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CN114087004A - Temporary support carrying device for realizing parallel digging and branch operation and working method - Google Patents

Temporary support carrying device for realizing parallel digging and branch operation and working method Download PDF

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Publication number
CN114087004A
CN114087004A CN202111362758.6A CN202111362758A CN114087004A CN 114087004 A CN114087004 A CN 114087004A CN 202111362758 A CN202111362758 A CN 202111362758A CN 114087004 A CN114087004 A CN 114087004A
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China
Prior art keywords
manipulator
horizontal
vertical
oil cylinder
cylinder
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Granted
Application number
CN202111362758.6A
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Chinese (zh)
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CN114087004B (en
Inventor
赵继云
孔庆华
张忠海
曹超
曹强
马利军
王浩
赵士杰
张亚坤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xuzhou Zhongkuang Changan Technology Co ltd
China University of Mining and Technology Beijing CUMTB
Xuzhou XCMG Foundation Construction Machinery Co Ltd
Original Assignee
Xuzhou Zhongkuang Changan Technology Co ltd
China University of Mining and Technology Beijing CUMTB
Xuzhou XCMG Foundation Construction Machinery Co Ltd
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Publication of CN114087004A publication Critical patent/CN114087004A/en
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Publication of CN114087004B publication Critical patent/CN114087004B/en
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/0004—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor along the working face
    • E21D23/0013—Frame type supports
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/0052—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor with advancing shifting devices connected therewith
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/0086—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor in galleries
    • E21D23/0095—Temporary supports at the driving front
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/04—Structural features of the supporting construction, e.g. linking members between adjacent frames or sets of props; Means for counteracting lateral sliding on inclined floor
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/04—Structural features of the supporting construction, e.g. linking members between adjacent frames or sets of props; Means for counteracting lateral sliding on inclined floor
    • E21D23/06—Special mine caps or special tops of pit-props for permitting step-by-step movement
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/08—Advancing mechanisms
    • E21D23/081—Advancing mechanisms forming parts of the roof supports
    • E21D23/085—Advancing mechanisms forming parts of the roof supports acting on a conveyor or a guide for the mining machine
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/12—Control, e.g. using remote control
    • E21D23/14—Effecting automatic sequential movement of supports, e.g. one behind the other
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
    • E21D23/18—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices of advancing mechanisms
    • E21D23/20—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices of advancing mechanisms for sequential movement, e.g. one behind the other
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Environmental & Geological Engineering (AREA)
  • Manipulator (AREA)

Abstract

本发明公开一种实现掘支平行作业的临时支架搬运装置及工作方法，适用于矿山支护装备领域。包括设置在掘进机顶部的搬运装置，以及与搬运装置匹配有多个临时支护支架，临时支护支架成组布置在掘进机当前工作位的上方支撑掘进巷道顶板，搬运装置包括对称布置的两条搬运移动部，两条搬运移动部上分别设有抓取机构，抓取机构在搬运移动部上前后移动，随着掘进机的掘进作业循环抓取后方的临时支护支架搬运至掘进机前方新掘进出的空间用以支护；所述临时支护支架为折叠伸缩结构。其整体结构简单、工作效率高、搬运装置位于掘进机上可以随掘进机一起移动，能够实现快速移架。

Figure 202111362758

The invention discloses a temporary support handling device and a working method for realizing parallel operation of excavation branches, which are suitable for the field of mine support equipment. It includes a handling device arranged on the top of the roadheader, and a plurality of temporary support brackets matched with the handling device. The temporary support brackets are arranged in groups above the current working position of the roadheader to support the roof of the roadway. The handling device includes two symmetrically arranged. The two conveying moving parts are respectively provided with grabbing mechanisms. The grabbing mechanisms move back and forth on the conveying moving parts, and the temporary support brackets at the rear are grabbed and transported to the front of the roadheader along with the excavation operation cycle of the roadheader. The newly excavated space is used for support; the temporary support bracket is a foldable telescopic structure. The overall structure is simple, the work efficiency is high, and the handling device is located on the roadheader and can move together with the roadheader, thereby realizing rapid frame shifting.

Figure 202111362758

Description

Temporary support carrying device for realizing digging and branch parallel operation and working method
Technical Field
The invention relates to a temporary support carrying device and a working method thereof, in particular to a temporary support carrying device and a working method thereof for realizing parallel digging and support operation, which are suitable for the field of mine support equipment.
Background
Tunneling and stoping are two important links of coal mining, and the tunneling technology and the equipment level thereof are directly related to the capacity and safety of coal production. The high-efficiency mechanized excavation and support technology is a necessary condition for ensuring high yield and high efficiency of mines and is a development direction of the roadway excavation technology.
The roadway driving working face in China has no temporary supporting equipment for a long time, most of underground driving technological processes are that the driving machine is stopped after cutting for one time, the driving machine is withdrawn, and workers carry equipment such as an anchor net, an anchor rod, an anchor net and an anchor rod drilling machine to enter the front end to carry out a permanent supporting process. The process not only wastes time and is low in efficiency, but also seriously threatens the personal safety of workers due to long-time overhead operation of the workers. In order to solve the problems of short total working time and low starting rate of a heading machine and avoid long-time empty-top operation of mine workers in the heading process, a roadway is divided into a permanent supporting area and a temporary supporting area. A temporary supporting area is arranged above the tunneling machine, and a permanent supporting area is arranged behind the tunneling machine. When the cutting roadway of the heading machine moves for a certain distance, the temporary support bracket moves along with the heading machine, and the temporary support area behind the heading machine becomes a permanent support area, so that the parallel operation of heading and support is realized, the working efficiency is improved, and the safety of coal miners is ensured.
At present, the process and equipment for permanent support have become mature, the problems of complex structure, repeated support damage to surrounding rocks of a roadway and the like of the temporary support bracket are successfully solved by the top beam self-telescopic roadway hydraulic temporary support bracket (CN103758522A), but the problems of high labor intensity of workers, complex bracket moving action, long bracket moving time, low efficiency and the like of the top beam self-telescopic roadway hydraulic temporary support bracket in carrying still exist. Therefore, a temporary support bracket conveying device which requires few workers, has a simple structure and short bracket moving time and can realize automatic bracket moving is urgently needed.
Disclosure of Invention
Aiming at the defects of the prior art, the temporary support carrying device and the working method for realizing tunneling and support parallel operation are provided, the temporary support carrying device is carried along with synchronous circulation of the tunneling machine, has a simple structure and is convenient to use, and can be directly refitted and used on the existing tunneling machine.
In order to achieve the purpose, the temporary support carrying device for realizing tunneling parallel operation comprises a carrying device arranged at the top of a tunneling machine and a plurality of temporary support supports matched with the carrying device, wherein the temporary support supports are arranged above the current working position of the tunneling machine in groups to support a tunneling roadway top plate and provide a safe tunneling operation space for the tunneling machine; the temporary support is of a folding telescopic structure, so that the size is reduced by folding when the temporary support is required to be carried, and the temporary support is folded and unfolded to support the top plate after being carried to a preset position.
Further, temporary support includes the back timber, reverse first horizontal cylinder and the second horizontal cylinder of being equipped with in the back timber, first horizontal cylinder is connected with the first perpendicular hydro-cylinder as flexible stand through first slide, the second horizontal cylinder is connected with the second perpendicular hydro-cylinder as flexible stand through the second slide, wherein first slide outer side chain has the first group board that protects of wing, first group board that protects is through setting up the first group board hydro-cylinder that protects of both sides and third group board hydro-cylinder folding that opens and shuts, the second slide outer side chain has the second of wing to protect group board, the second protects group board through setting up the second group board hydro-cylinder and the fourth group board hydro-cylinder that protects of both sides folding that opens and shuts.
Further, the carrying moving part comprises a track part and a moving part, wherein the track part comprises a carrying seat and a pin gear support frame, a pushing oil cylinder and a pin gear support seat are horizontally arranged on the carrying seat, one end of the pushing oil cylinder is connected with the end of the carrying seat, the other end of the pushing oil cylinder is connected with the pin gear support seat, the carrying seat is pushed or pulled back by stretching of the pushing oil cylinder, the pin gear is fixed on the pin gear support seat through a check ring, the moving part is arranged on the pin gear, the moving part comprises the pin gear support frame, pin gears which are matched with the pin gear and move in a track mode are arranged in the pin gear support frame through bearings and pin gear shafts, the pin gear shafts are connected with a hydraulic motor, and the hydraulic motor is arranged on a motor support seat outside the pin gear support frame.
Furthermore, the carrying seat is connected with the bottom of the pin row supporting seat through a sliding rail, the sliding rail comprises a left sliding shoe and a right sliding shoe which are arranged on two sides below the pin row supporting seat, and sliding cover plates for buckling the left sliding shoe and the right sliding shoe are respectively arranged on two sides of the carrying seat, so that the pin row supporting seat with the left sliding shoe and the right sliding shoe can move back and forth in the sliding rail above the carrying seat without derailing.
Furthermore, snatch the mechanism and be the manipulator, it includes the manipulator mount pad, install on two round pin tooth support frames of two sets of transport moving parts, wherein control on the manipulator mount pad and be equipped with first horizontal manipulator and second horizontal manipulator respectively, the manipulator mount pad upwards still is equipped with perpendicular manipulator, wherein first horizontal manipulator and second horizontal manipulator are connected with the manipulator mount pad through first horizontal manipulator support cylinder and second horizontal manipulator support cylinder respectively, perpendicular manipulator passes through perpendicular manipulator support cylinder and is connected with the manipulator mount pad.
Further, the first horizontal manipulator comprises a first horizontal manipulator fixing part, a first horizontal manipulator sliding part, a first horizontal manipulator oil cylinder, a first horizontal manipulator piston, a first horizontal manipulator pushing oil cylinder and a first horizontal manipulator sleeve; the first horizontal manipulator piston is arranged in a first horizontal manipulator sleeve through a horizontal manipulator pushing oil cylinder, the end part of the first horizontal manipulator sleeve is connected with the manipulator mounting seat, and the first horizontal manipulator piston end is respectively connected with the first horizontal manipulator sliding part and the first horizontal manipulator fixing part through the first horizontal manipulator oil cylinder to form a clamping mechanism at the front end part;
the second horizontal manipulator comprises a second horizontal manipulator fixing part, a second horizontal manipulator sliding part, a second horizontal manipulator oil cylinder, a second horizontal manipulator piston, a second horizontal manipulator pushing oil cylinder and a second horizontal manipulator sleeve; a second horizontal manipulator piston is arranged in a second horizontal manipulator sleeve through a second horizontal manipulator oil cylinder, the end part of the second horizontal manipulator sleeve is connected with the manipulator mounting seat, and the second horizontal manipulator piston end is respectively connected with a second horizontal manipulator fixing part and a second horizontal manipulator sliding part through the second horizontal manipulator oil cylinder to form a clamping mechanism at the front end part;
further, the vertical manipulator comprises a vertical manipulator fixing part, a vertical manipulator sliding part, a vertical manipulator oil cylinder, a vertical manipulator piston, a vertical manipulator pushing oil cylinder and a vertical manipulator sleeve; the vertical manipulator piston is arranged in the vertical manipulator sleeve through a vertical manipulator pushing oil cylinder, the end part of the vertical manipulator sleeve is connected with the top of the manipulator mounting seat, and the end part of the vertical manipulator piston is connected with the vertical manipulator fixing part and the vertical manipulator sliding part through the vertical manipulator oil cylinder respectively to form a clamping mechanism at the front end part.
Furthermore, the first horizontal manipulator support oil cylinder is connected with the first horizontal oil cylinder sleeve through one end of a pin shaft, and the manipulator mounting base at the other end of the pin shaft plays a supporting role; the second horizontal manipulator supporting oil cylinder is connected with the second horizontal oil cylinder sleeve through one end of a pin shaft, and the manipulator mounting base at the other end of the pin shaft plays a supporting role; the vertical manipulator supporting oil cylinder is connected with the vertical oil cylinder sleeve through one end of a pin shaft, and the manipulator mounting base at the other end of the vertical manipulator supporting oil cylinder is connected with the vertical oil cylinder sleeve; and a hydraulic motor for driving the first horizontal manipulator supporting oil cylinder, the vertical manipulator supporting oil cylinder and the second horizontal manipulator supporting oil cylinder is arranged in the manipulator mounting seat.
A working method of a temporary support carrying device for realizing digging and branch parallel operation comprises the following steps:
the method comprises the following steps: in an initial state, all temporary support brackets are in a supporting state, an anchor net is paved on a top plate above the temporary support brackets, and the tunneling machine is completely covered below the temporary support brackets; when the heading machine is about to finish one step operation, firstly retracting a first side-protecting plate oil cylinder, a third side-protecting plate oil cylinder, a second side-protecting plate oil cylinder and a fourth side-protecting plate oil cylinder of a temporary support frame positioned at the tail part of the heading machine to enable the first side-protecting plate and the second side-protecting plate to rotate towards the center side of the temporary support frame; then the manipulator moves on the carrying moving part until the manipulator is below a temporary support bracket at the tail part, a vertical manipulator oil cylinder of the manipulator extends out to enable a sliding part of the vertical manipulator to move relative to a fixed part of the vertical manipulator to realize the opening of the vertical manipulator, then a first vertical oil cylinder and a second vertical oil cylinder of the temporary support bracket are controlled to be retracted to enable a top beam to be separated from a top plate of a roadway, the top beam is received by the opened vertical manipulator, the vertical manipulator oil cylinder is retracted to enable the vertical manipulator to tightly grasp the top beam, the vertical manipulator pushes an oil cylinder to extend out to enable the vertical manipulator to drive the temporary support bracket to move upwards, and the temporary support bracket is separated from the ground; then, the first horizontal oil cylinder and the second horizontal oil cylinder are retracted, so that the first sliding plate and the second sliding plate slide and contract towards the center side of the temporary support bracket to finish the contraction and folding of the temporary support bracket; then the first horizontal manipulator and the second horizontal manipulator are controlled to extend out to two sides to respectively grasp the first vertical oil cylinder and the second vertical oil cylinder through the clamping devices at the end parts, so that the temporary support bracket is fixed by the three manipulators; then starting a hydraulic motor positioned in the manipulator mounting seat to rotate to drive the manipulator mounting seat to rotate for a certain angle and enabling the temporary support bracket after being contracted and folded to rotate for the same angle; finally, after grabbing the temporary support bracket by a robot hand, driving the pin teeth to move to the front end of the heading machine on the pin row by using the rotation of the hydraulic motor, and when the pin tooth support frame slides to the foremost end of the pin row support seat, controlling a piston rod of the pushing oil cylinder to extend out to push the pin row support seat to slide forwards in the carrying seat so that the temporary support bracket reaches the expected designated position of the front end of the heading machine;
step two: after the movable temporary support bracket reaches a preset designated position, controlling a hydraulic motor in the manipulator mounting seat to rotate to drive the manipulator mounting seat to rotate anticlockwise so that the folded temporary support bracket is restored to be parallel to the section of the roadway; a first horizontal manipulator and a second horizontal manipulator of the robot release the first vertical oil cylinder and the second vertical oil cylinder, and then the first horizontal oil cylinder and the second horizontal oil cylinder are controlled to extend out, so that the first sliding plate and the second sliding plate slide and unfold towards two sides; the first vertical oil cylinder and the second vertical oil cylinder extend and are grounded, the vertical manipulator loosens the top beam, and the first vertical oil cylinder and the second vertical oil cylinder continuously extend out to enable the top beam to support the top plate of the roadway; the first side protection plate oil cylinder, the third side protection plate oil cylinder, the second side protection plate oil cylinder and the fourth side protection plate oil cylinder extend out, so that the first side protection plate and the second side protection plate rotate to the side far away from the center of the temporary support bracket and support the side face of the roadway, and the temporary support bracket is conveyed;
step three: withdrawing the vertical manipulator supporting oil cylinder to enable the vertical manipulator to rotate to be in a horizontal direction with the heading machine, then completely withdrawing the pushing oil cylinder to enable the pin tooth supporting seat to be withdrawn, starting a hydraulic motor to drive the pin tooth to rotate on the pin row, enabling the manipulator to be located right below the last temporary supporting bracket at the tail of the heading machine, and finally extending the vertical manipulator supporting oil cylinder to enable the vertical manipulator to rotate to the vertical direction;
step four: and circularly repeating the first step to the third step, wherein a permanent supporting space formed by a plurality of temporary supporting brackets is always formed on the outer side of the tunneling machine along with the propulsion of the tunneling machine until the tunneling and supporting work of the roadway is finished.
The effective effect is as follows: 1. the carrying device is arranged on the heading machine, can move forwards along with the heading machine and is convenient for determining the moving distance of the support by taking the heading machine as a reference; 2. the carrying and moving part adopts a two-stage structure, and a hydraulic cylinder is used for pushing the pin row supporting seat to move along the heading machine, so that the problem that the track cannot be too long to move the temporary supporting bracket to the front side of the heading machine, namely the normal work of the heading machine is influenced by the too long track is solved; 3. the carrying and moving part adopts a pin tooth pin row structure, so that the coal and gangue falling from the roadway top plate can slide off the track, the operation of the moving frame device is prevented from being influenced, the working stability of the moving frame device is improved, and the service life of the moving frame device is prolonged; the existing heading machine can be modified for use, and the implementation cost is low.
Drawings
FIG. 1 is a schematic structural view of a temporary support carrier for carrying out parallel digging work according to the present invention;
figure 2 is a front view of the temporary support stand of the present invention;
figure 3 is a left side view of the temporary support stent of the present invention;
figure 4 is a top view of the temporary support stand of the present invention;
FIG. 5 is a front view of the carrying moving part of the present invention;
FIG. 6 is a sectional view taken along line A-A of the carrying moving part of the present invention;
FIG. 7 is a left side view of the carrying moving part of the present invention;
FIG. 8 is a plan view of the carrying moving part of the present invention;
FIG. 9 is a schematic view showing the forward movement of the projecting pin row of the pushing cylinder of the carrying moving part of the present invention;
FIG. 10 is a front view of the robot of the present invention;
FIG. 11 is a top view of the robot of the present invention;
fig. 12 is a schematic view of the vertical robot of the present invention.
In the figure: 1-a heading machine; 2-temporary support bracket; 3-a conveying moving part; 4-a manipulator; 201-a first side protection plate oil cylinder; 202-a first side guard; 203-a first vertical cylinder; 204-a first sled; 205-a first horizontal cylinder; 206-top beam; 207-a second horizontal cylinder; 208-a second sled; 209-a second vertical cylinder; 210-a second side protection plate oil cylinder; 211-a second upper guard; 212-a third side protection plate cylinder; 213-fourth side protection plate oil cylinder; 301-a carrying seat; 302-pushing the oil cylinder; 303-pin row supporting seats; 304-pin teeth; 305-pin tooth support; 306-a sliding cover plate; 307-pin row; 308-a retaining ring; 309-left sliding shoe; 310-right slipper; 311-motor support base; 312-a bearing; 313-pin gear shaft; 314-a hydraulic motor; 401-a first horizontal manipulator; 402-a first horizontal manipulator support cylinder; 403-manipulator mounting base; 404-vertical robot; 405-vertical manipulator support cylinders; 406-a second horizontal manipulator support cylinder; 407-a second horizontal manipulator; 408-a first horizontal manipulator securing portion; 409-a first horizontal manipulator sliding part; 410-a first horizontal manipulator cylinder; 411 — first horizontal manipulator piston; 412-a first horizontal manipulator pushing cylinder; 413-a first horizontal manipulator sleeve; 414-a second horizontal robot piston; 415-a second horizontal robot sleeve; 416-a second horizontal manipulator pushing cylinder; 417-a second horizontal manipulator cylinder; 418-a second horizontal manipulator fixing part; 419-a second horizontal manipulator sliding part; 420-vertical manipulator fixing part; 421-vertical manipulator sliding part; 422-vertical manipulator oil cylinder; 423-vertical robot piston; 424-vertical manipulator pushing cylinder; 425-vertical robot sleeve.
Detailed Description
The following figures further illustrate embodiments of the invention.
As shown in fig. 1, the temporary support carrying device for realizing tunneling parallel operation of the invention comprises a carrying device arranged at the top of a heading machine 1 and a plurality of temporary support supports 2 matched with the carrying device, wherein the temporary support supports 2 are arranged above the current working position of the heading machine 1 in groups to support a tunneling roadway roof and provide a safe tunneling operation space for the heading machine 1, the carrying device comprises two carrying moving parts 3 which are symmetrically arranged, the carrying moving parts 3 are arranged along the front and rear central axes of the heading machine 1, the two carrying moving parts 3 are respectively provided with a grabbing mechanism, the grabbing mechanisms move back and forth on the carrying moving parts 3, and the temporary support supports 2 at the rear are grabbed continuously along with tunneling of the heading machine 1 and are carried to a newly tunneled space in front of the heading machine 1 for supporting; temporary support 2 is folding extending structure, then folds when needs transport and reduces the volume, then folds to open and support the roof after carrying preset position.
As shown in fig. 2, 3 and 4, the temporary support bracket 2 includes a top beam 206, a first horizontal cylinder 205 and a second horizontal cylinder 207 are reversely arranged in the top beam 206, the first horizontal cylinder 205 is connected with a first vertical cylinder 203 as a telescopic upright column through a first sliding plate 204, the second horizontal cylinder 207 is connected with a second vertical cylinder 209 as a telescopic upright column through a second sliding plate 208, wherein a wing-shaped first side guard plate 202 is connected to an outer side of the first sliding plate 204, the first side guard plate 202 is folded and opened through a first side guard plate cylinder 201 and a third side guard plate cylinder 212 arranged on two sides, a wing-shaped second side guard plate 211 is connected to an outer side of the second sliding plate 208, and the second side guard plate 211 is folded and opened through a second side guard plate cylinder 210 and a fourth side guard plate cylinder 213 arranged on two sides.
As shown in fig. 5, 7, 8 and 9, the carrying moving part 3 includes a rail part and a moving part, wherein the rail part includes a carrying seat 301 and a pin teeth support 305, a pushing cylinder 302 and a pin row support seat 303 are horizontally disposed on the carrying seat 301, one end of the pushing cylinder 302 is connected to an end of the carrying seat 301, the other end is connected to the pin row support seat 303, the carrying seat 301 is pushed or pulled back by the extension and contraction of the pushing cylinder 302, the pin row 307 is fixed on the pin row support seat 303 through a retainer ring 308, the moving part is disposed on the pin row 307, the moving part includes a pin teeth support 305, a pin teeth 304 which matches with the pin row 307 and moves orbitally is disposed in the pin teeth support 305 through a bearing 312 and a pin teeth shaft 313, the pin teeth shaft 313 is connected to a hydraulic motor 314, and the hydraulic motor 314 is disposed on a motor support seat 311 outside the pin teeth support 305.
As shown in fig. 6, the carrying base 301 is connected with the bottom of the pin row supporting base 303 through a sliding rail, the sliding rail includes a left sliding shoe (309) and a right sliding shoe 310 which are arranged on two sides below the pin row supporting base 303, and two sides on the carrying base 301 are respectively provided with a sliding cover plate 306 which is buckled on the left sliding shoe (309) and the right sliding shoe 310, so that the pin row supporting base 303 with the left sliding shoe (309) and the right sliding shoe 310 can move back and forth in the sliding rail above the carrying base 301 without derailing.
As shown in fig. 10, the grabbing mechanism is a robot 4, which includes a robot mounting seat 403, and is installed on two pin tooth support frames 305 of two sets of transporting and moving parts 3, wherein a first horizontal robot 401 and a second horizontal robot 407 are respectively installed on the left and right of the robot mounting seat 403, the robot mounting seat 403 is further upward provided with a vertical robot 404, wherein the first horizontal robot 401 and the second horizontal robot 407 are respectively connected with the robot mounting seat 403 through a first horizontal robot support cylinder 402 and a second horizontal robot support cylinder 406, and the vertical robot 404 is connected with the robot mounting seat 403 through a vertical robot support cylinder 405.
As shown in fig. 11, the first horizontal robot 401 includes a first horizontal robot fixing portion 408, a first horizontal robot sliding portion 409, a first horizontal robot cylinder 410, a first horizontal robot piston 411, a first horizontal robot push cylinder 412, and a first horizontal robot sleeve 413; the first horizontal manipulator piston 411 is arranged in a first horizontal manipulator sleeve 413 through a horizontal manipulator pushing oil cylinder 412, the end part of the first horizontal manipulator sleeve 413 is connected with the manipulator mounting seat 403, and the end part of the first horizontal manipulator piston 411 is respectively connected with a first horizontal manipulator sliding part 409 and a first horizontal manipulator fixing part 408 through a first horizontal manipulator oil cylinder 410 to form a clamping mechanism at the front end part;
the second horizontal manipulator 407 comprises a second horizontal manipulator fixing part 418, a second horizontal manipulator sliding part 419, a second horizontal manipulator cylinder 417, a second horizontal manipulator piston 415, a second horizontal manipulator pushing cylinder 416 and a second horizontal manipulator sleeve 414; the second horizontal manipulator piston 415 is arranged in a second horizontal manipulator sleeve 414 through a second horizontal manipulator oil cylinder 417, the end part of the second horizontal manipulator sleeve 414 is connected with the manipulator mounting seat 403, and the end part of the second horizontal manipulator piston 415 is respectively connected with a second horizontal manipulator fixing part 418 and a second horizontal manipulator sliding part 419 through a second horizontal manipulator oil cylinder 417 to form a clamping mechanism at the front end part;
as shown in fig. 12, the vertical robot 404 includes a vertical robot fixing part 420, a vertical robot sliding part 421, a vertical robot cylinder 422, a vertical robot piston 423, a vertical robot push cylinder 424, and a vertical robot sleeve 425; the vertical manipulator piston 423 is arranged in a vertical manipulator sleeve 425 through a vertical manipulator pushing cylinder 424, the end part of the vertical manipulator sleeve 425 is connected with the top of the manipulator mounting seat 403, and the end of the vertical manipulator piston 423 is respectively connected with a vertical manipulator fixing part 420 and a vertical manipulator sliding part 421 through a vertical manipulator cylinder 422 to form a clamping mechanism at the front end part.
The first horizontal manipulator support cylinder 402 is connected with a first horizontal cylinder sleeve 413 through one end of a pin shaft, and the manipulator mounting seat 403 at the other end is connected to play a supporting role; the second horizontal manipulator support cylinder 406 is connected with a second horizontal cylinder sleeve 414 through one end of a pin shaft, and the manipulator mounting seat 403 at the other end is connected to play a supporting role; the vertical manipulator support cylinder 405 is connected with a vertical cylinder sleeve 425 through one end of a pin shaft, and the manipulator mounting seat 403 at the other end is connected; the manipulator mount 403 is internally provided with hydraulic motors that drive a first horizontal manipulator support cylinder 402, a vertical manipulator support cylinder 405, and a second horizontal manipulator support cylinder 406.
A working method of a temporary support carrying device for realizing digging and branch parallel operation comprises the following steps:
step 1: in an initial state, all the temporary support brackets 2 are in a supporting state, an anchor net is laid on a top plate above the temporary support brackets, and the tunneling machine 1 is completely covered below the temporary support brackets 2; when the heading machine 1 is about to finish a step operation, firstly, the first side-protecting plate cylinder 201, the third side-protecting plate cylinder 212, the second side-protecting plate cylinder 210 and the fourth side-protecting plate cylinder 213 of the temporary support bracket 2 positioned at the tail part of the heading machine 1 are retracted, so that the first side-protecting plate 202 and the second side-protecting plate 211 rotate towards the center side of the temporary support bracket 2; then, the mechanical arm 4 moves on the carrying moving part 3 until the position below the temporary support bracket 2 at the tail part is reached, a vertical mechanical arm oil cylinder 422 of the mechanical arm 4 extends out, the vertical mechanical arm sliding part 421 moves relative to a vertical mechanical arm fixing part 420 to realize opening of the vertical mechanical arm, then a first vertical oil cylinder 203 and a second vertical oil cylinder 209 of the temporary support bracket 2 are controlled to be retracted, so that the top beam 206 is separated from the top plate of the roadway, the top beam 206 is received by the opened vertical mechanical arm, the vertical mechanical arm oil cylinder 422 is retracted to enable the vertical mechanical arm 404 to tightly grasp the top beam 206, the vertical mechanical arm pushing oil cylinder 421 extends out to enable the vertical mechanical arm 403 to drive the temporary support bracket to move upwards, and the temporary support bracket is separated from the ground; then, the first horizontal oil cylinder 205 and the second horizontal oil cylinder 207 are retracted, so that the first sliding plate 204 and the second sliding plate 208 slide and contract towards the center side of the temporary support bracket, and the contraction and folding of the temporary support bracket 2 are completed; then, the first horizontal manipulator 401 and the second horizontal manipulator 407 are controlled to extend towards two sides to respectively grasp the first vertical oil cylinder 203 and the second vertical oil cylinder 209 through the clamping devices at the end parts, so that the temporary support bracket 2 is fixed by the three manipulators; then, a hydraulic motor in the manipulator mounting seat 403 is started to rotate to drive the manipulator mounting seat 403 to fold ninety degrees, so that the temporary support bracket 2 after being folded in a shrinkage mode rotates ninety degrees; finally, the robot arm 4 grabs the temporary support bracket 2 and then drives the pin teeth 304 to move towards the front end of the heading machine 1 on the pin row 307 by using the rotation of the hydraulic motor 314, and when the pin tooth support frame 305 slides to the foremost end of the pin row support seats 303, the piston rod of the pushing cylinder 302 is controlled to extend out to push the pin row support seats 303 to slide forwards in the carrying seats 301, so that the temporary support bracket 2 reaches the expected designated position at the front end of the heading machine 1;
step 2: after the moving temporary support bracket reaches a preset designated position, controlling a hydraulic motor in the manipulator mounting seat 403 to rotate and drive the manipulator mounting seat 403 to rotate anticlockwise so that the folded temporary support bracket 2 is restored to be arranged in parallel with the section of the roadway; the first horizontal manipulator 401 and the second horizontal manipulator 407 of the robot arm 4 release the first vertical cylinder 203 and the second vertical cylinder 209, and then control the first horizontal cylinder 205 and the second horizontal cylinder 207 to extend, so that the first sliding plate 202 and the second sliding plate 211 slide and unfold to both sides; the first vertical oil cylinder 203 and the second vertical oil cylinder 209 extend and are grounded, the vertical manipulator 403 releases the top beam 206, and the first vertical oil cylinder 203 and the second vertical oil cylinder (209) continuously extend to enable the top beam 206 to support the top plate of the roadway; the first side protection plate oil cylinder 202, the third side protection plate oil cylinder 212, the second side protection plate oil cylinder 210 and the fourth side protection plate oil cylinder 213 extend out, so that the first side protection plate 202 and the second side protection plate 211 rotate to the side far away from the center of the temporary support bracket and support the side face of a roadway, and the temporary support bracket is conveyed;
and step 3: withdrawing the vertical manipulator support cylinder 405 to enable the vertical manipulator 405 to rotate to be in a horizontal direction with the heading machine, then completely withdrawing the pushing cylinder 302 to enable the pin tooth supporting seat to be withdrawn, starting the hydraulic motor 314 to drive the pin tooth 304 to rotate on the pin row 307, enabling the manipulator to be located right below the last temporary support bracket at the tail of the heading machine 1, and finally extending the vertical manipulator support cylinder 405 to enable the vertical manipulator 405 to rotate to be in a vertical direction;
and 4, step 4: and (3) repeating the steps 1 to 3 in a circulating manner, and always forming a permanent supporting space formed by a plurality of temporary supporting brackets 2 on the outer side of the tunneling machine 1 along with the propulsion of the tunneling machine 1 until the tunneling and supporting work of the roadway is completed.

Claims (9)

1.一种实现掘支平行作业的临时支架搬运装置，其特征在于：包括设置在掘进机(1)顶部的搬运装置，以及与搬运装置匹配有多个临时支护支架(2)，临时支护支架(2)成组布置在掘进机(1)当前工作位的上方支撑掘进巷道顶板，为掘进机(1)提供安全掘进作业空间，所述的搬运装置包括对称布置的两条搬运移动部(3)，两条搬运移动部(3)沿掘进机(1)前后中轴线设置，两条搬运移动部(3)上分别设有抓取机构，抓取机构在搬运移动部(3)上前后移动，随着掘进机(1)的掘进作业循环抓取后方的临时支护支架(2)搬运至掘进机(1)前方新掘进出的空间用以支护；所述临时支护支架(2)为折叠伸缩结构，当需要搬运时则进行折叠从而减少体积，当搬运到预设位置后则折叠打开并支撑顶板。1. A temporary support carrying device for realizing parallel operation of excavating branches, is characterized in that: it comprises a carrying device arranged on the top of the roadheader (1), and is matched with a plurality of temporary supporting brackets (2) with the carrying device. The support brackets (2) are arranged in groups above the current working position of the roadheader (1) to support the roof of the roadway, so as to provide a safe working space for the roadheader (1). The handling device includes two symmetrically arranged handling moving parts (3), the two conveying moving parts (3) are arranged along the front and rear central axes of the roadheader (1), the two conveying moving parts (3) are respectively provided with a grabbing mechanism, and the grabbing mechanism is on the conveying moving part (3) Move back and forth, grab the rear temporary support bracket (2) with the driving cycle of the roadheader (1) and transport it to the newly excavated space in front of the roadheader (1) for support; the temporary support bracket ( 2) It is a folding telescopic structure. When it needs to be transported, it is folded to reduce the volume. When it is transported to a preset position, it is folded to open and support the top plate. 2.根据权利要求1所述的实现掘支平行作业的临时支架搬运装置，其特征在于：临时支护支架(2)包括顶梁(206)，顶梁(206)内反向设有第一水平油缸(205)和第二水平油缸(207)，第一水平油缸(205)通过第一滑板(204)连接有作为伸缩立柱的第一垂直油缸(203)，第二水平油缸(207)通过第二滑板(208)连接有作为伸缩立柱的第二垂直油缸(209)，其中第一滑板(204)外侧链接有翼形的第一护帮板(202)，第一护帮板(202)通过设置在两侧的第一护帮板油缸(201)和第三护帮板油缸(212)开合折叠，第二滑板(208)外侧链接有翼形的第二护帮板(211)，第二护帮板(211)通过设置在两侧的第二护帮板油缸(210)和第四护帮板油缸(213)开合折叠。2. The temporary support carrying device for realizing parallel work of excavation and branching according to claim 1, characterized in that: the temporary support support (2) comprises a top beam (206), and the top beam (206) is reversely provided with a first A horizontal oil cylinder (205) and a second horizontal oil cylinder (207), the first horizontal oil cylinder (205) is connected with a first vertical oil cylinder (203) as a telescopic column through a first sliding plate (204), and the second horizontal oil cylinder (207) passes through The second sliding plate (208) is connected with a second vertical cylinder (209) as a telescopic column, wherein the outer side of the first sliding plate (204) is linked with a wing-shaped first guard plate (202), the first guard plate (202) By opening, closing and folding the first fender oil cylinder (201) and the third fender oil cylinder (212) arranged on both sides, the outer side of the second sliding plate (208) is linked with a wing-shaped second fender board (211), The second fender (211) is opened, closed and folded by the second fender oil cylinder (210) and the fourth fender oil cylinder (213) arranged on both sides. 3.根据权利要求1所述的实现掘支平行作业的临时支架搬运装置，其特征在于：搬运移动部(3)包括轨道部分以及移动部分，其中轨道部分包括搬运座(301)和在销齿支撑架(305)，搬运座(301)上水平设置有推移油缸(302)和销排支撑座(303)，其中推移油缸(302)一端与搬运座(301)的端部连接，另一端与销排支撑座(303)连接，通过推移油缸(302)的伸缩推动或拉回搬运座(301)，销排支撑座(303)上通过挡圈(308)固定有销排(307)，移动部分设置在销排(307)上，移动部分包括销齿支撑架(305)，销齿支撑架(305)内通过轴承(312)和销齿轴(313)设有与销排(307)匹配并轨道移动的销齿(304)，销齿轴(313)与液压马达(314)连接，液压马达(314)设置在销齿支撑架(305)外侧的马达支撑座(311)上。3. The temporary support carrying device for realizing parallel work of excavation and branching according to claim 1, characterized in that: the carrying moving part (3) comprises a rail part and a moving part, wherein the rail part comprises a carrying seat (301) and a pin tooth A support frame (305), a push cylinder (302) and a pin row support base (303) are horizontally arranged on the transport base (301), wherein one end of the push cylinder (302) is connected to the end of the transport base (301), and the other end is connected to the end of the transport base (301). The pin row support base (303) is connected, and the transport base (301) is pushed or pulled back through the telescopic extension of the push cylinder (302). The part is arranged on the pin row (307), and the moving part includes a pin tooth supporting frame (305), and the pin tooth supporting frame (305) is provided with a matching pin row (307) through the bearing (312) and the pin tooth shaft (313). The pin teeth (304) that move in parallel, and the pin teeth shaft (313) is connected with the hydraulic motor (314), and the hydraulic motor (314) is arranged on the motor support seat (311) outside the pin tooth support frame (305). 4.根据权利要求3所述的实现掘支平行作业的临时支架搬运装置，其特征在于：所述搬运座(301)与销排支撑座(303)底部之间通过滑轨连接，所述的滑轨包括设置在销排支撑座(303)下方两侧的左滑靴(309)和右滑靴(310)，搬运座(301)上两侧分别设有扣住左滑靴(309)和右滑靴(310)的滑移盖板(306)，从而使带有左滑靴(309)和右滑靴(310)的销排支撑座(303)能够在搬运座(301)上方的滑轨中前后移动而不会掉轨。4. The temporary support carrying device for realizing parallel work of excavation and branching according to claim 3, characterized in that: the carrying seat (301) and the bottom of the pin row support seat (303) are connected by a slide rail, and the The sliding rail includes a left sliding shoe (309) and a right sliding shoe (310) arranged on both sides below the pin row support seat (303), and the upper two sides of the carrying seat (301) are respectively provided with a left sliding shoe (309) and a right sliding shoe (309) for buckling. The sliding cover (306) of the right sliding shoe (310) enables the pin row support base (303) with the left sliding shoe (309) and the right sliding shoe (310) to slide over the carrying base (301) Move back and forth in the track without falling off the track. 5.根据权利要求3所述的实现掘支平行作业的临时支架搬运装置，其特征在于：抓取机构为机械手(4)，包括机械手安装座(403)，安装在两组搬运移动部(3)的两个销齿支撑架(305)上，其中机械手安装座(403)上左右分别设有第一水平机械手(401)和第二水平机械手(407)，机械手安装座(403)向上还设有垂直机械手(404)，其中第一水平机械手(401)和第二水平机械手(407)分别通过第一水平机械手支撑油缸(402)与第二水平机械手支撑油缸(406)与机械手安装座(403)连接，垂直机械手(404)通过垂直机械手支撑油缸(405)与机械手安装座(403)连接。5. The temporary support carrying device for realizing parallel work of excavation and branching according to claim 3, characterized in that: the grasping mechanism is a manipulator (4), comprising a manipulator mounting seat (403), which is installed on two groups of conveying and moving parts (3). ) on the two pin-tooth support frames (305), wherein the manipulator mounting seat (403) is provided with a first horizontal manipulator (401) and a second horizontal manipulator (407) on the left and right, and the manipulator mounting seat (403) is also provided upwards. There is a vertical manipulator (404), wherein the first horizontal manipulator (401) and the second horizontal manipulator (407) support the cylinder (402) and the second horizontal manipulator respectively through the first horizontal manipulator support cylinder (406) and the manipulator mounting seat (403) ) is connected, and the vertical manipulator (404) is connected with the manipulator mounting seat (403) through the vertical manipulator supporting oil cylinder (405). 6.根据权利要求5所述的实现掘支平行作业的临时支架搬运装置，其特征在于：所述第一水平机械手(401)包括第一水平机械手固定部(408)、第一水平机械手滑移部(409)、第一水平机械手油缸(410)、第一水平机械手活塞(411)、第一水平机械手推移油缸(412)和第一水平机械手套筒(413)；其中第一水平机械手活塞(411)通过一水平机械手推移油缸(412)设置在第一水平机械手套筒(413)内，第一水平机械手套筒(413)端部与机械手安装座(403)连接，第一水平机械手活塞(411)端通过第一水平机械手油缸(410)分别与第一水平机械手滑移部(409)和第一水平机械手固定部(408)相连形成前端部的夹持机构；6. The temporary support carrying device for realizing parallel work of excavation and branching according to claim 5, wherein the first horizontal manipulator (401) comprises a first horizontal manipulator fixing part (408), a first horizontal manipulator sliding part (409), a first horizontal manipulator cylinder (410), a first horizontal manipulator piston (411), a first horizontal manipulator pushing cylinder (412) and a first horizontal manipulator sleeve (413); wherein the first horizontal manipulator piston ( 411) A horizontal manipulator pushing oil cylinder (412) is arranged in the first horizontal manipulator sleeve (413), the end of the first horizontal manipulator sleeve (413) is connected with the manipulator mounting seat (403), and the first horizontal manipulator piston ( 411) end is respectively connected with the first horizontal manipulator sliding part (409) and the first horizontal manipulator fixing part (408) through the first horizontal manipulator oil cylinder (410) to form the clamping mechanism of the front end part; 所述第二水平机械手(407)包括第二水平机械手固定部(418)、第二水平机械手滑移部(419)、第二水平机械手油缸(417)、第二水平机械手活塞(415)、第二水平机械手推移油缸(416)和第二水平机械手套筒(414)；第二水平机械手活塞(415)通过第二水平机械手油缸(417)设置在第二水平机械手套筒(414)内，第二水平机械手套筒(414)端部与机械手安装座(403)连接，第二水平机械手活塞(415)端通过第二水平机械手油缸(417)分别与第二水平机械手固定部(418)和第二水平机械手滑移部(419)相连形成前端部的夹持机构。The second horizontal manipulator (407) includes a second horizontal manipulator fixing part (418), a second horizontal manipulator sliding part (419), a second horizontal manipulator oil cylinder (417), a second horizontal manipulator piston (415), a second horizontal manipulator The second horizontal manipulator push cylinder (416) and the second horizontal manipulator sleeve (414); the second horizontal manipulator piston (415) is disposed in the second horizontal manipulator sleeve (414) through the second horizontal manipulator cylinder (417), The end of the second horizontal manipulator sleeve (414) is connected to the manipulator mounting seat (403), and the end of the second horizontal manipulator piston (415) is connected to the second horizontal manipulator fixing part (418) and the second horizontal manipulator through the second horizontal manipulator cylinder (417) respectively. The two horizontal manipulator sliding parts (419) are connected to form a clamping mechanism of the front end. 7.根据权利要求5所述的实现掘支平行作业的临时支架搬运装置，其特征在于：所述垂直机械手(404)包括垂直机械手固定部(420)、垂直机械手滑移部(421)、垂直机械手油缸(422)、垂直机械手活塞(423)、垂直机械手推移油缸(424)、垂直机械手套筒(425)；垂直机械手活塞(423)通过垂直机械手推移油缸(424)设置在垂直机械手套筒(425)内，垂直机械手套筒(425)的端部与机械手安装座(403)顶部连接，垂直机械手活塞(423)端通过垂直机械手油缸(422)分别与垂直机械手固定部(420)和垂直机械手滑移部(421)相连形成前端部的夹持机构。7. The temporary support carrying device for realizing parallel work of excavation and branching according to claim 5, wherein the vertical manipulator (404) comprises a vertical manipulator fixing part (420), a vertical manipulator sliding part (421), a vertical manipulator The manipulator cylinder (422), the vertical manipulator piston (423), the vertical manipulator push cylinder (424), and the vertical manipulator sleeve (425); the vertical manipulator piston (423) is set on the vertical manipulator sleeve ( 425), the end of the vertical manipulator sleeve (425) is connected to the top of the manipulator mounting seat (403), and the end of the vertical manipulator piston (423) is connected to the vertical manipulator fixing part (420) and the vertical manipulator respectively through the vertical manipulator cylinder (422). The sliding parts (421) are connected to form a clamping mechanism of the front end. 8.根据权利要求5所述的实现掘支平行作业的临时支架搬运装置，其特征在于：所述第一水平机械手支撑油缸(402)通过销轴一端与第一水平油缸套筒(413)相连，另一端机械手安装座(403)相连，起到支撑作用；所述第二水平机械手支撑油缸(406)通过销轴一端与第二水平油缸套筒(414)相连，另一端机械手安装座(403)相连，起到支撑作用；所述垂直机械手支撑油缸(405)通过销轴一端与垂直油缸套筒(425)相连，另一端机械手安装座(403)相连；所述机械手安装座(403)内部安装有驱动第一水平机械手支撑油缸(402)、垂直机械手支撑油缸(405)和第二水平机械手支撑油缸(406)的液压马达。8. The temporary support handling device for realizing parallel work of excavation and branching according to claim 5, wherein the first horizontal manipulator supporting oil cylinder (402) is connected to the first horizontal oil cylinder sleeve (413) through one end of the pin shaft , the other end of the manipulator mounting seat (403) is connected to play a supporting role; the second horizontal manipulator support cylinder (406) is connected to the second horizontal cylinder sleeve (414) through one end of the pin shaft, and the other end of the manipulator mounting seat (403) ) is connected to play a supporting role; the vertical manipulator supporting cylinder (405) is connected to the vertical cylinder sleeve (425) through one end of the pin, and the manipulator mounting seat (403) at the other end is connected; the interior of the manipulator mounting seat (403) A hydraulic motor for driving the first horizontal manipulator support cylinder (402), the vertical manipulator support cylinder (405) and the second horizontal manipulator support cylinder (406) is installed. 9.一种根据上述任一权利要求所述的实现掘支平行作业的临时支架搬运装置的工作方法，其特征在于，包括以下步骤：9. A working method of a temporary support carrying device for realizing parallel work of excavation and branching according to any of the preceding claims, characterized in that it comprises the following steps: 步骤1：初始状态下，所有临时支护支架(2)全都处于支撑的状态，临时支护支架上方顶板铺有锚网，多个临时支护支架(2)将掘进机(1)完全遮覆在下方；当掘进机(1)即将完成一个步距作业时，首先令位于掘进机(1)尾部的临时支护支架(2)的第一护帮板油缸(201)和第三护帮板油缸(212)、第二护帮板油缸(210)和第四护帮板油缸(213)收回，使第一护帮板(202)和第二护帮板(211)向临时支护支架(2)中心侧旋转；然后将机械手(4)在搬运移动部(3)上移动直至尾部的临时支护支架(2)下方，机械手(4)的垂直机械手油缸(422)伸出，使垂直机械手滑移部(421)相对垂直机械手固定部(420)移动实现垂直机械手张开，之后控制临时支护支架(2)的第一垂直油缸(203)和第二垂直油缸(209)收回，使得顶梁(206)脱离巷道顶板，顶梁(206)被张开垂直机械手接住，收回垂直机械手油缸(422)令垂直机械手(404)抓紧顶梁(206)，垂直机械手推移油缸(421)伸出使垂直机械手(403)带着临时支护支架向上运动，临时支护支架脱离地面；接着，第一水平油缸(205)和第二水平油缸(207)收回，使第一滑板(204)和第二滑板(208)向临时支护支架中心侧滑动收缩，完成临时支护支架(2)的收缩折叠；然后控制第一水平机械手(401)和第二水平机械手(407)向两侧伸出分别通过端部的夹持装置抓住第一垂直油缸(203)和第二垂直油缸(209)，从而使临时支护支架(2)被三支机械手固定；之后启动位于机械手安装座(403)内的液压马达转动带动机械手安装座(403)进行折叠从而使收缩折叠后的临时支护支架(2)跟随旋转相同角度；最后机器手(4)抓取临时支护支架(2)后利用液压马达(314)转动带动销齿(304)在销排(307)上向掘进机(1)前端移动，当销齿支撑架(305)滑移到销排支撑座(303)的最前端时，控制推移油缸(302)的活塞杆伸出推动销排支撑座(303)在搬运座(301)中向前滑动，使得临时支护支架(2)到达掘进机(1)前端的预期指定位置；Step 1: In the initial state, all the temporary support brackets (2) are in a supporting state, the top plate above the temporary support brackets is covered with anchor nets, and a plurality of temporary support brackets (2) completely cover the roadheader (1). Below; when the roadheader (1) is about to complete a step operation, first make the first guard plate cylinder (201) and the third guard plate of the temporary support bracket (2) at the tail of the roadheader (1) The oil cylinder (212), the second fender oil cylinder (210) and the fourth fender oil cylinder (213) are retracted, so that the first fender (202) and the second fender (211) move toward the temporary support bracket ( 2) Rotate the center side; then move the manipulator (4) on the conveying moving part (3) until it is below the temporary support bracket (2) at the tail, and the vertical manipulator cylinder (422) of the manipulator (4) extends, so that the vertical manipulator The sliding part (421) moves relative to the vertical manipulator fixing part (420) to realize the opening of the vertical manipulator, and then the first vertical oil cylinder (203) and the second vertical oil cylinder (209) of the temporary support bracket (2) are controlled to retract, so that the top The beam (206) is separated from the roof of the roadway, the roof beam (206) is caught by the open vertical manipulator, the vertical manipulator cylinder (422) is retracted so that the vertical manipulator (404) grasps the roof beam (206), and the vertical manipulator pushes the cylinder (421) to extend The vertical manipulator (403) is moved upward with the temporary support bracket, and the temporary support bracket is separated from the ground; then, the first horizontal oil cylinder (205) and the second horizontal oil cylinder (207) are retracted, so that the first sliding plate (204) and the second horizontal oil cylinder (207) are retracted. The second sliding plate (208) slides and contracts toward the center side of the temporary support bracket to complete the contraction and folding of the temporary support bracket (2); The first vertical oil cylinder (203) and the second vertical oil cylinder (209) are grasped by the clamping device at the end, so that the temporary support bracket (2) is fixed by the three manipulators; then the start is located in the manipulator mounting seat (403) The rotation of the hydraulic motor drives the manipulator mounting seat (403) to fold so that the retracted and folded temporary support bracket (2) rotates at the same angle; finally, the robot arm (4) grabs the temporary support bracket (2) and uses the hydraulic motor (314) Rotation drives the pin teeth (304) on the pin row (307) to move toward the front end of the roadheader (1). The piston rod of the push oil cylinder (302) is extended to push the pin row support seat (303) to slide forward in the transport seat (301), so that the temporary support bracket (2) reaches the expected designated position of the front end of the roadheader (1); 步骤2：当移动的临时支护支架到达预期指定位置后，控制位于机械手安装座(403)内的液压马达转动带动机械手安装座(403)逆时针旋转使折叠后的临时支护支架(2)恢复至与巷道截面平行设置；机器手(4)的第一水平机械手(401)和第二水平机械手(407)松开第一垂直油缸(203)和第二垂直油缸(209)，然后控制第一水平油缸(205)和第二水平油缸(207)伸出,使第一滑板(202)和第二滑板(211)向两侧滑动展开；第一垂直油缸(203)和第二垂直油缸(209)伸长并接地，垂直机械手(403)松开顶梁(206)，第一垂直油缸(203)和第二垂直油缸(209)持续伸出使顶梁(206)支撑巷道顶板；第一护帮板油缸(202)和第三护帮板油缸(212)、第二护帮板油缸(210)和第四护帮板油缸(213)伸出，使第一护帮板(202)和第二护帮板(211)向远离临时支护支架中心侧转动且支撑巷道侧面，完成该台临时支护支架的搬运；Step 2: When the moving temporary support bracket reaches the expected designated position, control the hydraulic motor located in the manipulator mounting seat (403) to rotate to drive the manipulator mounting seat (403) to rotate counterclockwise to make the folded temporary support bracket (2) Return to setting parallel to the roadway section; the first horizontal manipulator (401) and the second horizontal manipulator (407) of the manipulator (4) release the first vertical oil cylinder (203) and the second vertical oil cylinder (209), and then control the first vertical oil cylinder (203) and the second vertical oil cylinder (209). A horizontal oil cylinder (205) and a second horizontal oil cylinder (207) are extended to make the first sliding plate (202) and the second sliding plate (211) slide and unfold to both sides; the first vertical oil cylinder (203) and the second vertical oil cylinder ( 209) Extend and ground, the vertical manipulator (403) releases the top beam (206), the first vertical oil cylinder (203) and the second vertical oil cylinder (209) continue to extend so that the top beam (206) supports the roadway roof; the first The fender oil cylinder (202), the third fender oil cylinder (212), the second fender oil cylinder (210) and the fourth fender oil cylinder (213) are extended, so that the first fender (202) and the The second guard plate (211) is rotated to the side away from the center of the temporary support bracket and supports the side of the roadway to complete the transportation of the temporary support bracket; 步骤3：收回垂直机械手支撑油缸(405)使得垂直机械手(405)旋转至与掘进机呈水平方向，然后完全收回推移油缸(302)使得销齿支承座收回，启动液压马达(314)，带动销齿(304)在销排(307)上转动，使得机械手位于掘进机(1)机尾处最后一个临时支护支架的正下方，最后将垂直机械手支撑油缸(405)伸出，使得垂直机械手(405)旋转至竖直方向；Step 3: retract the vertical manipulator support cylinder (405) so that the vertical manipulator (405) rotates to a horizontal direction with the roadheader, then fully retract the push cylinder (302) to retract the pin tooth bearing seat, start the hydraulic motor (314), and drive the pin The tooth (304) rotates on the pin row (307), so that the manipulator is located just below the last temporary support bracket at the tail of the roadheader (1), and finally the vertical manipulator support cylinder (405) is extended, so that the vertical manipulator ( 405) rotate to vertical direction; 步骤4：循环重复步骤1到步骤3，随着掘进机(1)的推进在对掘进机(1)外侧始终形成多个临时支护支架(2)形成的永久支护空间，直至完成巷道的掘进和支护工作。Step 4: Repeat steps 1 to 3 cyclically, with the advancement of the roadheader (1), a permanent support space formed by a plurality of temporary support brackets (2) is always formed on the outside of the roadheader (1) until the roadway is completed. Excavation and support work.
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