which comprises a forklift device, a supporting device, a power device and a control device, wherein the forklift device comprises a door type lifting frame, the door type lifting frame is slidably mounted on two symmetrically arranged movable guide rails, the lower ends of the movable guide rails are fixedly mounted on telescopic rods of lifting cylinders, the lifting cylinders are fixedly mounted on a frame of the transfer robot, movable working arms are symmetrically mounted below the door type lifting frame, a first explosion-proof motor is fixedly mounted on the outer side of the door type lifting frame, and the first explosion-proof motor drives the door type lifting frame to slide along the two movable guide rails.

In the fork-mounted unit hydraulic support transfer robot, optionally, a rotary swing cylinder is installed between the gantry crane and the movable working arm, the rotary swing cylinder is installed on the gantry crane, and the movable working arm is installed on the swing rod of the rotary swing cylinder.

In the fork-mounted unit hydraulic support transfer robot, optionally, clamping cylinders are symmetrically and fixedly arranged on the frame, and clamping plates are fixedly arranged at the lower ends of telescopic rods of the clamping cylinders.

In the forklift unit hydraulic support transfer robot, optionally, a gear is fixedly installed on an output shaft of the first explosion-proof motor, a rack is fixedly installed on a side surface of the movable guide rail, which is close to the first explosion-proof motor, and the gear is matched with the rack.

In the forklift unit hydraulic support transfer robot, optionally, the supporting device includes hydraulic support legs, the number of the hydraulic support legs is four, and the four hydraulic support legs are all installed at the lower end of the frame.

In the fork-mounted unit hydraulic support transfer robot, optionally, the supporting device further comprises two inclination sensors, and the two inclination sensors are respectively installed at two ends of the frame.

In the fork-mounted unit hydraulic support transfer robot, optionally, the supporting device further comprises an adapter, the adapter is installed above the hydraulic heavy-load crawler, the upper portion of the adapter is hinged to the primary balance oil cylinder, the upper portion of the primary balance oil cylinder is hinged to the frame, one side of the adapter is hinged to the secondary balance oil cylinder, and one end, away from the adapter, of the secondary balance oil cylinder is hinged to the frame.

In the fork-mounted unit hydraulic support transfer robot, optionally, the supporting device further comprises a balance adjusting block, and the balance adjusting block is mounted at two ends of the frame.

In the fork-mounted unit hydraulic support transfer robot, optionally, the power device comprises a hydraulic pump station, a second explosion-proof motor, a cable drum, a hydraulic heavy-load crawler belt and a hydraulic oil tank, wherein the hydraulic pump station, the second explosion-proof motor and the hydraulic oil tank are arranged at one end of the frame, the cable drum is arranged at the other end of the frame, and the hydraulic heavy-load crawler belt is arranged at the lower end of the frame.

In the fork-type unit hydraulic support transfer robot, optionally, the control device comprises a control cabinet, and the control cabinet is matched with the main control system circuit, the power supply system circuit and the electrohydraulic control circuit.

The utility model provides a forklift unit hydraulic support transfer robot, which comprises a forklift device, a supporting device, a power device and a control device, wherein forklift unit hydraulic supports of a working face lowering frame are forklift by the forklift device, forklift transfer is carried on the supports on two sides by rotating a swinging cylinder, and the direction of a robot body does not need to be repeatedly turned; the support device has the advantages that the balance stability of the whole forklift in the forklift loading process is realized through the support device, the balance state of the support transfer robot is judged through the inclination sensor, the pose adjustment and the steering adjustment of the hydraulic heavy-load crawler belt are realized through the primary balance oil cylinder, the secondary balance oil cylinder and the conversion joint, the intelligent transfer of the hydraulic support of the underground unit is realized, the repeated support is effectively prevented from damaging the top plate, the unmanned or less unmanned operation of the underground work is pushed, the stability of the support in the support transfer process is higher compared with the support transfer mode of the monorail crane, the potential safety hazard is effectively avoided, and the working efficiency is improved.

The construction of the present utility model and other objects and advantages thereof will be more readily understood from the description of the preferred embodiment taken in conjunction with the accompanying drawings.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic side view structure of a handling robot for a fork-type unit hydraulic support according to an embodiment of the present utility model;

Fig. 2 is a schematic diagram of a first perspective structure of a handling robot for a hydraulic rack of a fork-mounted unit according to an embodiment of the present utility model;

Fig. 3 is a schematic diagram of a second perspective structure of a handling robot for a hydraulic rack of a fork-mounted unit according to an embodiment of the present utility model;

fig. 4 is a schematic third perspective view of a handling robot for a hydraulic rack of a fork-mounted unit according to an embodiment of the present utility model;

Fig. 5 is a schematic diagram of the overall structure of a handling robot for a fork-type unit hydraulic support according to an embodiment of the present utility model;

fig. 6 is a schematic diagram of a first side view structure of a handling robot for a fork-type unit hydraulic support according to an embodiment of the present utility model;

Fig. 7 is a schematic diagram of a partial structure of a handling robot for a fork-type unit hydraulic support according to an embodiment of the present utility model;

fig. 8 is a schematic view of hydraulic heavy-duty crawler steering of a fork-type unit hydraulic support transfer robot according to an embodiment of the present utility model;

fig. 9 is a schematic diagram of a second side view structure of a handling robot for a fork-type unit hydraulic support according to an embodiment of the present utility model;

Fig. 10 is a schematic diagram of a first carrying state of a carrying robot for a hydraulic support of a fork-type unit in a roadway according to an embodiment of the present utility model;

fig. 11 is a schematic diagram of a second carrying state of a carrying robot for a fork-type unit hydraulic support in a roadway according to an embodiment of the present utility model;

fig. 12 is a schematic diagram of a working process of a handling robot for a hydraulic support of a fork-type unit according to an embodiment of the present utility model.

Reference numerals illustrate:

1-a fork assembly device; 101-door type lifting frames; 102-moving the guide rail; 103-a first explosion-proof motor; 104-moving the working arm; 105-rotating tilt cylinder; 106, clamping an oil cylinder; 107-lifting oil cylinders; 2-supporting means; 201-hydraulic legs; 202-a primary balance oil cylinder; 203-balancing adjusting blocks; 204-a crossover joint; 205-a secondary balance cylinder; 206-an inclination sensor; 3-power means; 301-a hydraulic pump station; 302-a second explosion-proof motor; 303-cable drum; 304-a hydraulic heavy-duty crawler; 305-a hydraulic oil tank; 4-a control device; 5-unit hydraulic support.

Detailed Description

In order to make the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions in the preferred embodiments of the present utility model will be described in more detail with reference to the accompanying drawings in the preferred embodiments of the present utility model. In the drawings, the same or similar reference numerals refer to the same or similar components or components having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the utility model. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model. Embodiments of the present utility model will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1-4, the utility model provides a forklift unit hydraulic support transfer robot, which comprises a forklift device 1, a supporting device 2, a power device 3 and a control device 4, wherein the forklift device 1 comprises a door-type lifting frame 101, the door-type lifting frame 101 is slidably mounted on two symmetrically arranged movable guide rails 102, the lower ends of the movable guide rails 102 are fixedly mounted on telescopic rods of lifting cylinders 107, the lifting cylinders 107 are fixedly mounted on a frame of the transfer robot, movable working arms 104 are symmetrically mounted below the door-type lifting frame 101, a first explosion-proof motor 103 is fixedly mounted on the outer side of the door-type lifting frame 101, and the door-type lifting frame 101 is driven by the first explosion-proof motor 103 to slide along the two movable guide rails 102.

The gantry crane 101 is 2.5m high, the height requirement of the unit hydraulic support after the gantry crane is retracted is met, the gantry crane 101 is located in the center of the transfer robot, two movable guide rails 102 are located below the gantry crane 101 and support the gantry crane 101, 1 first explosion-proof motor 103 is symmetrically arranged left and right, the gantry crane 101 slides along the two movable guide rails 102 under the driving of the 2 first explosion-proof motors 103, meanwhile, the movable working arm 104 is driven to move along with the movable working arm to extend and retract the movable working arm 104, and the movable working arm 104 drives the supported unit hydraulic support 5 to move. The two movable guide rails 102 are symmetrically arranged to form a lifting effect on the door type lifting frame 101, and the working procedures of fork loading, lifting, loading, frame moving and the like of the unit hydraulic support are realized by adopting linkage control.

As shown in fig. 4, a rotary tilt cylinder 105 is mounted between the portal crane 101 and the movable arm 104, the rotary tilt cylinder 105 is mounted on the portal crane 101, and the movable arm 104 is mounted on the swing rod of the rotary tilt cylinder 105.

The rotary tilt cylinder 105 can rotate 180 degrees, namely the rotary tilt cylinder 105 can drive the movable working arm 104 to rotate 180 degrees, and the function of the hydraulic support of the fork-mounted unit on the left and right sides of the support transfer robot is met. The spiral tilt cylinder 105 is not contacted with the unit hydraulic support during operation, and only plays a role in converting the operation angle of the movable working arm 104, and the function can facilitate the support transfer robot to transfer one side support, and then transfer the other side support through rotating the angle of the movable working arm 104 without turning a headstock.

As shown in fig. 2-3, the clamping oil cylinders 106 are symmetrically and fixedly arranged on the frame, and clamping plates are fixedly arranged at the lower ends of telescopic rods of the clamping oil cylinders 106.

The whole machine bottom plate is designed into a concave shape, the portal lifting frame 101 is arranged at a higher place of the whole machine, the clamping oil cylinders 106 are arranged at two sides of the whole machine bottom plate, the clamping oil cylinders 106 are controlled to stretch and retract through a hydraulic system, and the bracket base is fixed through the clamping plate after the unit hydraulic bracket fork assembly is completed.

As shown in fig. 1-4, a gear is fixedly installed on an output shaft of the first explosion-proof motor 103, a rack is fixedly installed on a side surface of the movable guide rail 102, which is close to the first explosion-proof motor 103, and the gear is matched with the rack.

The 2 first explosion-proof motors 103 are symmetrically and fixedly arranged on the outer sides of the door type lifting frames 101, and the door type lifting frames 101 slide along the two moving guide rails 102 through the meshing of gears on the output shafts of the first explosion-proof motors 103 and racks on the moving guide rails 102.

As shown in fig. 5 to 7, the supporting device 2 includes hydraulic legs 201, the number of the hydraulic legs 201 is four, and the four hydraulic legs 201 are all installed at the lower end of the frame.

The hydraulic support legs 201 are arranged at the bottom end of the whole machine, the four hydraulic support legs are respectively and independently controlled, and the stabilizing effect of the robot fork-mounting unit hydraulic support is realized through the left hydraulic support leg 201 and the right hydraulic support leg 201. When the support carrying robot is in a transfer transportation state, the hydraulic support legs 201 are retracted, the width of the vehicle is 1.0m, and at the moment, the hydraulic support legs 201 do not play a supporting role and a balancing role; when the support transfer robot is in a fork loading transfer working state, in order to ensure the overall stability of the support transfer robot during fork loading, hydraulic support legs 201 at two ends of the support transfer robot are stretched and supported, the width of the whole vehicle is 2.6m, the length of the vehicle is 5.6m, and the roadway width supported by the unit hydraulic support is met. The length of the unit bracket transfer robot is 5.6m, the width of the operation vehicle is 1.0m, the width of the operation vehicle is 2.6m, and the width of the operation surface is within 1.0-3.0m, thereby meeting the actual requirements of work.

The four hydraulic support legs 201 of the whole vehicle play a supporting role when the unit hydraulic support is carried by the unit hydraulic support carrying robot in a fork-loading mode, and as one side of the unit hydraulic support is heavy in weight, the extending length of the hydraulic support 201 on the side, close to the unit hydraulic support, is higher than that of the hydraulic support 201 on the other side during fork-loading operation, the gravity center of the whole system is ensured to be located above the carrying robot, and then the unit hydraulic support carrying robot is ensured to keep a stable state when the unit hydraulic support is carried by the unit hydraulic support in a fork-loading mode.

As shown in fig. 5-6, the supporting device 2 further includes two tilt sensors 206, where the tilt sensors 206 are respectively installed at two ends of the frame.

The inclination angle sensors 206 are respectively installed at both ends of the rack transfer robot, and detect the balance state of the rack transfer robot in real time. The specification of the inclination sensor 206 is a GUD90 (B) mining intrinsic safety type inclination sensor, and when the device works normally, a signal lamp is normally on, and when the device stops, a red lamp is on.

As shown in fig. 5-8, the supporting device 2 further includes an adapter 204, the adapter 204 is mounted above the hydraulic heavy-duty crawler 304, the upper side of the adapter 204 is hinged with the primary balance cylinder 202, the upper side of the primary balance cylinder 202 is hinged with the frame, one side of the adapter 204 is hinged with the secondary balance cylinder 205, and one end of the secondary balance cylinder 205 away from the adapter 204 is hinged with the frame.

The primary balance oil cylinder 202, the secondary balance oil cylinder 205 and the adapter 204 together ensure the whole vehicle balance of the unit hydraulic support transfer robot in a motion state. The adapter 204 is arranged above the hydraulic heavy-duty crawler 304, one end of the adapter 204 is hinged with the primary balance cylinder 202, the other end is hinged with the secondary balance cylinder 205, and the balanced motion state of the hydraulic heavy-duty crawler 304 and the steering adjustment of the hydraulic heavy-duty crawler are met through the adjustment state of the two-stage balance cylinder; when the inclination sensor 206 judges the balance state of the support transfer robot, the first-stage balance cylinder 202 is controlled to stretch and retract through the hydraulic control system after output processing, and the hydraulic track pose of the robot in the vertical direction is adjusted; the left and right pose adjustment of the robot hydraulic crawler in the horizontal direction is realized by controlling the secondary balance cylinder 205.

As shown in fig. 5 to 6, the supporting device 2 further includes a balance adjusting block 203, and the balance adjusting block 203 is installed at both ends of the frame.

The balance adjusting block 203 is installed at the end of the support transfer robot, so that the movement balance is kept in the operation process of the support transfer robot, the mining explosion-proof gyroscope is arranged in the balance adjusting block 203, the horizontal direction of the robot is mainly judged, the operation condition of the hydraulic heavy-load crawler 304 is matched, when the transfer robot walks to the uneven ground, the gyroscope outputs a corresponding inclination angle, the inclination states of the four hydraulic heavy-load crawler 304 of the transfer robot are judged through the control system, and therefore the correct adjustment mode is judged.

As shown in fig. 9, the power unit 3 includes a hydraulic pump station 301, a second explosion-proof motor 302, a cable drum 303, a hydraulic heavy-duty crawler 304 and a hydraulic oil tank 305, wherein the hydraulic pump station 301, the second explosion-proof motor 302 and the hydraulic oil tank 305 are installed at one end of the frame, the cable drum 303 is installed at the other end of the frame, and the hydraulic heavy-duty crawler 304 is installed at the lower end of the frame.

The hydraulic heavy-load crawler 304 is arranged at the bottom end of the whole machine bottom plate of the unit hydraulic support transfer robot and is responsible for the running of the whole vehicle, and the speed of the hydraulic heavy-load crawler 304 is more than or equal to 1.5km/h; the cable drum 303 is arranged at one end of the unit hydraulic support transfer robot, and is loaded with enough cables to provide power for the whole vehicle, and the cable drum 303 can normally work under the condition that the working voltage is 660V and 1140V, so that the underground voltage requirement of the whole vehicle of the support transfer robot is met; the second explosion-proof motor 302, the hydraulic oil tank 305 and the hydraulic pump station 301 are arranged at the other end of the unit hydraulic support transfer robot, the explosion-proof motor 302 uses an alternating current motor, the explosion-proof motor 302 provides power through the cable drum 303, the emulsion pump station 301 is driven to extract hydraulic oil in the hydraulic oil tank 305, and power is provided for hydraulic elements of the whole transfer robot.

As shown in fig. 1-11, the control device 4 comprises a control cabinet, and the control cabinet is matched with a main control system circuit, a power supply system circuit and an electrohydraulic control circuit.

One side of the control cabinet is provided with electro-hydraulic proportional valves, each valve is respectively connected with the controller, a valve handle is arranged, and the hydraulic flow pumped into each hydraulic element is changed by adjusting the valve handle.

As shown in fig. 12, in the carrying process, firstly, a fork-mounted unit hydraulic support carrying robot enters a unit hydraulic support group supporting roadway, and runs to a position where a unit hydraulic support to be carried is stopped (as shown in fig. 12 (a)), then, hydraulic support legs 201 on two sides of the support carrying robot extend out, support is grounded (as shown in fig. 12 (b)), the unit hydraulic support is retracted, a door-mounted unit hydraulic support 101 is driven by 2 first explosion-proof motors 103 to slide along two moving guide rails 102 to approach the unit hydraulic support, the door-mounted unit hydraulic support 101 drives a movable working arm 104 to extend out, the movable working arm 104 is inserted into the lower end of a top plate of the unit hydraulic support (as shown in fig. 12 (c)), meanwhile, hydraulic support legs 201 on one side close to the unit hydraulic support are lifted up to ensure balance of the whole vehicle during support carrying, then, a lifting cylinder 107 is lifted to drive the unit hydraulic support to lift and leave the ground, and then, 2 first explosion-proof motors 103 drive the door-mounted unit hydraulic support 101 to reversely slide along the two moving guide rails 102 to return to position, and simultaneously, the fork-mounted unit hydraulic support is driven by 2 first explosion-proof motors 103 to slide along the two moving guide rails 102 to approach the unit hydraulic support, the movable working arm 104 to extend, so that the movable working arm 104 is inserted into the lower end of the unit hydraulic support (as shown in fig. 12 (d), the hydraulic support 106 is clamped by the hydraulic support 106, and finally, the hydraulic support 106 is clamped by the hydraulic support is pulled by the hydraulic support machine, and the hydraulic support 106 to be clamped by the hydraulic support machine, and the hydraulic support machine when clamping machine is clamped by the hydraulic support machine).

After the carrying unit hydraulic support moves to a destination, parking is carried out, the hydraulic support legs 201 are supported again, the hydraulic support legs 201 on one side of the unit hydraulic support are required to be placed to rise, meanwhile, the clamping oil cylinders 106 are retracted, the clamping plates do not clamp the unit hydraulic support base any more, the door type lifting frame 101 is driven to slide along the two moving guide rails 102 through the first explosion-proof motor 103, the door type lifting frame 101 drives the moving working arm 104 and the unit hydraulic support to move, the unit hydraulic support is separated from the carrying robot, then the lifting oil cylinders 107 are lowered to drive the unit hydraulic support to fall to the ground, the door type lifting frame 101 is driven to slide reversely along the two moving guide rails 102 through the 2 first explosion-proof motors 103, the moving working arm 104 is pulled out from the lower end of the top plate of the unit hydraulic support, then the door type lifting frame 101 is driven to return by the 2 first explosion-proof motors 103, and the four hydraulic support legs 201 are retracted, and carrying is completed. In addition, due to the existence of the rotary tilt cylinder 105, the movable working arm 104 can be rotated 180 degrees through the action of the rotary tilt cylinder 105, and the first explosion-proof motor 103 reversely rotates to drive the door type lifting frame 101 to reversely slide along the two movable guide rails 102, so that the bracket carrying robot does not need to turn the machine body and can also carry out fork assembly of the hydraulic bracket of the unit at the other side. The intelligent carrying of the underground unit hydraulic support is realized in a unit hydraulic support carrying robot carrying mode, repeated supporting and damage to the top plate are prevented, and unmanned or less-unmanned operation of underground work is promoted.

The utility model provides a forklift unit hydraulic support transfer robot, which comprises a forklift device 1, a supporting device 2, a power device 3 and a control device 4, wherein the forklift device 1 is used for forklift unit hydraulic supports 5 of a working face lowering frame, and the forklift unit transfer robot is used for forklift unit transfer of two side supports through a rotary tilt cylinder 105 without repeatedly turning the direction of a robot body; the support device 2 is used for realizing balance stability of the whole forklift in the forklift loading process, the inclination sensor 206 is used for judging the balance state of the support transfer robot, the primary balance oil cylinder 202, the secondary balance oil cylinder 205 and the adapter 204 are used for realizing pose adjustment and hydraulic heavy-load crawler steering adjustment, intelligent transportation of the hydraulic support of the underground unit is realized, the repeated support is effectively prevented from damaging a top plate, unmanned or less unmanned operation of underground work is pushed, and compared with a frame moving mode of a monorail crane, the stability of the support in the frame moving process is higher, potential safety hazards are effectively avoided, and the working efficiency is improved.

The fork-mounted unit hydraulic support transfer robot adopts a structure and components which are specially designed, adopts a hydraulic technology, combines a plurality of fields of machinery, engineering, control and the like, and has the characteristics of high efficiency, safety and reliability. Firstly, the whole vehicle structural design relates to mechanical engineering, including mechanical structural design, mechanical principle, material mechanics and other aspects. Through reasonable structural design, ensure that transfer robot's intensity and rigidity satisfy the operational requirement and can adapt to complicated underground environment. And secondly, the hydraulic system realizes force amplification and transmission through fluid transmission, so that the transfer robot can bear larger load and perform accurate action control, and the system design needs to consider factors such as pipeline layout, valve selection, matching of an oil pump and an oil cylinder and the like so as to ensure the stable and reliable operation of the whole system. In addition, the control system is used as an indispensable part of the transfer robot, the precise control of each function of the transfer robot is realized through the electric control system, and the comprehensive kinematics and control theory ensure that the transfer robot can safely and efficiently complete each task. The whole vehicle control system adopts a self-developed controller, has accurate signal acquisition and rapid transmission, and is suitable for underground 5G signal base stations.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.

Claims (10)

1. The utility model provides a fork-mounted unit hydraulic support transfer robot, its characterized in that, includes fork mounting device, strutting arrangement, power device and controlling means, fork mounting device includes door crane, door crane slidable mounting is on two movable guide rails of symmetry setting, movable guide rail's lower extreme fixed mounting is on lift cylinder's telescopic link, lift cylinder fixed mounting is in transfer robot's frame, the below symmetry installation of door crane removes the operation arm, the outside fixed mounting of door crane is first explosion-proof motor, first explosion-proof motor drives door crane slides along two movable guide rails.

2. The fork-lift unit hydraulic support transfer robot of claim 1 wherein a rotary tilt cylinder is mounted between the gantry crane and the mobile work arm, the rotary tilt cylinder being mounted on the gantry crane, the mobile work arm being mounted on a swing bar of the rotary tilt cylinder.

3. The forklift unit hydraulic support transfer robot of claim 2, wherein clamping cylinders are symmetrically and fixedly arranged on the frame, and clamping plates are fixedly arranged at the lower ends of telescopic rods of the clamping cylinders.

4. The forklift unit hydraulic support transfer robot of claim 3, wherein a gear is fixedly mounted on an output shaft of the first explosion-proof motor, a rack is fixedly mounted on a side surface of the movable guide rail, which is close to the first explosion-proof motor, and the gear is matched with the rack.

5. The fork-lift unit hydraulic prop transfer robot of any one of claims 1-4 wherein the support means comprises four hydraulic legs, each of the four hydraulic legs being mounted to the lower end of the frame.

6. The forklift unit hydraulic mount transfer robot of claim 5, wherein said support means further comprises two tilt sensors, said tilt sensors being mounted at opposite ends of the frame.

7. The fork-lift unit hydraulic support transfer robot of claim 6, wherein the support device further comprises an adapter, the adapter is mounted above the hydraulic heavy-duty track, the top of the adapter is hinged to a primary balance cylinder, the top of the primary balance cylinder is hinged to the frame, one side of the adapter is hinged to a secondary balance cylinder, and one end of the secondary balance cylinder away from the adapter is hinged to the frame.

8. The fork-lift unit hydraulic prop transfer robot of claim 7 wherein the support means further comprises a counterbalance block mounted at each end of the frame.

9. The forklift unit hydraulic mount transfer robot of claim 1, wherein the power unit comprises a hydraulic pump station, a second explosion-proof motor, a cable drum, a hydraulic heavy-duty crawler and a hydraulic oil tank, wherein the hydraulic pump station, the second explosion-proof motor and the hydraulic oil tank are mounted at one end of the frame, the cable drum is mounted at the other end of the frame, and the hydraulic heavy-duty crawler is mounted at the lower end of the frame.

10. The fork-lift unit hydraulic support transfer robot of claim 1, wherein the control device comprises a control cabinet that cooperates with the main control system circuit, the power supply system circuit, and the electro-hydraulic control circuit.