WO2014082376A1 - Rocker arm rolling friction-based extension and retraction method, and rocker arm rolling friction-based extendable and retractable extractor and loader - Google Patents

Abstract

A rocker arm rolling friction-based extendable and retractable extractor and loader, comprising a rocker arm (3), a machine body (7), a roller (4), an extension and retraction controller (5), a work head (2), and a work head drive mechanism (6); the rocker arm comprises a telescopic arm (9) and a telescopic support arm (10); the roller is disposed between the telescopic arm and the telescopic support arm; one end of the extension and retraction controller is connected to the machine body, and the other end is connected to the telescopic arm; the rocker arm is connected to the machine body; the extension and retraction controller controls the telescopic arm to stretch and retract; the telescopic arm moves under the rolling friction of the roller; the work head is disposed on the telescopic arm; the work head drive mechanism drives the work head to excavate or load; the machine body comprises a travel mechanism for driving the whole machine to move. Also disclosed is a rocker arm rolling friction-based extension and retraction method. The excavator or loader reduces the frictional resistance between the telescopic arm and the telescopic support arm.

Description

 Method for rolling friction and expansion of rocker arm and rocker rolling friction telescopic mining machine or loader

 The invention belongs to the field of mining loading and the like, and particularly relates to a rocker rolling friction stretching method and a rocker rolling friction stretching mining machine or a loader.

Background technique

 Mining equipment such as roadheaders, shearers, loaders, etc., which are widely used at present, are movable structures according to work requirements. For example, the reciprocating impact excavation machine rocker arm is a retractable structure, and the reciprocating impact of the shearer rocker arm can be lifted and lowered, that is, the movement needs to be adjusted, and the tumbler support rocker arm of the tumbler loader needs to move forward and backward in order to pick up the material, etc. The telescopic movement of the working parts of the equipment relative to the fuselage is sliding friction, the sliding friction resistance is large, and the destructive force is large, in order to improve the book

Work efficiency and applicability The work heads such as roadheaders, shearers, loaders, etc. can be made large, heavy, and the work head with large weight and large body has large gravity on the sliding telescopic guide rail, and the reciprocating wear is large. It is prone to crawling and shaking. In severe cases, the sliding friction surface will be stuck and burned. The most important thing is that due to the special working environment, the friction surface is not easy to form a uniform lubricating oil film, which causes the frictional heat to cause the movement adjustment failure. In order to avoid the occurrence of rocker telescopic sliding friction failure, many manufacturers do not use the telescopic rocker arm, and the rocker arm does not allow the rocker arm to move relative to the body to seriously reduce the efficiency and adaptability. In order to reduce the sliding friction resistance, shortening the slide will result in The rocker arm has a short telescopic distance, a small range of mining and/or loading and retrieving, poor adaptability, and low work efficiency.

 In order to completely solve the above problems, the present invention proposes a rocker rolling friction stretching method and a rocker rolling friction expansion mining machine or a loader.

Summary of the invention

 The invention is realized by the following technical solutions: The rocker arm rolling friction telescopic mining machine or loader comprises a rocker arm, a fuselage, a rolling body, a telescopic control member, a working head, a working head driving mechanism, etc., and the rocker arm comprises a telescopic arm , the telescopic support arm, etc., the rolling body is disposed between the telescopic arm and the telescopic support arm or on the fuselage or on the telescopic support arm or on the telescopic arm, etc., one end of the telescopic control member is connected with the fuselage or the telescopic control member One end is connected with the telescopic support arm, the other end of the telescopic control member is connected with the telescopic arm, the rocker arm is connected with the body, and the telescopic control member controls the telescopic arm to expand and contract. The telescopic arm is frictionally moved by the rolling body, and the working head is disposed on the telescopic arm. Etc., the working head drive mechanism drives the working head to be mined or loaded, and the body includes a running mechanism, etc., and the traveling mechanism drives the whole machine to walk.

The invention also includes a method for rolling friction stretching of a rocker arm - Method 1: A method for rolling friction stretching of a rocker arm, which is achieved by the following steps: Step 1: Set the rocker arm, etc., set the telescopic arm, the telescopic support arm, etc. on the rocker arm, set the rolling element between the telescopic arm and the telescopic support arm or set the rolling element on the fuselage or set the rolling element in the telescopic Supporting the arm or placing the rolling element on the telescopic arm;

 Step 2: Set the telescopic control member, connect one end of the telescopic control member to the fuselage or connect one end of the telescopic control member to the telescopic support arm, and connect the other end of the telescopic control member to the telescopic arm to make the telescopic support arm and the machine The body is connected, so that the telescopic control member controls the telescopic arm to expand and contract, and the telescopic arm is frictionally moved by the rolling body;

 The third step: setting the working head, and setting the working head on the telescopic arm;

 Say

 Step 4: Set the working head drive mechanism, etc., so that the working head drive mechanism drives the working head to extract or load, etc. Step 5: Set the fuselage, etc., and set a running mechanism in the lower part of the fuselage, and the traveling mechanism drives the whole machine to walk.

 Book

Method 2: The method is implemented by the following steps: Step 1: Set the rocker arm to the roll rocker arm, set the work head to roll, etc., set the roll drive mechanism, etc., so that the telescopic control piece controls the roll The rocker arm is frictionally moved by the rolling body, and the rolling drive mechanism is disposed on the rolling rocker arm or disposed on the body, etc., and the rolling roller and the rolling rocker arm are hinged;

 The second step: setting a rotation limit structure at the hinge joint of the telescopic support arm and the fuselage, so that the rolling drive mechanism drives the rolling and rolling material, and the rolling is difficult to immediately encounter high materials and/or large materials. When the material is thrown into the conveying device, the material will be lifted by the rolling device. After the material is pushed into the conveying device, the roller will fall by its own weight, so that the rotation limit structure limits the position where the rolling rocker falls, so that the rolling does not fall. Colliding with the shovel and/or the conveying device;

 The third step: setting the conveying device, etc., placing the conveying device on the fuselage frame, etc., so that the conveying device transfers the material to be rolled, and the conveying device is connected to the fuselage frame or integrated. structure.

Method 3: This method is implemented by the following steps:

 Step 1: Set a shovel board on the fuselage, and set the rocker arm on the front end of the shovel;

 Step 2: Place a rolling body or the like between the rocker arm and the blade, the rolling element is mounted on the rocker arm or mounted on the blade, etc., the rolling body includes a supporting wheel, etc., when the supporting wheel is disposed on the rocker arm The wheel is rolled along the roller groove on the upper part of the blade or along the blade. When the roller is set on the blade, the roller rotates along the lower roller of the rocker arm or under the rocker arm. The rolling body supports the telescopic arm to roll friction. Move

Step 3: Set the shovel controller, etc., so that the shovel controller controls the shovel on the board and/or left and right movement, etc., so that the rocker moves the shovel with the shovel and/or left and right to prevent the shovel or roll from being controlled separately. When the shovel is moving, the shovel is caught between the shovel and the shovel and the shovel and the shovel. Method 4: The method includes the following features:

 Set the hanging wheel raceway and the sliding hole rolling groove, etc., so that the hanging wheel raceway is arranged in parallel along the direction of the sliding hole rolling groove, and the hanging wheel raceway is fastened on the hanging wheel bracket, etc., so that the sliding hole rolling groove and the hanging wheel The raceways are partially or completely overlapped, and the hanging roller and the sliding roller of the sliding roller are overlapped with each of the rolling strokes or the entire rolling strokes, thereby shortening the lengths of the hanging groove and the sliding groove before and after the rolling groove, and reducing the shaking under the same expansion and contraction distance conditions. The length of the arm shortens the working arm of the working body.

 The working head includes a tumble or reciprocating impact head or a bucket or bucket or a pick roller or a crushing head or a reciprocating impact head combined with a bucket or a combination of a tumbler and a bucket or a combination of a tumbler and a reciprocating impact head.

 Say

 The rolling body comprises a front roller, a rear roller, etc., the rocker arm comprises a roller raceway, a telescopic arm, a telescopic support arm, etc., the telescopic support arm is connected with the fuselage, etc., the roller raceway is arranged on the telescopic arm or is arranged on the telescopic support The upper arm and the rear roller are arranged to roll in the roller raceway, and the front roller and the rear roller cooperate with the rolling friction support telescopic arm to roll and contract on the telescopic support arm.

 The roller raceway includes a front roller raceway, a rear roller raceway, etc., the front roller raceway is disposed on the telescopic arm, the rear roller raceway is disposed on the telescopic support arm, and the front roller raceway and the rear roller raceway. Parallel setting, the front roller rolls in the front roller raceway, the rear roller rolls in the rear roller raceway, and the front roller and the rear roller cooperate to roll and friction on the telescopic support arm by rolling friction support telescopic arm.

 The front roller raceway is disposed on the telescopic support arm, etc., and the rear roller raceway is disposed on the telescopic arm or disposed on the fuselage.

 The telescopic arm and the telescopic support arm are separately or separately connected or integrated.

 The working head includes a tumbler or the like, the working head driving mechanism includes a tumble driving mechanism, the rocking arm includes a rolling rocker arm, and the telescopic control member includes a tumbler telescopic control member, and the tumbler rocker arm is hinged to the body or The body of the rolling telescopic control member is hinged to the fuselage or coupled to the body through a rotating structure, and the other end is connected to the telescopic arm, and the rolling body is disposed on the rolling rocker arm or disposed in the body. The roller body supports the rolling rocker arm, etc. The arm is arranged on the fuselage, the rolling and the rolling rocker are hinged, the body includes a conveying device, the rolling drive mechanism drives the rolling rolling material, the rolling, etc. encounter high materials and/or large blocks. When the material is difficult to immediately feed the material into the conveying device, the material will be lifted by the rolling device, and the material will be thrown into the conveying device and then rolled by its own weight.

The body includes a blade, a blade controller, a blade frame, a fuselage frame, etc., the rocker arm is disposed in front of the blade upper portion, the rocker arm or the blade frame includes a roller groove, and the roller groove includes a rolling body stroke portion And so on, when the rolling body is disposed on the rocker arm, the rolling body rolls along the rolling body stroke section on the shovel frame, and the rolling body travels along the lower part of the rocker arm when the rolling body is disposed on the shovel frame The segment scrolls and the rolling body supports the rocker arm to move.

 The body includes a rocker arm lifting control member, etc., one end of the rocker arm lifting control member is fixed on the body, etc., the other end of the rocker arm lifting control member is provided with a rolling body, etc., the rolling body supports the rocker arm, etc., the rocker arm lifting control The piece drives the rocker arm to move on the rolling body by rolling friction. The fuselage and/or rocker arm includes a baffle discharge device or the like, and the baffle discharge device includes a plate discharge device or a fork discharge device or a brush discharge device.

 The rolling bodies include rollers or balls or rollers or drums or needles or multi-directional wheels or linear bearings.

 Say

 The roller includes a roller or a waist drum or a multi-directional wheel or the like.

 The rolling elements include alloy steel rolling elements or ordinary steel rolling elements or polymer material rolling bodies or rubber rolling bodies or ceramic rolling bodies. The blade controller described in the book is disposed on the upper part of the fuselage, and the body includes a blade controller bracket, etc., and one end of the blade controller is hinged on the blade controller bracket or connected to the blade controller bracket through a rotating structure, etc. The other end is connected to the shovel frame, the shovel controller bracket is arranged at the upper part of the fuselage, the shovel frame and the fuselage frame are connected at the lower part of the fuselage, and the shovel controller support at the upper part of the fuselage is away from the shovel frame and the fuselage The distance between the hinges of the frame is greater than the length of the blade controller bracket disposed on the lower part of the fuselage frame from the hinge of the blade frame and the fuselage frame, and the length of the blade lifting arm is extended, and the blade controller drives the blade. Racks, shovel racks drive the shovel lifts, reducing power consumption and the number of shovel controllers.

The body includes a shovel frame, etc., the telescopic support arm includes a lifting roller groove, the rolling body includes a roller, and the like, the roller includes an outer wheel, an axle, etc., the outer wheel and the axle are connected separately or integrated, and the outer wheel is disposed on the axle, etc. The axle is fixed on the telescopic arm, and the outer wheel is disposed in the lifting roller groove. One end of the telescopic support arm is hinged to the fuselage or connected to the fuselage through a rotating structure, the roller rolls along the lifting roller groove, and the rocker arm telescopic control member drives the telescopic arm to move telescopically. The telescopic arm drives the roller to move, the roller supports the telescopic arm to roll and rub, and the roller and the lifting roller slot buckle to drive the telescopic support arm to rotate and lift. The body includes a shovel frame, a fuselage frame, etc., the shovel frame or the body frame includes an anti-sway rolling groove, etc., the rolling body includes an anti-swing rolling body, and the anti-swinging rolling body is disposed in the anti-swing rolling groove, The anti-swaying rolling body on the telescopic arm is buckled and rolled in the anti-swaying rolling groove, and the anti-swinging rolling body linearly reciprocates in the anti-swaying rolling groove to support the telescopic arm rolling friction expansion and contraction, and the anti-swing rolling body limits the non-directionality of the rocker arm swing. The rolling body comprises a hanging wheel, etc., the telescopic arm comprises a hanging wheel trough frame, etc., the telescopic support arm comprises a hanging wheel bracket, etc., the hanging wheel trough frame comprises a hanging wheel slot, etc., one end of the hanging wheel bracket is hinged to the fuselage or through a rotating structure Connected to the fuselage, etc., the hanging wheel is buckled and rolled in the hanging wheel slot, the hanging wheel is fixed on the hanging wheel bracket, the rocker arm telescopic control member drives the hanging wheel slot frame to move, and the hanging wheel slot frame is rolled and rubbed under the support of the hanging wheel mobile. The telescopic arm comprises a hanging wheel trough frame, etc., the telescopic support arm comprises a hanging wheel bracket, etc., the hanging wheel trough frame comprises a hanging wheel trough, etc., the hanging wheel bracket is hinged to the fuselage or connected to the fuselage through a rotating structure, etc. The front end of the bracket is provided with a hanging wheel, etc., the hanging wheel is arranged in the hanging wheel slot, the hanging wheel groove includes a hanging wheel raceway, etc., the sliding wheel bracket is provided with a sliding hole rolling groove, etc., the sliding hole roller is arranged in the sliding hole rolling groove, the sliding hole The roller is fixed at the rear of the hanging wheel frame, and the hanging wheel raceway is arranged in parallel with the sliding hole rolling groove. The sliding hole roller and the hanging wheel support and pull the rocker arm to lift and keep the rocker arm and the working head always keep with the blade when moving. A certain distance and clearance.

 The hanging wheel raceway is arranged in parallel with the sliding hole rolling groove, the hanging wheel rolling track is arranged along the sliding hole rolling groove direction, and the hanging wheel rolling track is arranged on the upper part of the hanging wheel bracket or fastened on the hanging wheel bracket, etc., the sliding hole The rolling groove and the hanging wheel raceway partially or completely overlap, and the lifting groove roller and the sliding wheel roller partially overlap the rolling stroke section or all the rolling said stroke section, and shorten the length set before and after the hanging wheel raceway and the sliding hole rolling groove, and the expansion and contraction distance is equal The length of the rocker arm is relatively shortened, and the working head is shortened to damage the arm of the fuselage.

 The rocker arm and the body are connected by a rotation limit hinge shaft or a book through a rotating structure, and the hinge or the rotation joint is provided with a rotation limit structure, and the rotation limit structure includes a rotation limit station. , the fuselage block rotary table, etc., the rotating limit table rotates around the rotating structure or around the limit hinge axis, etc., when the rotation limit table rotates to the telescopic support arm and the working head is about to collide with the blade, the fuselage block rotates and The rotation limit table is in close contact, and the body stop rotation block blocks the rotation limit table from continuing to rotate. By restricting the rotation angle of the rocker arm, the rocker arm is kept falling, so that the rocker arm and the work head and the blade always maintain a reasonable safety gap.

 The rotation limit limiting structure forms an inclination angle of the rocker arm with respect to the ground, the inclination angle causes the working head not to collide with the blade, and the inclination angle makes the pair of the working head when the rocker arm extends the working head to the upper part of the blade Mining, milling, loading or crushing of the front of the blade.

 The body includes a shovel frame, etc., and the shovel frame on the lower part of the rocker arm is provided with a shovel frame limit pedestal, etc., the shovel frame limit pedestal falls on the rocker arm and the working head to be collided with the shovel When the telescopic support arm is lifted up, the falling of the rocker arm and the working head is prevented from colliding with the blade.

 The telescopic arm is disposed in the telescopic support arm, and two or more rows of rolling elements are disposed around the telescopic arm. One end of the telescopic arm is connected with the telescopic control member, the telescopic arm is extended and contracted under the support of the rolling body, and the telescopic arm supports the expansion of the impact head. The telescopic support arm is hinged to the shovel frame by the limit hinge shaft.

 The telescopic arm or the telescopic support arm includes a circulating raceway or the like, and a rolling body or the like is disposed in the circulating raceway, and the rolling elements roll in the circulating raceway.

The telescopic arm comprises a telescopic member and a working head bracket. The telescopic member is disposed on the telescopic support arm, and a bearing or the like is arranged on the telescopic member or the telescopic support arm. The rolling body comprises a waist drum, the bearing supports the waist drum, etc., the telescopic member Rolling friction is supported by the waist drum, and the telescopic member is connected with the working head bracket. The telescopic support arm is hinged to the shovel frame or the fuselage frame through the limit hinge shaft, and one end of the telescopic control member is hinged to the shovel frame or the fuselage frame or the telescopic frame Support arm is equal, the other end is connected with the telescopic member, telescopic control The piece control telescopic arm is stretched and contracted by rolling friction.

 The roller includes a molar, a toothed cylinder, etc., and the length of the tooth tip to the center line of the molar is greater than the radius of the molar. The telescopic control member comprises a left and right movement control member of the working head, a front and rear movement control member of the working head, etc., and one end of the left and right movement control member of the working head is disposed on the fuselage and the other end is disposed on the telescopic arm or disposed on the telescopic support arm. When one end of the left and right movement control member of the working head is disposed on the telescopic support arm, the other end is disposed on the telescopic arm, and one end of the working head moves back and forth to the fuselage or is connected with the body through a rotating structure, and the other end is connected with the telescopic arm. The left and right movement control members of the working head drive the rocker arm to move left and right to increase the range of the material.

 The body includes a rotating disc or the like, and one end of the telescopic control member is hinged with the rotating disc or connected to the rotating disc through a rotating structure, and the other end is connected with the rocker arm, and one end of the rocking arm is hinged with the rotating disc or rotated with the rotating disc. Structural connection, etc., the other end is provided with a working head, the telescopic control member drives the rocker arm to expand and contract, and the rocker arm moves left and right through the rotary book turntable to increase the range of the material.

 The rocker arm or the fuselage comprises a left and right movement control member, etc., the telescopic arm comprises a telescopic section, a supporting working head section, etc., the telescopic section is hinged with the supporting working head section, the hinge axis is perpendicular to the ground, and the telescopic control part is at one end and the machine The other end is connected to the telescopic support arm, and the other end is connected to the telescopic section. One end of the left and right movement control member is connected to the fuselage through a rotating structure or connected to the telescopic support arm or connected to the telescopic section, and the other end and the supporting working head The segment connection, the left and right movement control member drive the support working head segment to move left and right, and the left and right movement control members drive the working head support member to move left and right.

 The roller includes a molar, a toothed cylinder, etc., and the rolling drive mechanism includes a motor or a motor, and the motor or the motor is disposed in the tooth cylinder or outside the tooth cylinder.

 The front roller includes a fixed wheel, the rear roller includes a walking wheel, etc., the front roller raceway includes a fixed wheel raceway, and the rear roller raceway includes a traveling wheel raceway, etc., and the fixed wheel raceway is connected to the telescopic arm or For the integrated type, the walking wheel raceway and the telescopic support arm are connected separately or in one piece, the front end of the telescopic support arm is provided with a fixed wheel, the fixed wheel is rolled in the fixed wheel raceway, the walking wheel rolls in the traveling wheel raceway, etc., walking The wheel is fixed at the rear of the telescopic arm, and the fixed wheel raceway is arranged in parallel with the raceway of the traveling wheel, and the fixed wheel and the rolling section of the traveling wheel or all the rolling strokes overlap, shortening the front and rear of the fixed wheel raceway and the traveling wheel raceway Length, the same telescopic distance reduces the length of the rocker arm, reduces the volume height of the rocker arm, and shortens the working arm to twist the arm that damages the fuselage.

The fixed wheel raceway includes a fixed wheel groove, etc., the telescopic arm includes a rolling telescopic arm, and the telescopic support arm includes a rolling telescopic support arm, and the fixed wheel groove and the rolling telescopic arm are connected separately or integrated, and the telescopic A walking wheel raceway is arranged on the support arm, the rear roller includes a sliding hole roller, and the traveling wheel raceway includes a sliding hole rolling groove, and the sliding hole roller is rolled in the sliding hole rolling groove, and the sliding hole roller is fixed behind the rolling telescopic arm The fixed wheel groove is arranged in parallel with the sliding hole groove. When the large piece of material lifts the rolling telescopic arm, the fixed wheel groove lifts the fixed wheel to pull up the rolling telescopic support arm, and the sliding hole roller and the fixed wheel support Pull the telescopic telescopic boom to lift and lower. The outer surface of the front roller is provided with a concave surface or a convex surface. When the outer surface of the front roller is provided with a concave surface, the front roller raceway is correspondingly provided with a convex surface facing the concave surface of the front roller, and the current roller is externally When the surface is provided with a convex surface, the front roller raceway is correspondingly provided with a concave surface facing the front roller convex surface to face the telescopic arm rolling guide.

 The rolling body is disposed between the telescopic arm and the telescopic support arm to form a rolling guide device or the like, and the rolling guide device includes a guard member for preventing mud, water, dust or material from entering the inside of the rolling guide device.

 The front roller raceway includes a U-shaped raceway or a square raceway or a circular raceway or a C-shaped raceway or a [shaped raceway or an H-shaped raceway.

 The shovel frame limiting bracket or the rocker arm is provided with a buffering member or the like, and the cushioning member absorbs the impact force when the rocker arm falls.

 The cushioning member comprises a rubber cushion or a spring cushion or a polyurethane cushion or a nylon cushion or a polymer material cushion. Book

 The shape of the molars is a hammer-like or a skull-like shape or a tooth-like or hammer-like shape or an axe shape or a skull shape or a combination of a plurality of shapes.

 The rotating structure comprises a ball head slot type, an arc type buckle groove type, a flexible universal joint joint head, a universal joint bearing joint head, a universal joint coupling head, a joint bearing joint head and/or a ball type Articulated mechanism, etc.

 The body includes a rotating disk or the like, the rotating disk includes a rotating inner disk, a rotating outer disk, and the like, the rotating inner disk rotates relative to the rotating outer disk, and rotates the outer disk relative to the rotating inner disk when the rotating inner disk is fixed on the body, when the rotating outer disk is fixed at Rotating the inner disk relative to the rotating outer disk when the body is rotated, one end of the rocker arm is connected with the rotating rotating inner disk or connected with the rotating rotating outer disk, the body includes a rotating disk rotation control member, and the rotating disk rotation control member drives the rotating inner disk to rotate or drive the rotation The outer disk rotates, and one end of the telescopic arm control member is connected to the rotating rotating inner disk or to the rotating rotating outer disk, and the other end is connected with the telescopic arm, and the rocker arm rotates with the rotating disk to increase the mining or loading range.

 The rotary disk rotation control member includes a telescopic cylinder or a gear and a rack or a rope and a rope reel or a telescopic cylinder or a sprocket and a chain.

 The working head drive mechanism includes a transmission or the like, and the transmission includes a gear transmission or a belt transmission or a sprocket transmission or a sheave actuator.

 The body includes a rocker arm lifting controller, etc., and the rocker arm lifting controller controls the rocker arm to move up and down. The rocker arm lifting controller includes a lifting cylinder or a gear and a rack or a rope and a rope reel or a lifting cylinder or a sprocket. Chains, etc.

 The rotating disk includes a multilayer rotating disk or the like, and the multilayer rotating disk includes a lower rotating disk, an upper rotating disk, and the like.

The lower rotating disc is provided with a rolling rocker arm, etc., the upper rotating disc is provided with a reciprocating impact head rocker arm, etc., the lower rotating disc drives the rolling rocker arm to the left and right and/or up and down, etc., and the upper rotating disc drives the reciprocating impact head to shake The arms rotate up and down and/or left and right, The rolling rocker arm and the reciprocating impact head rocker arm cooperate with multi-directional multi-angle mining and loading materials.

 The beneficial effects of the invention are:

 1. The rocker arm rolling friction telescopic mining machine or the loader is provided with rolling elements, etc., and the rolling body is disposed between the telescopic arm and the telescopic support arm, so that the telescopic arm is frictionally moved by the rolling body, thereby greatly reducing the telescopic arm and the telescopic expansion. The frictional resistance during the relative movement between the support arms effectively protects the telescopic arm and the telescopic support arm from wear, improves the flexibility of the rocker arm adjustment, and improves the service life and work efficiency.

 2. The setting of the rolling element can be set between the telescopic arm and the telescopic support arm, or can be set on the fuselage, or can be arranged on the telescopic support arm or the telescopic arm, and the rolling body is said to be flexible in setting position. The small size allows the rocker arm of the device to be compact and adapt to different working conditions.

 3. One end of the telescopic control member can be connected to the fuselage or connected to the telescopic support book arm, and the other end of the telescopic control member is connected with the telescopic arm. The telescopic control member can be implemented in various forms, for example: telescopic cylinder or gear and tooth Articles and so on. The telescopic control device has flexible telescopic adjustment, reliable operation, stable locking, convenient operation and use, and effectively improves the adaptability and practicability of the device.

4. The rocker arm and the fuselage are connected by hinges. The connection is firm and the connection is rigid enough to facilitate the lifting and lowering of the rocker arm, so that the working head can mine or load the materials at low and high places, and the hinge can transmit a large power. And absorb more impact reaction force, effectively improve the efficiency of the working head and avoid the impact damage of the fuselage.

 5. The working head is placed on the telescopic arm and moves forward and backward and/or left and right with the telescopic arm, which increases the working space of the working head, improves the moving efficiency and flexibility of the rocker arm to adapt to mining or loading various materials, and makes the work The head facilitates multi-angle, multi-height movement, flexible mining or loading, etc., which expands the working conditions and fields of the equipment.

 6. The lower part of the fuselage is provided with a walking mechanism, and the traveling mechanism drives the whole machine to walk. The working radius of the rocker rolling friction telescopic mining machine or the loading machine is greatly increased, which not only improves the working efficiency, but also reduces or partially replaces the setting of the supporting equipment.

7. Configurable work heads include rolling or reciprocating impact heads or buckets or buckets or pick-up drums or crushing heads or reciprocating impact heads combined with buckets or tumbling and bucket combinations or rolling and reciprocating impact heads Combinations, etc., the working head is configured in a variety of shapes and functions, and the optimal working head can be selected according to the working conditions of the equipment. It provides a solid foundation for efficient use of equipment in multiple fields and multiple working conditions.

 8. The rolling body includes a front roller, a rear roller, etc., corresponding to the front roller and the rear roller, and a front roller raceway, a rear roller raceway, and the like are disposed on the rocker arm. The front roller and the rear roller are separately arranged, which effectively increases the distance of the rolling guide, so that the rolling friction movement of the telescopic arm is more reliable and the supporting force is larger.

9. The shovel controller drives the shovel to move up and down and/or to the left and right movements connected to the shovel frame. The shovel frame drives the rocker arm and the shovel to move up and down and/or left and right to prevent the shovel or rocker from being separately controlled. And the work head movement, the shovel and rocker and work Head card touch.

 10. One end of the rocker arm lifting control member is fixed on the body, the other end of the rocker arm lifting control member is provided with a rolling body, etc., the rolling body supports the rocker arm, and the rocker arm lifting control member drives the rocker arm to pass the rolling friction on the rolling body mobile. The control of the rocker arm lifting function is increased, and the rocker arm lifting and lowering realizes the rolling friction lifting.

 11. The gear and discharge device is arranged on the fuselage and/or the rocker arm. The baffle unloading device avoids the occurrence of faults such as throwing materials into the fuselage and the console when the tumble is quickly picked up. While effectively unloading the material rotated by the rolling, the rotation speed of the rolling can be appropriately increased, the feeding ability of the rolling and the milling and leveling ability for the ground can be improved.

 12. The rolling elements include rollers or balls or rollers or rollers or needles or multi-directional wheels or linear bearings, etc. The rollers include rollers or drums or multi-directional wheels, etc., which can make rocker arms with different working heads. The most reasonable and practical rolling elements are selected according to the function and structure. Book

 13. The roller can be made of alloy steel roller or ordinary steel roller or polymer material roller or rubber roller or ceramic roller. According to different working conditions, the rolling elements of different materials can be selected to achieve the best use effect, and the comprehensive economical efficiency of the equipment is improved.

 One end of the blade controller is hinged on the blade controller bracket or connected to the blade controller bracket through a rotating structure, and the other end is connected to the blade frame, and the blade frame and the fuselage frame connection are arranged at the lower part of the fuselage, the machine The length of the blade controller bracket on the body is greater than the length of the blade bracket and the fuselage frame connection, and the length of the blade controller bracket disposed at the lower part of the fuselage frame is the distance between the blade frame and the fuselage frame connection. The blade lifter arm is extended, the blade controller drives the blade frame, and the blade frame drives the blade lift, reducing power consumption and the number of blade controllers.

 15. Providing a shovel rack on the fuselage, the lifting and rolling rack comprises a lifting groove, the rolling body comprises a roller, the roller comprises an outer wheel, an axle, etc., the outer wheel and the axle are connected separately or integrated, and the outer wheel is arranged on the axle The axle is fixed on the telescopic frame, and the outer wheel is arranged in the lifting roller groove. One end of the lifting roller frame is hinged to the fuselage or connected to the fuselage through a rotating structure, the roller rolls along the lifting roller groove, and the rocker arm telescopic control member drives the telescopic frame to expand and contract. Moving, the telescopic frame drives the roller to move, the roller supports the telescopic frame rolling friction movement, and the roller and the lifting roller groove buckle drive the lifting and rolling groove frame to rotate and lift, so that the roller has the function of supporting the telescopic arm rolling friction and expansion, and has the driving lifting roller The function of the rack lifting and lowering increases the adaptability of the rocker arm.

 16. The anti-oscillating rolling groove is connected or fixedly connected to the fuselage body, and the anti-swinging roller on the telescopic arm is buckled to prevent rolling in the anti-swing rolling groove, and the anti-swinging roller linearly reciprocally supports the telescopic arm rolling friction and expansion in the anti-swing rolling groove. The anti-swing roller limits the left and right swing of the telescopic arm, which makes the telescopic arm lift more smoothly and increases the stability of the work of the working head.

17. The hanging wheel raceway is arranged in parallel with the sliding hole rolling groove, the hanging wheel raceway is arranged along the sliding hole rolling groove direction, and the hanging wheel rolling track is arranged on the upper part of the hanging wheel bracket or fastened on the hanging wheel bracket, the sliding hole rolling groove Part or all coincide with the gondola raceway, the trough roller and the slide roller The partial rolling stroke section or the entire rolling stroke section coincides, shortening the lengths of the hanging wheel raceway and the sliding hole rolling groove before and after, and shortening the length of the rocker arm when the expansion and contraction distance is equal, shortening the rocker arm and working The twisting of the head does not damage the arm of the fuselage, which reduces the use of raw materials, makes the design of the whole machine more reasonable and compact, and is safer, more reliable and more flexible when working.

 18, the rotation limit structure makes the rocker arm form an inclination angle with respect to the ground, the inclination angle causes the work head not to collide with the blade, and the inclination angle is lower than the blade when the rocker arm extends the work head to the upper part of the blade, so that Mining, crushing, milling or loading the front of the shovel.

 19. Set the shovel frame limit pedestal on the shovel frame on the lower part of the rocker arm. The shovel frame limit support table lifts the telescopic support arm when the rocker arm falls to the rocker arm and the work head is about to collide with the shovel , so that the rocker arm and the working head and the blade always maintain a reasonable safety gap, preventing the rocker arm and the working head from falling and colliding with the blade. It makes it safe to work under all conditions, making the operation of the equipment simpler and easier to promote. Book

 20. The telescopic arm is disposed in the telescopic support arm. Two or more rows of rolling elements are disposed around the telescopic arm. One end of the telescopic arm is connected to the telescopic control member, the telescopic arm is telescoped under the support of the rolling body, and the telescopic arm supports the impact head. Two or more rows of rolling elements can be combined to form a circulating raceway. The arrangement of two or more rows of rolling elements and circulating raceways improves the guiding accuracy of the telescopic boom when it is telescopic and the rigidity during expansion and contraction, so that the working power of the working head can be greatly increased. In order to increase the guiding of the telescopic arm, the rolling body can also use a waist drum, and the waist drum further improves the guiding performance.

 21. Set the left and right movement control parts of the working head and the front and rear movement control parts of the working head, so that the working head can be flexibly moved left and right and back and forth, increasing the working range of the working head, and at the same time, the working efficiency of the equipment is greatly improved.

 22. One end of the telescopic arm control member is connected to the rotating rotating inner disk or to the rotating rotating outer disk, and the other end is connected with the telescopic arm. The rocker arm rotates with the rotating disk, increasing the digging or loading range, and the telescopic arm control member controls the rocker arm. Improve the efficiency of rocker arm mining and/or armoring materials by rolling friction expansion.

 23. The rolling body is arranged to form a rolling guiding device between the telescopic arm and the telescopic support arm, and the shielding member effectively prevents mud, water, dust or material from entering the inside of the rolling guide device, so that the rolling guiding device is more reliable and stable.

 24. The shovel frame limit table or the rocker arm is provided with a buffering member. The shock absorbing member absorbs the impact force when the rocker arm falls, and reduces the impact damage of the rocker arm falling on the shovel frame limit table and the like, and reduces the impact damage. Impact noise improves the working environment.

25, the rotating disc is set as a multi-layer rotating disc, the multi-layer rotating disc comprises a lower rotating disc, an upper rotating disc, a lower rotating disc is provided with a rolling rocker arm, the upper rotating disc is provided with a reciprocating impact head rocker arm, and the lower rotating disc is driven to roll The rocker arm rotates left and right and/or up and down, and the upper rotating disk drives the reciprocating impact head rocker arm to rotate up and down and/or left and right, and the rolling rocker arm cooperates with the reciprocating impact head rocker arm to work in multiple directions and multiple angles, on the multi-layer rotating disk The simultaneous work of the work head greatly improves the efficiency of the integrated operation of the equipment. 26, the sliding hole roller rolls in the sliding hole rolling groove, the sliding hole roller is fixed at the rear of the rolling telescopic arm, the fixed wheel groove is arranged in parallel with the sliding hole rolling groove, when the large piece of material is lifted by the rolling telescopic arm, fixed The wheel groove hoisting fixed wheel pulls up the rolling telescopic support arm, and the sliding hole roller and the fixed wheel support and pull the rolling telescopic arm to expand and retract.

 27. The outer surface of the front roller is provided with a concave surface or a convex surface. When the outer surface of the front roller is provided with a concave surface, the front roller raceway is correspondingly provided with a convex surface facing the telescopic arm of the front roller concave surface, and the outer surface of the current roller is provided. When there is a convex surface, the front roller raceway is correspondingly provided with a concave surface facing the convex surface of the front roller, and the outer surface of the rear roller is also provided with a concave surface or a convex surface, so that the roller rolls in the corresponding raceway, effectively limiting The scroll wheel scrolls and controls the telescopic direction of the telescopic arm.

 28, the rocker arm and the fuselage are hinged by the rotation limit hinge shaft or connected by a rotating structure, and the hinge or the joint is provided with a rotation limit structure, and the rotation limit table rotates around the rotation structure or around the limit hinge shaft. When the rotation limit table rotates to the telescopic support arm and the working head is about to collide with the blade, the body rotation table and the rotation limit table are tightly attached, and the body rotation table blocks the rotation limit table to continue to rotate, and the limit is shaken. The angle of rotation of the arm limits its continued fall, keeping the rocker arm and the working head and the blade always at a reasonable safety clearance.

 29, the shovel frame and the fuselage frame hinge or the shovel frame and the fuselage frame are connected by a rotating structure, one end of the shovel controller is disposed on the fuselage frame, and the other end is disposed on the shovel frame, the shovel controller drives the shovel The one-way rotary lifting or multi-directional rotary lifting of the plate further improves the ability of the mining machine or loader to be used for mining or loading materials of different heights.

 30. The lifting roller groove is fastened on the anti-swaying rolling groove, the lifting roller rolls in the lifting rolling groove, the anti-swinging roller rolls in the anti-swaying rolling groove, the rocker arm is hinged to the fuselage or connected to the fuselage through the rotating structure, The anti-swaying roller restricts the telescopic arm from swinging left and right without directionality, and drives the telescopic support arm to lift and lower by the lifting roller, reduces the height of the anti-swing rolling groove and the lifting roller groove, reduces the volume height of the rocker arm, and the anti-swinging roller also drives the rocker arm to lift and lower The lifting and rolling groove and/or the anti-swaying rolling groove guide the rocker arm, and the lifting roller cooperates with the anti-swinging roller to increase the control of the rolling arm expansion and contraction.

 31. The length of the tooth tip of the tooth to the center line of the tooth cylinder is larger than the radius of the tooth cylinder, making it easier for the tooth to pick up the material.

 32. The shape of the molars is like a skull shape, which facilitates the incorporation of materials of different particle sizes into the conveying device, which improves the ability of the rolling to disperse the scattered materials.

 33. The telescopic section is hinged to the supporting working head section, and the hinge shaft is disposed perpendicular to the ground. One end of the telescopic control member is connected with the rotating structure or connected to the telescopic support arm, and the other end is connected with the telescopic section, and one end of the left and right movement control member is rotated. The structure is connected with the fuselage or connected to the telescopic support arm or connected to the telescopic section, and the other end is connected with the supporting working head section, and the left and right moving control parts drive the supporting working head section to move left and right, and the left and right moving control parts drive the supporting working head section to move left and right. The scope of retrieving the work head.

34. The motor or motor is arranged in the tooth cylinder, which makes the structure of the roller simple and compact, and is beneficial to protect the motor or the horse with the tooth cylinder. Da.

 35. The fixed wheel outer wheel and the fixed wheel axle are integrated and have high structural strength and small maintenance.

 36. The combination of the rolling rocker arm and the reciprocating impact head rocker arm or the reciprocating impact head rocker arm and the bucket rocker arm can be used separately compared to the rolling rocker arm or the reciprocating impact head rocker arm or the excavation loading rocker arm. Greatly improve.

DRAWINGS

 Figure 1 is a front elevational view of the rocker rolling friction telescopic mining machine or loader of Embodiment 1;

 2 is a schematic structural view of a rocker arm in Embodiment 1;

 3 is a schematic structural view of a friction type telescopic mining machine or a loader of a bucket type rocker arm rolling in Embodiment 1;

 4 is a schematic structural view of a rock mining machine or a loader of a reciprocating impact head and a rolling type combined structure in Embodiment 1; FIG. 5 is a schematic structural view of a reciprocating impact head rocker rolling friction and telescopic mining machine or a loader in Embodiment 1. One;

 Book

 6 is a structural schematic view of a reciprocating impact head rocker rolling friction telescopic mining machine or a loader according to Embodiment 1; FIG. 7 is a schematic structural view of a bucket type rocker rolling friction telescopic mining machine or a loader according to Embodiment 1;

 Figure 8 is a schematic structural view of a rolling type rocker arm rolling friction telescopic mining machine or a loader in Embodiment 1;

 Figure 9 is a plan view of Figure 1 in Embodiment 1;

 Figure 10 is a front elevational view of the rocker arm rolling friction telescopic mining machine or loader with the rear roller disposed on the rocker arm in Embodiment 2; Figure 11 is a rocker arm rolling friction and telescopic mining of the rear roller disposed on the fuselage in Embodiment 2 Figure 12 is a front elevational view of the rocker rolling friction telescopic mining machine or loader of Embodiment 3;

 Figure 13 is a schematic structural view of a rocker rolling friction telescopic mining machine or a loader in Embodiment 4;

 Figure 14 is a schematic structural view of a roller groove in Embodiment 4;

 Figure 15 is a schematic structural view of a rolling body stroke section in Embodiment 4;

 Figure 16 is a schematic structural view of a rocker rolling friction telescopic mining machine or a loader in Embodiment 5;

 Figure 17 is a schematic structural view showing the arrangement of the unloading device in Embodiment 6;

 Figure 18 is a schematic structural view of a rocker rolling friction telescopic mining machine or a loader in Embodiment 7;

 Figure 19 is a schematic view showing the structure of the lifting and rolling groove arrangement in Embodiment 8;

 Figure 20 is a schematic view showing the structure of an anti-swing rolling element arrangement in Embodiment 9;

 Figure 21 is a schematic structural view of a rocker rolling friction telescopic mining machine or a loader in Embodiment 10;

 Figure 22 is a schematic structural view of a hanging wheel arrangement in Embodiment 10;

 Figure 23 is a schematic structural view of a rocker rolling friction telescopic mining machine or a loader in Embodiment 11;

 Figure 24 is a schematic structural view showing the arrangement of the retaining limit structure in the embodiment 12;

Figure 25 is a schematic structural view showing the arrangement of the shovel frame limit pedestal in the embodiment 13; Figure 26 is a schematic structural view of a rocker rolling friction telescopic mining machine or a loader in Embodiment 14; Figure 27 is a schematic structural view of a rocker arm in Embodiment 14;

 Figure 28 is a schematic structural view showing the arrangement of the circular rocker rolling elements in Embodiment 14;

 Figure 29 is a schematic view showing the structure of a square rocker rolling element arrangement in Embodiment 14;

 Figure 30 is a schematic structural view showing a circulation raceway arrangement in Embodiment 15;

 Figure 31 is a schematic structural view showing the arrangement of the telescopic members in Embodiment 16;

 Figure 32 is a schematic structural view showing the arrangement of the head-shaped molars in the embodiment 17;

 Figure 33 is a schematic structural view showing the arrangement of the axe-shaped molars in the embodiment 17;

 Figure 34 is a schematic view showing the structure of the head-shaped tooth-shaped cloth in the embodiment 17;

 Figure 35 is a schematic view showing the structure of a rocker rolling friction telescopic mining machine or a loader in Embodiment 18;

 Figure 36 is a schematic structural view of a rocker rolling friction and telescopic mining machine book or loader in Embodiment 19;

 Figure 37 is a schematic structural view showing the arrangement of the rolling telescopic support in Embodiment 20;

 Figure 38 is a schematic structural view showing the arrangement of the rotating structure in Embodiment 20;

 Figure 39 is a schematic structural view showing the arrangement of the telescopic control member and the left and right movement control members of the working head in the embodiment 20; Figure 40 is a schematic structural view showing the arrangement of the front roller and the rear roller in the embodiment 21;

 Figure 41 is a cross-sectional view taken along line A-A of Figure 40 in Embodiment 21;

 Figure 42 is a schematic structural view showing the arrangement of the sliding hole roller and the sliding hole rolling groove in Embodiment 22;

 Figure 43 is a cross-sectional view taken along line B-B of Figure 42 in Embodiment 22;

 Figure 44 is a schematic structural view of a rocker rolling friction telescopic mining machine or a loader in Embodiment 23;

 Figure 45 is a schematic view showing the structure of a rocker rolling friction telescopic mining machine or a loader in Embodiment 24;

 Figure 46 is a schematic view showing the structure of a ball-and-ball type in the embodiment 25;

 Figure 47 is a schematic view showing the structure of an arc type buckle groove type in Embodiment 25;

 Figure 48 is a schematic structural view of a coupling joint of a universal joint in Embodiment 25;

 Figure 49 is a schematic structural view of a rotary disk arrangement in Embodiment 26;

 Figure 50 is a schematic structural view of a rotary disk in Embodiment 26;

 Figure 51 is a schematic structural view showing the arrangement of a rotary disk rotation control member in Embodiment 26;

 Figure 52 is a schematic view showing the structure of a rocker rolling friction telescopic mining machine or a loader in Embodiment 27. .

 In the figure: 1, reciprocating impact head; 2, working head; 3, rocker arm; 4, rolling body; 5, telescopic control; 6, working head drive mechanism; 7, fuselage; 8, walking device; Arm; 10, telescopic support arm; 11, bucket; 12, rolling;

13. Bucket; 14, front roller; 15, rear roller; 16, rear roller raceway; 17, front roller raceway; 18, rolling rocker arm;

19, rolling telescopic control parts; 20, feeding device; 21, rolling drive mechanism; 22, blade; 23, roller groove; 24, machine Body frame; 25, shovel frame; 26, shovel controller; 27, rolling body stroke section; 28, rocker arm lifting control; 29, unloading device; 30, shovel controller bracket; 31, lifting roller groove 32, rocker arm telescopic control; 33, anti-sway rolling groove; 34, roller; 35, anti-swing rolling body; 36, hanging wheel bracket; 37, hanging wheel groove; 38, hanging wheel; 39, hanging wheel frame 40, hanging wheel axle; 41, hanging wheel outer wheel; 42, sliding wheel roller; 43, sliding hole rolling groove; 44, hanging wheel raceway; 45, stop rotation limit structure; 46, shovel frame limit support; 47, circulating raceway; 48, working head bracket; 49, telescopic member; 50, waist drum; 51, molar cylinder; 52, hammerhead; 53, axe; 54, skull-shaped; 55, working head moving back and forth 56; rotating disc; 57, power support; 58, rolling telescopic support; 59, rotating structure; 60, hinge shaft; 61, working head left and right movement control; 62, supporting working head; 63, telescopic Section; 64, fixed wheel raceway; 65, walking wheel raceway; 66, fixed wheel ;

 Say

67, rolling telescopic arm; 68, fixed wheel groove; 69, rolling telescopic support arm; 70, convex surface; 71, guard; 72, cushioning member; 73, ball ball slot type; 74, arc type buckle groove type 75, universal coupling coupling; 76, rotating limit table; 77, machine

 Book

78, telescopic arm control; 79, rotating disc rotation control; 80, rocker lifting controller; 81, rotating inner disc; 82, rotating outer disc; 83, roller raceway.

detailed description

 The invention will be further described below in conjunction with the accompanying drawings.

Example 1

 1 to 9 are rocker rolling friction and telescopic mining machines or loaders according to Embodiment 1. The rocker arm rolling friction telescopic mining machine or loader comprises a rocker arm 3, a fuselage 7, a rolling body 4, a telescopic control member 5, a working head 2, a working head driving mechanism 6, and the like. The rocker arm 3 includes a telescopic arm 9 and a telescopic support. The arm 10 and the like, the rolling body 4 is disposed between the telescopic arm 9 and the telescopic support arm 10, the telescopic control member 5 - end is connected with the body 7, and the other end of the telescopic control member 5 is connected with the telescopic arm 9, the rocker arm 3 and the body 7 connection, etc., the telescopic control member 5 controls the telescopic arm 9 to expand and contract, the telescopic arm 9 is moved by rolling friction of the rolling body 4, etc., the working head 2 is disposed on the telescopic arm 9, and the like, and the working head driving mechanism 6 drives the working head 2 and the like and/or Or loading, the fuselage 7 includes a traveling device 8, etc., and the traveling device 8 drives the whole machine to travel continuously.

The working head 2 can be used in combination with the reciprocating impact head 1 and the tumbler 12, or can be used separately for the reciprocating impact head 1 or the tumbler 12; the working head 2 is as shown in FIG. 3, which can be used in the manner of the bucket 11, the bucket 11 is mounted on the rocker arm 3, and the rocker arm 3 is hinged on the body 7. The working head 2 is as shown in FIG. The device used in combination with the impact head 1 and the tumbler 12; as shown in FIG. 5, the working head 2 may also be a reciprocating impact head type reciprocating impact mining machine; the working head 2 is as shown in FIG. For the reciprocating impact mining machine, a schematic diagram of the material can be pushed into the impact; the working head 2 shown in FIG. 7 can be a bucket type rocker arm rolling friction telescopic loader; the working head 2 is as shown in FIG. , can also be a rolling rocker arm rolling friction telescopic loader, the roll 12 is arranged on the rocker arm 3, the rocker arm 3 is hinged on the fuselage 7; the working head 2 can also be a pick roller or broken Head or tumble and bucket Combination or rolling and reciprocating impact head combination, etc., the working head 2 and the corresponding fuselage 7 are combined into a different form of rocker rolling friction telescopic mining machine or loader.

 The telescopic arm 9 and the telescopic support arm 10 are of a split structure, and the telescopic arm 9 and the telescopic support arm 10 can also be connected in a separate manner or in an integrated structure.

 The rolling body 4 can be a roller 34. The rolling body 4 can also be a ball or a roller or a drum or a needle or a multi-directional wheel or a linear bearing according to the equipment space or working condition. In some cases, the rolling body 4 Can also be used in combination.

 The above-described roller 34 may be a roller or a waist drum or a multi-directional wheel or the like.

 Say

 The above-mentioned roller 34 may be an alloy steel roller or a common steel roller or a polymer material roller or a rubber roller or a ceramic roller, etc., and may be manufactured using a composite material according to different working conditions.

 The rolling elements 4 may be alloy steel rolling bodies or ordinary steel rolling elements or polymer material rolling bodies or rubber rolling bodies or ceramic rolling bodies.

 In order to adjust the speed, the working head drive mechanism 6 may further include an actuator or the like, and the actuator includes a gear transmission or a belt transmission or a sprocket transmission or a sheave actuator or the like.

 The rolling bodies 4 can also be arranged on the fuselage 7 or on the telescopic support arm 10, and can also be arranged on the telescopic arm 9.

 The telescopic control member 5 can be connected to the telescopic support arm 10 at the other end of the telescopic control member 5, and the other end of the extension control member 5 is connected to the telescopic arm 9.

 The invention also includes the following method for rolling friction stretching of a rocker arm, specifically:

 method one:

 Step 1: Set the rocker arm, the fuselage, the rolling element, etc., set the rocker arm as a telescopic arm, a telescopic support arm, etc., set the rolling element between the telescopic arm and the telescopic support arm or set the rolling element on the fuselage or Locating the rolling body on the telescopic support arm or on the telescopic arm;

 Step 2: Set the telescopic control member, connect one end of the telescopic control member to the fuselage or connect one end of the telescopic control member to the telescopic support arm, and connect the other end of the telescopic control member to the telescopic arm to make the rocker arm and the body Connecting, etc., so that the telescopic control member controls the telescopic arm to expand and contract, and the telescopic arm is frictionally moved by the rolling body;

 The third step: setting the working head, setting the working head on the telescopic arm, etc.;

Step 4: Set the working head drive mechanism, etc., so that the working head drive mechanism drives the working head to extract or load; Step 5: Set the walking device in the lower part of the fuselage, and the walking device drives the whole machine to walk. Method 2 - Step 1: Set the rocker arm to the roll rocker arm, set the work head to roll, etc., set the roll drive mechanism, etc., so that the telescopic control member controls the roll rocker arm to roll and rub by the rolling body. The rolling drive mechanism is arranged on the rolling rocker arm or on the body, etc., and the rolling and rolling rocker arms are hinged;

 Step 2: Set the conveying device, etc., set the conveying device on the fuselage frame, etc., so that the conveying device will transfer the materials that are rolled and transferred, and connect the conveying device to the fuselage frame or the like. Structure.

 The third step: setting a rotation limit structure at the hinge of the telescopic support arm and the fuselage, so that the rolling drive mechanism drives the rolling and rolling material, and the rolling is difficult to meet the high material and/or the large material. When the material is immediately thrown into the conveying device, the material will be lifted by rolling, etc., and the material is thrown into the conveying device and then rolled by its own weight, so that the rotation limit structure and the like limit the position of the falling arm of the rolling arm, so that the rolling耙 does not collide with the shovel and/or the conveying device when it falls;

 The other content is the same as method one.

 Method three:

 Step 1: Set a shovel board on the fuselage, and set the rocker arm on the front end of the shovel;

 The second step: the rolling body is arranged between the rocker arm and the shovel plate, the rolling body is mounted on the rocker arm or mounted on the shovel plate, the rolling body comprises a supporting wheel, etc., when the supporting wheel is arranged on the rocker arm, the supporting wheel edge The roller on the upper part of the shovel is rolled or rolled along the shovel. When the roller is set on the shovel, the roller is rolled along the lower roller of the rocker arm or at the lower part of the rocker arm. Move

 Step 3: Set the blade controller, etc., so that the blade controller controls the blade to move up and down and/or to the left and right, etc., so that the rocker can drive the roller to move up and down with the blade and/or to the left and right, etc., to prevent the blade from being controlled separately or When rolling, the blade collides with the roll or the material is caught between the blade and the roll.

 The other content is the same as method one.

 Method four:

 Set the hanging wheel raceway and the sliding hole rolling groove, etc., so that the hanging wheel raceway is arranged in parallel along the direction of the sliding hole rolling groove, and the hanging wheel raceway is fastened on the hanging wheel bracket or the like, so that the sliding hole rolling groove and the hanging wheel are rolled Part or all of the track overlap, etc., the heel groove roller and the slide roller portion of the rolling section or all of the rolling strokes coincide, shortening the length of the groove groove and the sliding hole groove before and after, reducing the shake under the same expansion and contraction conditions The length of the arm shortens the arm of the rocker arm and the working head to twist the fuselage.

 The other content is the same as method one.

Example 2 As shown in FIG. 10 to FIG. 11, the rocker rolling friction telescopic mining machine or the loader shown in the second embodiment is different from the first embodiment in that the rolling element 4 includes a front roller 14, a rear roller 15, and the like, and a rocker arm. 3 includes a roller raceway 83, a telescopic arm 9, a telescopic support arm 10, etc., and the telescopic support arm 10 is connected to the fuselage 7. The roller raceway 83 is disposed on the telescopic arm 9 or on the telescopic support arm 10, and the front roller 14 is The rear roller 15 is disposed to roll in the roller race 83, and the front roller 14 and the rear roller 15 cooperate with the rolling friction support telescopic arm to roll and contract on the telescopic support arm.

 The specific setting is as follows: The roller raceway 83 further includes a front roller raceway 17, a rear roller raceway 16, and the like. The front roller raceway 17 is disposed on the telescopic arm 9, and the rear roller raceway 16 is disposed on the telescopic support arm 10, front The roller raceway 17 is disposed in parallel with the rear roller raceway 16, the front roller 14 rolls in the front roller raceway 17, the rear roller 15 rolls in the rear roller raceway 16, and the front roller 14 and the rear roller 15 cooperate through the rolling friction support. The telescopic arm is frictionally stretched and contracted on the telescopic support arm, the telescopic support arm 10 is connected to the fuselage 7, the working head 2 is connected with the telescopic arm 9, and the telescopic arm 9 drives the working head 2 to expand and contract, and the telescopic support arm 10

 Book

Connected to the body 7.

 The front roller raceway 17 can also be disposed on the telescopic support arm 10, and the corresponding rear roller raceway 16 is disposed on the extension arm 9 or on the body 7.

 The front roller raceway 17 may be a U-shaped raceway or a square raceway or a circular raceway or a C-shaped raceway or a [shaped raceway or an H-shaped raceway.

 Others are the same as in the first embodiment.

Example 3

 As shown in Fig. 12, the rocker rolling frictional excavation machine or the loader shown in the third embodiment is different from the first embodiment in that the working head 2 includes a tumbler 12 or the like, and the working head drive mechanism 6 includes a tumbler drive. The mechanism 21 and the like, the rocker arm 3 includes a rolling rocker arm 18, etc., the telescopic control member 5 includes a roll telescopic control member 19, etc., the rolling rocker arm 18 is hinged to the body 7, and the end of the rolling telescopic control member 19 and the body 7 Hinged, the other end is connected to the telescopic arm 9, etc., the rolling body 4 is arranged on the rolling rocker arm 18, etc., the rolling body 4 supports the rolling rocker arm 18, etc., and the rolling telescopic control member 19 controls the rolling friction of the rolling rocker arm 18 and the like. The moving, rolling drive mechanism 21 or the like is disposed on the rolling rocker arm 18 or on the body 7, and the tumbler 12 is hinged with the rolling rocker arm 18, and the body 7 includes a conveying device 20, etc., the tumble driving mechanism 21 The rolling tumbler 12 is driven to roll the dip. When the tumbler 12 encounters the high material and/or the bulk material, it is difficult to immediately push the material into the conveying device 20, the material is lifted by the tumbler 12, and the material is pushed into the conveying material. The rear roller 12 of the device 20 is dropped by its own weight.

 The tumbling rocker arm 18 can also be coupled to the body 7 via a rotating structure 59 or the like.

 One end of the tumbler control member 19 may be coupled to the body 7 through the rotating structure 59 or the like.

The rolling bodies 4 can also be arranged on the fuselage 7 or on the roll telescopic control 19 or on the shovel 22 Superior

 Others are the same as in the first embodiment.

Example 4

 As shown in FIG. 13 to FIG. 15, the rocker rolling friction telescopic mining machine or the loader shown in the fourth embodiment is different from the first embodiment in that the body 7 includes a blade 22, a blade controller 26, and a shovel. The frame 25, the fuselage frame 24, and the like, the rocker arm 3 is disposed in front of the upper portion of the blade 22, the rocker arm 3 includes a roller groove 23, and the like, and the roller groove 23 includes a rolling body stroke portion 27 and the like, and the rolling body 4 is disposed on the rocker arm 3 When the upper rolling element 4 rolls along the rolling body stroke section 27 on the shovel frame 25, when the rolling body 4 is placed on the shovel frame 25, the rolling body 4 rolls along the rolling body stroke section 27 of the lower part of the rocker arm 3, rolling The body 4 supports the rocker arm 3 to move.

 Others are the same as in the first embodiment.

Example 5

 As shown in Fig. 16, the rocker arm rolling friction telescopic mining machine or the loader shown in the fifth embodiment is different from the first embodiment in that the body 7 includes a rocker arm lifting control member 28 and the like, and the rocker arm lifting and lowering control member 28 One end of the rocker arm lifting and lowering control member 28 is provided with a rolling body 4 or the like, the rolling body 4 supports the rocker arm 3, etc., and the rocker arm lifting and lowering control member 28 drives the rocker arm 3 and the like to pass through the rolling body 4. Rolling friction moves.

 Others are the same as in the first embodiment.

Example 6

 As shown in FIG. 17, the rocker rolling friction telescopic mining machine or the loader shown in the sixth embodiment is different from the first embodiment in that the body 7 includes a baffle stop device 29 and the like, and the baffle stop device 29 may be The plate discharge device, the fork discharge device or the brush discharge device may be used in combination with a plate discharge device and a fork discharge device.

 The retaining and unloading device 29 can also be arranged on the rocker arm 3.

 Others are the same as in the first embodiment.

Example 7

As shown in Fig. 18, the rocker rolling frictional excavation machine or the loader shown in the seventh embodiment is different from the first embodiment in that the blade controller 26 is disposed on the upper portion of the body 7, and the body 7 includes a blade. The controller bracket 30 and the like, the blade controller 26 is hinged on the blade controller bracket 30 or connected to the blade controller bracket 30 through a rotating structure, and the other end is connected to the blade frame 25, the blade controller bracket 30 is disposed at the upper portion of the body 7, etc., and the blade frame 25 is connected to the body frame 24 at a lower portion of the body 7. The blade controller bracket 30 of the upper portion of the body is at a distance from the blade frame 25 and the body frame 24. The distance is greater than the length of the blade controller bracket when the blade controller 26 is disposed at the lower portion of the fuselage frame 24, and the length of the blade bracket 25 and the fuselage frame 24 is extended, and the blade lifting arm is extended, and the blade controller 26 is extended. Driving the shovel frame 25 and the like is easier, and the shovel frame 25 drives The blade 22 is lifted and the like, and the power consumption and the number of the blade controller 26 are reduced.

 Others are the same as in the first embodiment.

Example 8

 As shown in FIG. 19, the rocker rolling friction telescopic mining machine or the loader shown in Embodiment 8 is different from Embodiment 1 in that the body 7 includes a blade frame 25 and the like, and the telescopic support arm 10 includes a lifting groove groove. 31, etc., the rolling body 4 includes a roller 34, etc., the roller 34 includes an outer wheel, an axle, etc., the outer wheel and the axle are in a split structure, the outer wheel is disposed on the axle, the axle is fixed on the telescopic arm 9, and the outer wheel is disposed in the lifting roller groove 31, etc., the telescopic support arm 10 - end is hinged to the fuselage 7 , etc., the roller 34 rolls along the lifting roller groove 31, the rocker arm extension control member 3 says 2 drives the telescopic arm 9 and the like to move telescopically, and the telescopic arm 9 drives the roller 34 and the like to move. The roller 34 supports the rolling friction movement of the telescopic arm 9 and the like, and the roller 34 and the lifting roller groove 31 are engaged to rotate and lift the telescopic support arm 10 .

 Book

 The outer wheel and the axle may also be an integral structure or the like.

 The telescopic support arm 10 can also be connected to the body 7 via a rotating structure or the like.

 Others are the same as in the first embodiment.

Example 9

 As shown in FIG. 20, the rocker rolling friction telescopic mining machine or the loader shown in the embodiment 9 is different from the first embodiment in that the body 7 includes a blade frame 25, a fuselage frame 24, and the like. The anti-sway rolling groove 33 and the like are included in the rolling element 4, and the anti-sway rolling body 35 is disposed in the anti-sway rolling groove 33, and the anti-swing rolling body 35 on the telescopic arm 9 is engaged with the anti-swinging roll. The groove 33 is rolled in the groove, and the anti-sway rolling element 35 linearly reciprocates in the anti-sway rolling groove 33 to support the rolling friction expansion and contraction of the telescopic arm 9 or the like, and the anti-swing rolling element 35 restricts the swing arm 3 from swinging left and right.

 The blade frame 25 may also include an anti-rolling groove 33 or the like.

 Others are the same as in the first embodiment.

Example 10

 As shown in FIG. 21 to FIG. 22, the rocker rolling friction telescopic mining machine or the loader shown in the embodiment 10 is different from the first embodiment in that the rolling body 4 includes a hanging wheel 38 and the like, and the hanging wheel 38 includes a hanging wheel. The outer wheel 41 and the hanging wheel shaft 40 and the like, the outer wheel 41 of the hanging wheel is connected to the hanging wheel shaft 40, the telescopic arm 9 includes a hanging wheel frame 39, the telescopic support arm 10 includes a hanging wheel bracket 36, and the hanging wheel frame 39 includes a hanging wheel groove 37. Etc., the end of the hanging wheel bracket 36 is hinged to the body 7, the hanging wheel 38 is buckled and rolled in the hanging wheel groove 37, the hanging wheel 38 is fixed on the hanging wheel bracket 36, etc., and the rocker arm extension control member 32 drives the hanging wheel frame. When the 39 is moved, the hanging sheave frame 39 is rolled and rubbed under the support of the hanging wheel 38.

The hanging wheel outer wheel 41 and the hanging wheel axle 40 may also have an integral structure. The hanging wheel bracket 36 may also be connected to the body 7 through a rotating structure or the like. Others are the same as in the first embodiment.

Example 11

 As shown in FIG. 23, the rocker rolling friction telescopic mining machine or the loader shown in Embodiment 11 is different from Embodiment 1 in that the telescopic arm 9 includes a hanging sheave frame 39 and the like, and the telescopic support arm 10 includes a hanging wheel. The bracket 36 and the like, the hanging sheave frame 39 includes a hanging wheel groove 37, etc., the hanging wheel bracket 36 is hinged to the fuselage 7, and the hanging wheel 38 is disposed at the front end of the hanging wheel bracket 36, and the hanging wheel 38 is disposed in the hanging wheel groove 37, etc. The hanging wheel groove 37 includes a hanging wheel raceway 44 and the like, a sliding hole rolling groove 43 is disposed on the hanging wheel bracket 36, a sliding hole roller 42 is disposed in the sliding hole rolling groove 43, and the sliding hole roller 42 is fixed to the hanging wheel groove frame 39. In the rear part, the hanging wheel raceway 44 is arranged in parallel with the sliding hole rolling groove 43, and the sliding hole roller 42 and the hanging wheel 38 support and pull the rocker arm 3 and the like to lift and lower the rocker arm 3 and the working head 2, etc. The blade 22 maintains a certain distance and clearance. Book

 The hanging wheel raceway 44 is disposed in parallel with the sliding hole rolling groove 43, and the hanging wheel raceway 44 is disposed along the sliding hole rolling groove 43, and the hanging wheel raceway 44 is disposed on the upper part of the hanging wheel bracket 36 or is fastened to the hanging The wheel bracket 36 is equal to, the sliding hole rolling groove 43 and the hanging wheel raceway 44 are partially or completely overlapped, and the hanging groove roller 34 and the sliding hole roller 42 are partially overlapped by the rolling stroke section or the entire rolling stroke section, and the hanging wheel raceway is shortened. The lengths of the rocker arm 3 are relatively shortened when the telescopic distance is equal, and the rocker arm 3 and the working head 2 are shortened to damage the force arm of the body 7.

 The hanging wheel bracket 36 may also be connected to the body 7 through a rotating structure or the like.

Others are the same as in the first embodiment.

Example 12

 As shown in FIG. 24, the rocker arm rolling friction telescopic mining machine or the loader shown in the embodiment 12 is different from the first embodiment in that: the rocker arm 3 is hinged to the body 7, and the hinge portion is provided with a rotation limit. The position structure 45 or the like, the rotation limit limiting structure 45 forms the rocker arm 3 with an inclination angle or the like with respect to the ground, the inclination angle causes the working head 2 not to collide with the blade 22, and the inclination angle extends the working head 2 at the rocker arm 3. When the upper part of the blade 22 is used, the material of the front head 22 of the working head 2 is mined, milled, loaded or broken.

 The rocker arm 3 and the body 7 can also be connected by a rotating structure.

 Others are the same as in the first embodiment.

Example 13

As shown in FIG. 25, the rocker rolling friction telescopic mining machine or the loader shown in Embodiment 13 is different from Embodiment 1 in that the body 7 includes a shovel frame 25 and the like, and a shovel frame of the lower portion of the rocker arm 3. 25 is provided with a shovel frame limiting bracket 46, etc., and the shovel frame limiting bracket 46 holds the telescopic support arm 10 when the rocker arm 3 and the working head 2 fall to collide with the shovel to prevent shaking. The arm 3 and the working head 2 fall and collide with the blade 22.

 Others are the same as in the first embodiment.

Example 14

 As shown in FIGS. 26 to 29, the rocker rolling frictional excavation machine or the loader shown in the embodiment 14 is different from the first embodiment in that the telescopic arm 9 is disposed in the telescopic support arm 10, around the telescopic arm 9. Two or more rows of rolling elements 4 and the like are provided, one end of the telescopic arm 9 is connected to the telescopic control member 5, etc., the telescopic arm 9 is expanded and contracted under the support of the rolling element 4, the telescopic arm 9 supports an impact head, etc., and the telescopic support arm 10 passes through the limit hinge shaft. 60 is hinged to the shovel frame 25 and the like.

 As shown in Fig. 28, both the telescopic arm 9 and the extension and contraction support arm 10 described above may have a circular structure.

 As shown in Fig. 29, the above-mentioned telescopic arm 9 and the telescopic support arm 10 may each have a square structure, and the telescopic arm 9 and the telescopic support arm 10 may also have other forms of structure. Book

 Others are the same as in the first embodiment.

Example 15

 As shown in Fig. 30, the rocker rolling frictional excavation machine or the loader shown in the fifteenth embodiment differs from the first embodiment in that the telescopic support arm 10 includes a recirculating race 47 and the like, and a rolling is provided in the recirculating race 47. The body 4 or the like, the rolling elements 4 roll in the circulating race 47, and the rolling elements 4 support the movement of the telescopic arms 9.

 The telescopic arm 9 may also include a circulating race 47 or the like, and a rolling body 4 or the like is disposed in the circulating race 47, and the rolling body 4 rolls in the circulating race 47.

 Others are the same as in the first embodiment.

Example 16

 As shown in FIG. 31, the rocker rolling friction telescopic mining machine or the loader shown in the embodiment 16 is different from the first embodiment in that: the telescopic arm 9 includes a telescopic member 49, a work head bracket 48, and the like, and the telescopic member 49 is disposed. On the telescopic support arm 10 or the like, a bearing or the like is disposed on the telescopic member 49 or the telescopic support arm 10. The rolling element 4 includes a waist drum 50 and the like, the bearing supports the lumbar drum 50, and the like, and the telescopic member 49 is supported by the waist drum 50 for rolling friction expansion and contraction. The telescopic member 49 is connected to the working head bracket 48, etc., and the telescopic support arm 10 is hinged to the shovel frame 25 or the body frame 24 through the limiting hinge shaft 60, and the telescopic control member 5 is hinged at the shovel frame 25 or the body frame. 24 or telescopic support arm 10, the other end is connected with the telescopic member 49, and the telescopic control member 5 controls the telescopic arm 9 to roll and contract by the rolling body 4.

 Others are the same as in the first embodiment.

Example 17

As shown in FIG. 32 to FIG. 34, the rocker arm rolling friction telescopic mining machine or loader shown in Embodiment 17 is implemented and implemented. The difference of the example 1 is that the tumbler 12 includes a molar, a toothed cylinder 51, and the like, and the length of the center line of the toothed tooth tip to the toothed cylinder 51 is larger than the radius of the toothed cylinder 51 to facilitate the drawing of the material.

 The tumbler 12 is driven by a tumble driving mechanism 21, and the tumbler driving mechanism 21 includes a motor or a motor, etc., and a motor or a motor or the like is disposed in the caulking cylinder 51 or the crowning cylinder 51.

 As shown in Fig. 32, the shape of the molars is a hammerhead shape 52; as shown in Fig. 33, the shape of the molars is an axe shape 53; as shown in Fig. 34, the shape of the molars The shape of the molars 54; the shape of the molars may also be a skull shape or a tooth shape or a skull shape or a combination of shapes.

 Others are the same as in the first embodiment. Say

Example 18

 As shown in FIG. 35, the rocker rolling book friction telescopic mining machine or the loader shown in the embodiment 18 is different from the first embodiment in that: the telescopic support arm 10 and the body 3 are connected by a rotating structure 59, and the telescopic control member 5 includes a working head left and right movement control member 61, a working head front and rear movement control member 55, and the like. When one end of the working head left and right movement control member 61 is disposed on the body 7, the other end is disposed on the telescopic arm 9 or on the telescopic support arm 10. When the working head 2 left and right movement control member 61 is disposed on the telescopic support arm 10, the other end is disposed on the telescopic arm 9, and the working head is moved back and forth with the control member 55-end to the body 7 or the body. 7 is connected by the rotating structure 59, and the other end is connected with the telescopic arm 9. The left and right movement control members 61 of the working head 2 drive the rocker arm 3 to move left and right to increase the dip range.

 Others are the same as in the first embodiment.

Example 19

 As shown in FIG. 36, the rocker rolling friction telescopic mining machine or the loader shown in the embodiment 19 is different from the first embodiment in that the body 7 includes a rotating disk 56 and the like, and the telescopic control member 5 - end and the rotating disk 56 hinged, the other end is connected with the rocker arm 3, the rocker arm 3 - end is hinged to the rotary disk 56, the other end is provided with the working head 2, etc., the telescopic control member 5 drives the rocker arm 3 and the like to expand and contract, and the rocker arm 3 passes through the rotating disk 56. Move left and right to increase the range of dips. The telescopic control member 5 - end may also be connected to the rotary disk 56 via a rotating structure or the like.

 Others are the same as in the first embodiment.

Example 20

As shown in FIG. 37 to FIG. 39, the rocker arm rolling friction telescopic mining machine or the loader shown in the embodiment 20 is different from the first embodiment in that the rocker arm 3 or the body 7 includes a left and right movement control member 61 and the like. The telescopic arm 9 includes a telescopic section 63, a supporting working head section 62, and the like. The telescopic section 63 is hinged to the supporting working head section 62. The hinge shaft 60 is disposed perpendicular to the ground, and the telescopic control member 5-end is connected to the fuselage 7 through the rotating structure 59. The other end is connected to the telescopic section 63, etc., and the left and right movement control member 61 is end-passed. The rotating structure 59 is connected to the fuselage 7 or connected to the telescopic support arm 10 or connected to the telescopic section 63, and the other end is connected to the supporting working head section 62. The left and right movement control member 61 drives the supporting working head section 62 to move left and right, and the left and right movement control The member 61 drives the working head 2 support member to move left and right.

 The telescopic control member 5 - end may also be connected to the telescopic support arm 10, and the other end may be connected to the telescopic section 63 or the like. Others are the same as in the first embodiment.

Example 21

 As shown in FIG. 40 to FIG. 41, the rocker rolling friction telescopic mining machine or the loader shown in the embodiment 21 is different from the first embodiment in that the front roller 14 includes a fixed wheel 66 and the like, and the rear roller 15 includes a walking. The wheel and the like, the front roller raceway 17 includes a fixed wheel raceway 64 and the like, the rear roller raceway 16 includes a traveling wheel raceway 65, etc., and the fixed wheel raceway 64 is connected to the telescopic arm 9 separately or in an integrated manner, the traveling wheel raceway 65 is connected to the telescopic support arm 10 separately or in one piece, and the front end of the telescopic support arm 10 is set

 Book

The fixed wheel 66 or the like, the fixed wheel 66 rolls in the fixed wheel race 64, the traveling wheel rolls in the traveling wheel raceway 65, the traveling wheel is fixed at the rear of the telescopic arm 9, and the fixed wheel raceway 64 is parallel to the traveling wheel raceway 65. The fixed wheel 66 is overlapped with the partial rolling stroke section or the entire rolling stroke section of the traveling wheel, and the length of the fixed wheel raceway 64 and the traveling wheel raceway 65 is shortened, and the length of the rocker arm 3 is reduced by the same expansion and contraction distance. The height of the rocker arm, reduce the arm of the rocker arm and twist the arm of the fuselage.

 Others are the same as in the first embodiment.

Example 22

 As shown in Fig. 42 to Fig. 43, the rocker arm rolling friction telescopic mining machine or the loader shown in the embodiment 22 is different from the first embodiment in that the fixed wheel race 64 includes a fixed wheel groove 68 and the like, and the telescopic arm 9 Including the rolling telescopic arm 67 and the like, the telescopic support arm 10 includes a tumbler telescopic support arm 69 and the like, and the fixed wheel groove 68 is connected to the tumbler telescopic arm 67 separately or in an integrated manner, and the telescopic support arm 10 is provided with a traveling wheel raceway 65. The rear roller 15 includes a slide roller roller 42 and the like. The traveling wheel raceway 65 includes a slide hole rolling groove 43 and the like. The slide hole roller 42 rolls in the slide hole rolling groove 43, and the slide hole roller 42 is fixed to the roll expansion and contraction arm 67. The fixed wheel groove 68 is arranged in parallel with the sliding hole groove 43. When the large piece of material lifts the rolling telescopic arm 67, the fixed wheel groove 68 lifts the fixed wheel 66 to pull up the rolling telescopic support arm 69, and slides. The hole roller 42 and the fixed wheel 66 support and pull the roll telescopic arm 67 to expand and contract.

 The outer surface of the front roller 14 is provided with a concave surface or a convex surface 70. When the outer surface of the front roller 14 is provided with a concave surface, the front roller raceway 17 is correspondingly provided with a convex surface 70 corresponding to the concave surface of the front roller 14 to the telescopic arm. 9 Rolling guide, when the outer surface of the front roller 14 is provided with a convex surface 70, the front roller raceway 17 is correspondingly provided with a concave surface facing the convex surface 70 of the front roller 14 for rolling guidance.

The rolling body 4 is disposed between the telescopic arm 9 and the telescopic support arm 10 to form a rolling guide device, etc. The guard member 71 includes a guard 71 or the like for preventing mud, water, dust or material from entering the inside of the rolling guide, and the guard 71 is connected to the fixed wheel groove 68 in a separate manner or in a unitary structure.

 Others are the same as in the first embodiment.

Example 23

 As shown in FIG. 44, the rocker rolling friction telescopic mining machine or the loader shown in Embodiment 23 is different from Embodiment 1 in that the rocker arm 3 and the body 7 are hinged by the rotation limit hinge shaft 60. The hinge or rotary joint is provided with a rotation stop limit structure 45, etc., and the rotation limit limiting structure 45 includes a rotation limit stop 76, a fuselage rotation stop 77, and the like, and the rotation limit stop 76 rotates around the rotating structure 59 or When the rotation limit stop 76 rotates to the telescopic support arm 10 and the work head 2 is about to collide with the blade 22, the body stop pad 77 and the rotation limit stop 76 are tightly attached to each other. The rotary table 77 blocks the rotation limit stop 76 from continuing to rotate, and restricts the rocker arm 3 from continuing to fall by restricting the rotation angle of the rocker arm 3, so that the rocker arm 3 and the work head 2 and the blade 22 always maintain a reasonable safety clearance.

 The rocker arm 3 and the body 7 can also be connected by a rotating structure or the like.

 Others are the same as in the first embodiment.

Example 24

 As shown in Fig. 45, the rocker rolling friction telescopic mining machine or the loader shown in the twenty-fourth embodiment is different from the first embodiment in that the shovel frame limiting bracket 46 is provided with a cushioning member 72 and the like, and a cushioning member. 72 absorbs the impact force when the rocker arm 3 falls. The cushioning member 72 includes a rubber cushion or a spring cushion or a polyurethane cushion or a nylon cushion or a polymer material cushion.

 A buffer member or the like may also be disposed on the rocker arm 3.

 Others are the same as in the first embodiment.

Example 25

 As shown in FIG. 46 to FIG. 48, the rocker rolling friction telescopic mining machine or the loader shown in the embodiment 25 is different from the first embodiment in that: as shown in FIG. 46, it is a ball-and-ball type 73 rotating structure. As shown in FIG. 47, it is an arc-shaped buckle groove type 74 rotating structure; as shown in FIG. 48, it is a rotating structure of the universal joint coupling head 75; the rotating structure can also be a flexible universal joint joint head, 10,000 Structures such as joint bearing joints, joint bearing joints, and/or ball joints.

 Others are the same as in the first embodiment.

Example 26

As shown in FIG. 49 to FIG. 51, the rocker rolling friction telescopic mining machine or the loader shown in Embodiment 26 is different from Embodiment 1 in that the body 7 includes a rotating disk 56 and the like, and the rotating disk 56 includes a rotating inner disk. 81. Rotating the outer disk 82 and the like, the rotating inner disk 81 rotates relative to the rotating outer disk 82, and rotates the outer disk 82 relative to the rotation when the rotating inner disk 81 or the like is fixed to the body 7. The inner disk 81 rotates, and when the outer disk 82 or the like is fixed to the body 7, the inner disk 81 rotates relative to the outer disk 82, and the rocker arm 3 is connected to the rotating inner disk 81 or to the rotating outer disk 82 and the like. 7 includes a rotary disk rotation control member 79 or the like, the rotary disk rotation control member 79 drives the rotary inner disk 81 to rotate or drives the rotary outer disk 82 to rotate, and the like, and the telescopic arm control member 78 is connected to the rotating rotary inner disk 81 or to rotate the rotary outer disk 82. The other end is connected to the telescopic arm 9, the rocker arm 3 rotates with the rotary disk 56, etc., to increase the mining and/or loading range, and the telescopic arm control member 78 controls the telescopic arm 9 to expand and contract by rolling friction.

 The rotary disk rotation control member 79 may be a telescopic cylinder or a gear and a rack or a rope and a rope reel or a telescopic cylinder or

 Say

Sprocket and chain.

 Others are the same as in the first embodiment.

Embodiment 27 As shown in FIG. 52, the rocker rolling friction telescopic mining machine or the loader shown in Embodiment 27 is different from Embodiment 1 in that: the body 7 includes a rocker lifting controller 80, etc., a rocker arm The lifting controller 80 controls the rocker arm 3 to move up and down. The rocker arm lifting controller 80 can be a lifting cylinder or a gear and a rack or a rope and a rope reel or a lifting cylinder or a sprocket and a chain.

 Others are the same as in the first embodiment.

Claims

Claim 1. A rocker rolling friction stretching method, which is achieved by the following steps: First step: setting a rocker arm, providing a telescopic arm, a telescopic support arm on the rocker arm, and setting the rolling body on the telescopic arm and telescopic Between the support arms or the rolling bodies are arranged on the fuselage or the rolling bodies are arranged on the telescopic support arms or the rolling bodies are arranged on the telescopic arms;  Step 2: Set the telescopic control member, connect one end of the telescopic control member to the fuselage or connect one end of the telescopic control member to the telescopic support arm, and connect the other end of the telescopic control member to the telescopic arm to connect the telescopic support arm to the fuselage , the telescopic control member controls the telescopic arm to expand and contract, and the telescopic arm is frictionally moved by the rolling body;  The third step: setting the working head, and setting the working head on the telescopic arm;  The fourth step: setting the working head driving mechanism, so that the working head driving mechanism drives the working head to extract or load;  Step 5: Set the fuselage, set the walking device in the lower part of the fuselage, and the walking device drives the whole machine to walk.  2. The method of rolling arm friction and expansion of a rocker arm according to claim 1, which is achieved by the following steps: Step 1: Set the rocker arm as a roll rocker arm, and set the work head to roll. The rolling drive mechanism is arranged such that the telescopic control member controls the rolling rocker arm to roll and rub by the rolling body, and the rolling driving mechanism is arranged on the rolling rocker arm or on the body, and the rolling and rolling rocker arms are hinged ;  The second step: setting the conveying device, the feeding device is arranged on the fuselage frame, so that the conveying device transfers the material to be rolled, and the conveying device is connected with the fuselage frame separately or in an integrated structure.  The third step: setting the rotation limit structure at the hinge of the telescopic support arm and the fuselage, so that the rolling drive mechanism drives the rolling and rolling material, and the rolling is difficult to immediately pick up the material when encountering high materials and/or large materials. When entering the conveying device, the material will be lifted, and the material will be thrown into the conveying device and then rolled by its own weight, so that the rotation limit structure limits the position where the rolling rocker falls, so that the rolling does not fall. Collision of the shovel and/or the conveying device;  3 . The method according to claim 1 , wherein the method is implemented by the following steps: Step 1: providing a blade on the body, and setting the rocker arm on the front end of the blade; Step 2: Place the rolling element between the rocker arm and the shovel. The rolling element is mounted on the rocker arm or mounted on the shovel. The rolling body includes the supporting wheel. When the supporting wheel is placed on the rocker arm, the supporting wheel shovel along the shovel The roller on the upper part of the roller is rolled or rolled along the blade. When the roller is set on the blade, the roller rotates along the lower roller of the rocker arm or the lower part of the rocker arm, and the rolling body supports the telescopic arm to roll and rub the movement; Three steps: Set the blade controller so that the blade controller controls the blade to move up and down and/or left and right, so that the rocker can drive the roller to move up and down and/or left and right with the blade to prevent separate control of the blade or the rolling motion. The material is clamped between the shovel and the shovel or the shovel and the shovel. Claim 4. A method of rocker rolling friction expansion according to claim 1, the method comprising the following features:  Set the hanging wheel raceway and the sliding hole rolling groove, so that the hanging wheel raceway is arranged in parallel along the direction of the sliding hole rolling groove, and the hanging wheel raceway is fastened on the hanging wheel bracket, so that the sliding hole rolling groove and the hanging wheel rolling portion are Or all of the overlap, the groove roller and the part of the rolling stroke of the slide roller overlap or all the rolling strokes, shorten the length of the groove before and after the groove and the sliding groove, and reduce the length of the rocker under the same expansion and contraction distance , shorten the working arm to twist the body arm.  5. A rocker rolling friction retractable mining machine or loader for implementing the method of rocker rolling friction expansion and contraction according to claim 1, wherein: the rocker rolling friction telescopic mining machine or loader comprises a rocker arm and a machine Body, rolling body, telescopic control member, working head, working head driving mechanism, rocker arm including telescopic arm, telescopic support arm, rolling body disposed between the telescopic arm and the telescopic support arm or disposed on the fuselage or disposed on the telescopic support arm Or on the telescopic arm, one end of the telescopic control member is connected with the fuselage or one end of the telescopic control member is connected with the telescopic support arm, the other end of the telescopic control member is connected with the telescopic arm, the rocker arm is connected with the air body, and the telescopic control member controls the telescopic arm The telescopic arm is moved by rolling friction of the rolling body, the working head is arranged on the telescopic arm, the working head driving mechanism drives the working head to extract and/or load, the body comprises a walking device, and the walking device drives the whole machine to walk. 6. The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein: the working head comprises a rolling or reciprocating impact head or a bucket or a bucket or a pick roller or a crushing head or The reciprocating impact head is combined with a bucket or a combination of a roll and a bucket or a combination of a roll and a reciprocating impact head.  The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein: the rolling body comprises a front roller and a rear roller, and the rocker arm comprises a roller raceway, a telescopic arm, and a telescopic support arm. The telescopic support arm is connected to the fuselage, the roller raceway is arranged on the telescopic arm or on the telescopic support arm, the front roller and the rear roller are arranged to roll in the roller raceway, and the front roller and the rear roller cooperate with the rolling friction support telescopic arm to expand and contract Rolling friction on the support arm.  8. The rocker rolling friction telescopic mining machine or loader according to claim 7, wherein: the roller raceway comprises a front roller raceway and a rear roller raceway, and the front roller raceway is disposed on the telescopic arm. The rear roller raceway is disposed on the telescopic support arm, the front roller raceway is arranged in parallel with the rear roller raceway, the front roller rolls in the front roller raceway, the rear roller rolls in the rear roller raceway, and the front roller and the rear roller cooperate to pass the rolling The friction support telescopic arm is frictionally stretched and contracted on the telescopic support arm.  9. The rocker rolling friction telescopic mining machine or loader according to claim 8, wherein: the front roller raceway is disposed on the telescopic support arm, and the rear roller raceway is disposed on the telescopic arm or disposed on On the fuselage.  10. The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein: the telescopic arm and the telescopic support arm are separately or separately connected or integrated. 11. The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein: the working head comprises a roller, the working head driving mechanism comprises a roller driving mechanism, and the rocking arm comprises a rolling rocker arm , the telescopic control member includes a roll extension The shrinking control member of the claim, the rolling rocker arm is hinged to the body or coupled to the body through a rotating structure, and one end of the rolling telescopic control member is hinged to the body or coupled to the body through a rotating structure, and the other end is connected to the telescopic arm. The rolling elements are arranged on the rolling rocker arm or on the fuselage or on the rolling telescopic control member or on the shovel plate, the rolling body supports the rolling rocker arm, and the rolling telescopic control member controls the rolling rocker arm rolling Friction movement, the rolling drive mechanism is arranged on the rolling rocker arm or arranged on the fuselage, the rolling and rolling rocker arms are hinged, the body comprises a conveying device, the rolling drive mechanism drives the rolling rolling material, and the rolling is carried out When it is difficult to immediately pull the material into the conveying device when the high-rise material and/or the bulk material is encountered, the material will be lifted by the rolling device, and the material is thrown into the conveying device and then rolled by its own weight.  The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein the body comprises a blade, a blade controller, a blade frame, a fuselage frame, and the rocker arm is disposed at In front of the upper part of the shovel, the rocker arm or the shovel frame comprises a roller groove, and the roller groove comprises a rolling body stroke section. When the rolling element is arranged on the rocker arm, the rolling body rolls along the rolling body stroke section on the shovel frame, when the rolling body is set On the shovel frame, the rolling elements roll along the rolling body strokes of the lower part of the rocker arm, and the rolling elements support the rocker arm to move. The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein: the body comprises a rocker arm lifting control member, and one end of the rocker arm lifting control member is fixed on the body, and is shaken The other end of the arm lifting control member is provided with a rolling body, the rolling body supports the rocker arm, and the rocker arm lifting and lowering control member drives the rocker arm to move on the rolling body by rolling friction.  The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein: the body and/or the rocker arm comprise a baffle device, and the baffle device comprises a plate unloading device or Fork discharge device or brush discharge device. 15. A rocker rolling friction telescopic mining machine or loader according to claim 5, wherein: said rolling bodies comprise rollers or balls or rollers or drums or needles or multi-directional wheels or linear bearings.  16. A rocker rolling friction telescopic mining machine or loader according to claim 15, wherein: said roller comprises a roller or a waist drum or a multi-directional wheel.  17. The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein the rolling bodies comprise alloy steel rolling bodies or ordinary steel rolling bodies or polymer material rolling bodies or rubber rolling bodies or Ceramic rolling elements. The rocker rolling friction telescopic mining machine or loader according to claim 5 or 12, wherein: the blade controller is disposed at an upper portion of the fuselage, and the body includes a blade controller bracket, a blade One end of the controller is hinged on the blade controller bracket or connected to the blade controller bracket through the rotating structure, and the other end is connected to the blade rack. The blade controller bracket is disposed on the upper part of the fuselage, and the blade rack is connected with the fuselage frame. Located at the lower part of the fuselage, the shovel controller bracket at the upper part of the fuselage is at a greater distance from the shovel frame to the hinge of the fuselage frame than the shovel controller is disposed at the lower part of the fuselage frame. The length of the hinge of the fuselage frame, lengthening the blade lifting arm, the blade controller driving the blade frame, the blade frame driving the blade lifting, reducing power consumption and the number of blade controllers. Claim The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein the body comprises a blade frame, the telescopic support arm comprises a lifting roller groove, the rolling body comprises a roller, and the roller comprises an outer wheel and an axle. The outer wheel and the axle are connected or integrated, the outer wheel is arranged on the axle, the axle is fixed on the telescopic arm, the outer wheel is arranged in the lifting roller groove, one end of the telescopic support arm is hinged with the fuselage or connected with the fuselage through the rotating structure, the roller Rolling along the lifting groove, the rocker telescopic control member drives the telescopic arm to move telescopically, the telescopic arm drives the roller to move, the roller supports the telescopic arm to roll and rub, and the roller and the lifting roller slot buckle to drive the telescopic support arm to rotate and lift.  20. The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein the body comprises a shovel frame, a fuselage frame, the shovel frame or the fuselage frame comprises an anti-swaying groove groove The rolling body includes an anti-swing rolling body, and the anti-swinging rolling body is disposed in the anti-swing rolling groove, and the anti-swinging rolling body on the telescopic arm is buckled to roll in the anti-swing rolling groove, and the anti-swinging rolling body is straight in the anti-swing rolling groove The reciprocating rolling support supports the telescopic arm rolling friction expansion and contraction, and the anti-swing rolling body limits the non-directional swing of the rocker arm to the left and right.  The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein the rolling body comprises a hanging wheel, the telescopic arm comprises a hanging wheel bracket, the telescopic support arm comprises a hanging wheel bracket, and the hanging The wheel tray frame comprises a hanging wheel groove, one end of the hanging wheel bracket is hinged to the fuselage or connected to the fuselage through a rotating structure, the hanging wheel is buckled and rolled in the hanging wheel groove, the hanging wheel is fixed on the hanging wheel bracket, the rocker arm telescopic control part The driving wheel tray is moved, and the hanging wheel frame is rolled and rubbed under the support of the hanging wheel.  The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein: the telescopic arm comprises a hanging wheel bracket, the telescopic support arm comprises a hanging wheel bracket, and the hanging wheel bracket comprises a hanging wheel The trough, the hanging wheel bracket is hinged to the fuselage or connected to the fuselage through a rotating structure, the front end of the hanging wheel bracket is provided with a hanging wheel, the hanging wheel is arranged in the hanging wheel slot, the hanging wheel groove comprises a hanging wheel raceway, and the hanging wheel bracket is arranged to slide Hole rolling groove, sliding hole roller is arranged in the sliding hole groove, the sliding hole roller is fixed at the rear of the hanging wheel frame, the hanging wheel rolling track is arranged in parallel with the sliding hole rolling groove, the sliding hole roller and the hanging wheel support and pull the rocker arm Lift and keep the rocker arm and the working head at a certain distance and clearance from the blade when moving.  The rocker rolling friction telescopic mining machine or loader according to claim 22, wherein: the hanging wheel raceway is arranged in parallel with the sliding hole rolling groove, and the hanging wheel rolling track is arranged along the sliding hole rolling groove direction. And the hanging wheel raceway is disposed on the upper part of the hanging wheel bracket or fastened on the hanging wheel bracket, the sliding hole rolling groove and the hanging wheel raceway partially or completely overlap, the rolling groove section of the hanging groove roller and the sliding hole roller or all rolling The stroke sections are coincident, and the lengths of the hanging wheel raceway and the sliding hole rolling groove are shortened. The length of the rocking arm is relatively shortened, and the length of the working head is shortened to damage the arm of the body. 24. The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein: the rocker arm is hinged to the fuselage by a rotation limit hinge shaft or connected by a rotating structure, and its hinge or rotation The connection is provided with a rotation limit structure, the rotation limit structure includes a rotation limit table, a fuselage rotation table, the rotation limit table rotates around the rotation structure or around the limit hinge shaft, and the rotation When the request position rotation table is rotated to the telescopic support arm and the working head is about to collide with the blade, the body rotation table and the rotation limit table are in close contact, and the body rotation table blocks the rotation limit table to continue to rotate. Limiting the angle of rotation of the rocker arm limits the rocker arm to continue to fall, so that the rocker arm and the working head and the blade always maintain a reasonable safety clearance.  The rocker rolling friction telescopic mining machine or loader according to claim 24, wherein: the rotation limit limiting structure causes the rocker arm to form an inclination angle with respect to the ground, the inclination angle causing the working head not to The shovel collides, and the angle of inclination causes the head of the shovel to be mined, milled, loaded or broken when the rocker extends the head to the upper portion of the shovel.  The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein the body comprises a shovel frame, and the shovel frame on the lower part of the rocker arm is provided with a shovel frame limit support. The table, the shovel frame limit table, lifts the telescopic support arm when the rocker arm and the working head fall to collide with the shovel, preventing the rocker arm and the working head from falling and colliding with the shovel.  The rocker arm rolling friction telescopic mining machine or loader according to claim 5, wherein the telescopic arm is disposed in the telescopic support arm, and two or more rows of rolling bodies are disposed around the telescopic arm, and one end of the telescopic arm Connected to the telescopic control member, the telescopic arm is telescoped under the support of the rolling body, the telescopic arm supports the impact head, and the telescopic support arm is hinged to the shovel frame through the limit hinge shaft. The rocker rolling friction telescopic excavator or loader according to claim 5, wherein the telescopic arm or the telescopic support arm comprises a circulating raceway, a rolling body is arranged in the circulating raceway, and the rolling body is in a circulating rolling The road scrolls.  The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein the telescopic arm comprises a telescopic member and a working head bracket, and the telescopic member is disposed on the telescopic support arm, on the telescopic member or The bearing is arranged on the telescopic support arm, the rolling body comprises a waist drum, the bearing supports the waist drum, the telescopic member is supported by the waist drum to support the rolling friction expansion, the telescopic member is connected with the working head bracket, and the telescopic support arm passes the limit hinge shaft and the shovel frame or The fuselage frame is hinged, and one end of the telescopic control member is hinged on the shovel frame or the fuselage frame or the telescopic support arm, and the other end is connected with the telescopic member, and the telescopic control member controls the telescopic arm to roll and contract by the rolling body.  30. The rocker rolling friction telescopic mining machine or loader according to claim 6, wherein the knuckle comprises a dent tooth and a dent tube, and the length of the dent tooth tip to the center line of the dent tube is greater than The radius of the crown.  31. The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein: the telescopic control member comprises a left and right movement control member of the working head, and a front and rear movement control member of the working head, when the working head moves left and right One end of the control member is disposed on the fuselage body and the other end is disposed on the telescopic arm or disposed on the telescopic support arm. When one end of the left and right movement control member of the working head is disposed on the telescopic support arm, the other end is disposed on the telescopic arm, and the working head is front and rear One end of the movement control member is hinged to the fuselage or connected to the fuselage through a rotating structure, and the other end is connected with the telescopic arm, and the left and right movement control members of the working head drive the rocker arm to move left and right to increase the dip range. 32. The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein: the body package The claim includes a rotating disc, one end of which is hinged to the rotating disc or connected to the rotating disc through a rotating structure, and the other end is connected to the rocker arm, one end of the rocker arm is hinged to the rotating disc or the rotating disc is connected through the rotating structure, and the other end is disposed The working head, the telescopic control member drives the rocker arm to expand and contract, and the rocker arm moves left and right through the rotating disk to increase the dip range.  33. The rocker arm rolling friction telescopic mining machine or loader according to claim 5, wherein: the rocker arm or the body comprises a left and right movement control member, the telescopic arm comprises a telescopic section, a supporting working head section, and a telescopic The segment is hinged to the supporting working head section, and the hinge shaft is disposed perpendicular to the ground. One end of the telescopic control member is connected with the rotating body through a rotating structure or connected to the telescopic support arm, and the other end is connected with the telescopic section, and one end of the left and right movement control member passes through the rotating structure and the machine The body is connected or connected with the telescopic support arm or connected to the telescopic section, and the other end is connected with the supporting working head section. The left and right movement control members drive the supporting working head section to move left and right, and the left and right movement control members drive the working head supporting member to move left and right.  34. The rocker rolling friction telescopic mining machine or loader according to claim 6 or 11, wherein: the roller comprises a tooth and a tooth cylinder, and the roller drive mechanism comprises a motor or a motor, or a motor or The motor is placed in the cylinder or outside the cylinder.  35. The rocker rolling friction telescopic mining machine or loader according to claim 7, wherein: the front roller comprises a fixed wheel, the rear roller comprises a walking wheel, and the front roller raceway comprises a fixed wheel raceway, The roller raceway comprises a walking wheel raceway, the fixed wheel raceway is connected with the telescopic arm separately or integrated, the walking wheel raceway and the telescopic support arm are connected separately or integrated, and the fixed wheel is provided at the front end of the telescopic support arm, the fixed wheel Rolling in the fixed wheel raceway, the walking wheel rolls in the raceway of the walking wheel, the walking wheel is fixed at the rear of the telescopic arm, the fixed wheel raceway is arranged parallel to the raceway of the walking wheel, and part of the rolling stroke or the rolling of the fixed wheel and the walking wheel The stroke sections are coincident, shortening the length of the fixed wheel raceway and the front and rear raceway of the walking wheel, the same telescopic distance reduces the length of the rocker arm, reduces the volume height of the rocker arm, and shortens the working arm to twist the force arm that damages the fuselage.  36. The rocker rolling friction telescopic mining machine or loader according to claim 35, wherein: the fixed wheel raceway comprises a fixed wheel groove, the telescopic arm comprises a roll telescopic arm, and the telescopic support arm comprises a roll The telescopic support arm, the fixed wheel groove and the rolling telescopic arm are connected or integrated, the traveling wheel raceway is arranged on the telescopic support arm, the rear roller comprises a sliding hole roller, the traveling wheel raceway comprises a sliding hole rolling groove, and the sliding hole roller Rolling in the sliding hole rolling groove, the sliding hole roller is fixed at the rear of the rolling telescopic arm, and the fixed wheel groove is arranged in parallel with the sliding hole rolling groove. When the large material is lifted by the rolling telescopic arm, the fixed wheel groove is lifted and fixed. The wheel pulls up the rolling telescopic support arm, and the sliding hole roller and the fixed wheel support and pull the rolling telescopic arm to expand and retract.  37. The rocker rolling friction telescopic mining machine or loader according to claim 7, wherein: the outer surface of the front roller is provided with a concave surface or a convex surface, and when the outer surface of the front roller is provided with a concave surface, the front roller raceway is Correspondingly, a convex surface facing the telescopic arm is engaged with the concave surface of the front roller. When the outer surface of the roller is provided with a convex surface, the front roller raceway is correspondingly provided with a concave facing telescopic arm that is engaged with the front roller convex surface. Scrolling guide. 38. The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein: said rolling body The claim is arranged to form a rolling guide between the telescopic arm and the telescopic support arm, the rolling guide comprising a guard to prevent mud, water, dust or material from entering the interior of the rolling guide.  39. The rocker rolling friction telescopic mining machine or loader according to claim 7, wherein: said front roller raceway comprises a U-shaped raceway or a square raceway or a circular raceway or a C-shaped raceway. Or [shaped raceway or H-shaped raceway.  40. The rocker rolling friction telescopic mining machine or loader according to claim 5 or claim 26, wherein: the shovel frame limiting bracket or the rocker arm is provided with a buffering member, and the buffering member absorbs the rocker arm. Impact force when falling.  41. The rocker rolling friction telescopic mining machine or loader according to claim 40, wherein: said cushioning member comprises a rubber cushion or a spring cushion or a polyurethane cushion or a nylon cushion or a polymer material buffer. pad.  42. A rocker rolling friction telescopic mining machine or loader according to claim 30, wherein: said molars are in the shape of a hammer or a skull or like a tooth or a skull or an axe or A skull shape or a combination of shapes.  43. A rocker rolling friction telescopic mining machine or loader according to claim 11, 18, 19, 21, 22, 24, 25, 31, 32 or 33, wherein: said rotating structure comprises a ball head Ball groove type, arc type buckle groove type, flexible universal joint head, universal joint bearing joint, universal joint coupling head, joint bearing coupling head and/or ball type hinge mechanism.  44. The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein: the body comprises a rotating disk, the rotating disk comprises a rotating inner disk, a rotating outer disk, and the rotating inner disk rotates relative to the rotating outer disk. Rotating the outer disk relative to the rotating inner disk when the rotating inner disk is fixed on the body, rotating the inner disk relative to the rotating outer disk when the rotating outer disk is fixed on the body, and connecting one end of the rocking arm with the rotating rotating inner disk or rotating the rotating outer disk Connecting, the body comprises a rotating disc rotation control member, the rotating disc rotation control member drives the rotating inner disc to rotate or drives the rotating outer disc to rotate, and one end of the telescopic arm control member is connected with the rotating rotating inner disc or with the rotating rotating outer disc, and the other end is connected with the telescopic arm Connected, the rocker rotates with the rotating disc, increasing the range of mining or loading.  45. A rocker rolling friction telescopic mining machine or loader according to claim 44, wherein: said rotary disk rotation control member comprises a telescopic cylinder or gear and a rack or rope and a rope reel or telescopic cylinder or Sprocket and chain.  46. The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein: the working head drive mechanism comprises a transmission, and the transmission comprises a gear transmission or a belt transmission or a sprocket transmission. Or sheave drive. 47. The rocker rolling friction telescopic mining machine or loader according to claim 5, wherein: the body comprises a rocker arm lifting controller, and the rocker arm lifting controller controls the rocker arm to move up and down, and the rocker arm is raised and lowered. The controller includes a lift cylinder or gear and rack or rope and rope reel or lift cylinder or sprocket and chain. 48. A rocker rolling friction telescopic mining machine or loader according to claim 44, wherein: said rotating disk comprises a plurality of rotating disks, and said multilayer rotating disk comprises a lower rotating disk and an upper rotating disk. Claims 49. The rocker rolling friction telescopic mining machine or loader according to claim 48, wherein: the lower rotating disk is provided with a rolling rocker arm, and the upper rotating disk is provided with a reciprocating impact head rocker arm, and the lower layer is rotated. The disc drives the rocker arm to rotate left and right and/or up and down. The upper rotating disc drives the reciprocating impact head rocker arm up and down and/or left and right, and the rolling rocker arm cooperates with the reciprocating impact head rocker arm to multi-directional and multi-angle mining and loading materials. .