AU2019382302B2 - A kind of automatic pin shaft disassembly equipment for mine hydraulic support and its applications - Google Patents

A kind of automatic pin shaft disassembly equipment for mine hydraulic support and its applications Download PDF

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Publication number
AU2019382302B2
AU2019382302B2 AU2019382302A AU2019382302A AU2019382302B2 AU 2019382302 B2 AU2019382302 B2 AU 2019382302B2 AU 2019382302 A AU2019382302 A AU 2019382302A AU 2019382302 A AU2019382302 A AU 2019382302A AU 2019382302 B2 AU2019382302 B2 AU 2019382302B2
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Australia
Prior art keywords
pin shaft
control console
stud
hydraulic cylinder
trolley
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AU2019382302A
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AU2019382302A1 (en
Inventor
Kuidong GAO
Zhihai LIU
Zhaosheng MENG
Lirong WAN
Chunxiang YANG
Shuai ZHANG
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Shandong University of Science and Technology
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Shandong University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
    • B23P19/027—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same using hydraulic or pneumatic means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/50—Reuse, recycling or recovery technologies
    • Y02W30/56—Reuse, recycling or recovery technologies of vehicles

Abstract

MM F-**JF)MT ,i l Pit EP i-i (19) 11f i t 11R 11111I||||||||||||| l|I||||| I|| l|||||||||||||||||||||||||||||||||||||11111 Pd 91f, §9 ~ ~(10) N 'T!I W '- TEy (43) Pd? WO 2020/140812 A1 2020 I 7 l 9 H (09.07.2020) WIPOIPCT (51) WP tIJ} : (72) & RA ,: TJIWO(WAN,Lirong); LW J 5$115 B23P19/027(2006.01) B25B 27/02 (2006.01) 515ktkKAh5%1515151557951 Shandong 266590 (21) pg $ -: PCT/CN2019/128335 (CN)o 3K l)(ZHANG, Shuai); + Lb 1 t z rfi T51 l R ff a X 5 1 M5 M1 579 ,Shandong (22) [pd VT, j : 2019 5 12 ] 25 H (25.12.2019) 266590 (CN). - H (MENG, Zhaosheng); +11 (25) FiiP: 95 Ll 3T $ $$ WT 1 i 17 M 579, _,_ Shandong266590 (CN)o rt'15 (GAO,Kuidong); (30) Vt t: 5 579 5,Shandong 266590 (CN)o M i (LIU, 201910665452.4 20194'75123 H (23.07.2019) CN Zhihai); L + 115 1551* i155115 (71) $i A:LiSP 4dA) (SHANDONGUNIVERSITY 5151515795, Shandong 266590 (CN). $7Wt$ OF SCIENCE AND TECHNOLOGY) [CN/CN]; (YANG, Chunxiang); t+LJ '"Ar$ iPRA* LEl 515 N W1 a M 91 Vi * f a x 5 A A5 M5 f X 11n 5795, Shandong 266590 (CN)o 5795, Shandong 266590 (CN)o (74){- A:5rdi~l$ iP Vt$VI pR 'Z i](JINAN JINDI INTELLECTUAL PROPERTY AGENCY CO., LTD); +[dL17T 5 !N 1 if 5) E i M (54) Title: AUTOMATIC MINING HYDRAULIC SUPPORT PIN DISASSEMBLY APPARATUS AND USE THEREOF 7 1 0(57) Abstract: An automatic mining hydraulic support pin disassembly apparatus and ause thereof.The bottom of alifting plaform 02 .. (18) is installed on amovable trolley by means of ascissor lift mechanism. One side of ahydraulic oil tank pin withdrawal apparatus (9) is connected to aholding plate (13), and the hydraulic oil tank pin withdrawal apparatus (9) and the bottom of the holding plae (13) are ~placed onanH-shaped rail(17) bymeans ofelectric rollers(16); abolreplacement apparatus (1) is installed onthe holding plate(13); N1a bofaseing apparaus (5) is connected to arecessed rail (15) disposedonthe holding plate (13) and is driven by amotor A(14); the front endof the hydraulic oilltank pin wihdrawal apparatus (9) is connected10oa pin clamping apparatus (7), and an image recognition 0<

Description

A kind of automatic pin shaft disassembly equipment for mine hydraulic support
and its applications
Technical Field
[0001] The invention is related to a kind of automatic pin shaft disassembly equipment for
mine hydraulic support and its applications, and belongs to the technical field of mining
machinery and equipment.
Background Art
[0002] Any discussion of the prior art throughout the specification should in no way be considered as an admission that such prior art is widely known or forms part of common general knowledge in the field.
[0003] Hydraulic supports, as a kind of essential equipment under the mines, are composed
of top beams, shield beams, tail beams, front and rear connecting rods, baseboards and other components connected by pin shafts. In recent years, hydraulic supports are becoming larger
and larger in size as the underground compound mining equipment develops. Large mining
height hydraulic supports have developed into the main support types for underground use, and the pin shafts used by them are also gradually becoming larger. However, problems are
also growing day by day in the process of pin shaft disassembly with the continuous increase
in the weight and mounting height of the pin shafts, as hydraulic supports need to be broken into components during manufacturing, transportation, and being lowered into the mines to
facilitate transfer.
[0004] Generally, pin shafts are susceptible to rust and may get stuck in the pin holes, becoming difficult to remove finally, if exposed to water and all kinds of dust for a long time, as
the underground conditions are complex and pin shafts on the supports have small fit
clearances. Traditional disassembly methods, such as swinging a hammer to strike the pin shaft, using hand pulling block and gas cutting, are high-intensity, labor-consuming and inefficient. Meanwhile, manual use of hydraulic pin pullers and other tools to disassemble the pin shafts needs tedious preparation and is difficult to operate to some extent, which not only has no help in effectively reducing the disassembly time, but also have larger potential safety hazards as the pin shafts need to be handled manually after disassembly.
[0005] For example, Chinese Patent Document CN108581931A has disclosed a kind of pin
shaft disassembly device for large-scale mine hydraulic supports. It mainly comprises a
pushing sleeve and a pulling sleeve, which are located on the two sides of the hydraulic
support respectively. It can apply an upward force on the pushing sleeve through operating of
the first hydraulic rod, and a downward force on the pulling sleeve through the second
hydraulic rod. As the pushing sleeve and the pulling sleeve are tightly tensioned and
connected through a wire rope and a movable pulley, they can have the two forces interact
with each other to reduce the worker's force on the pushing sleeve to jack up the hydraulic
support effectively and reduce the labor intensity, wherein the movable pulley is used to
tension and connect the two sleeves tightly and save labor. During disassembly, the device not
only pulls the pin shafts through the threaded connecting pole, but also pushes the pin shafts
through the first hydraulic push rod inside the pushing sleeve, thus effectively reducing the
force of the threaded connecting pole to pull the pin shafts and avoiding sliding wire.
[0006] Chinese Patent Document CN207888185U has disclosed a kind of pin shaft
disassembly device for hydraulic support, which comprises a hoist and a pin shaft pulling
device. The hoist includes a hoisting mechanism which connects to the pin shaft pulling
device. The pin shaft pulling device consists of a horizontally disposed pin shaft pulling cylinder
and a pin shaft coupling device. The protruding end of the pin shaft pulling cylinder's piston rod
connects to the pin shaft coupling device. This patent has not only improved the pin shaft
disassembly efficiency and the construction safety, but also reduced the input of manpower
and material resources and saved costs as it adopts hydraulic control and remote operations.
[0007] The two pin shaft disassembly methods as mentioned above have low automation
level, and still need to consume the workers' excessive physical and mental energies, though they have saved manpower, realized mechanically coordinated disassembly operations, and improved the construction safety to some extent.
Description of the Invention
[0008] According to one aspect of the present invention, there is provided a kind of
automatic pin shaft disassembly equipment for mine hydraulic support, which comprises a
trolley, a hydraulic cylinder pin shaft pulling device, a stud fixing device, a stud replacement
device, a lifting platform, a lifting device and a control console;
The lifting platform is installed on the trolley via a scissors mechanism at the bottom,
while on its top is installed an I-shaped track. On one side of the hydraulic cylinder pin shaft
pulling device is connected a supporting plate, and bottoms of both the hydraulic cylinder pin
shaft pulling device and the supporting plate are placed on the I-shaped track through electric
rollers. The stud replacement device is installed on the supporting plate. On one end of the
grooved track arranged on the supporting plate, there is a motor A which drives the stud fixing
device to move along the grooved track through chain transmission.
At the front end of the hydraulic cylinder pin shaft pulling device is connected the pin
shaft clamping device, while at the tail end is installed the image recognition and processing
device. Both the lifting device and the control console are mounted on the trolley and on one
side of the scissors mechanism.
The trolley, the hydraulic cylinder pin shaft pulling device, the stud fixing device, the
stud replacement device, the scissors mechanism, the lifting device, the image recognition and
processing device, the motor A, and the electric rollers are all connected to and controlled by
the control console.
[0009] In view of the shortcomings of the existing technologies, the invention provides a
kind of automatic pin shaft disassembly equipment for mine hydraulic supports. This automatic
disassembly equipment can realize automated and intelligent pin shaft disassembly operations
based on the image recognition and processing technologies, and can also adapt to different types and specifications of pin shafts, thus achieving one machine for multiple purposes and high operation efficiency.
[0010] The invention also provides an operating method for the said automatic pin shaft
disassembly equipment for mine hydraulic supports.
The technical solution of the invention is as follows:
[0011] A kind of automatic pin shaft disassembly equipment for mine hydraulic supports,
which comprises a trolley, a hydraulic cylinder pin shaft pulling device, a stud fixing device, a
stud replacement device, a lifting platform, a lifting device and a control console;
[0012] The lifting platform is installed on the trolley via a scissors mechanism at the bottom,
while on its top is installed an I-shaped track. On one side of the hydraulic cylinder pin shaft
pulling device is connected a supporting plate, and bottoms of both the two are placed on the I
shaped track through electric rollers. The stud replacement device is installed on the
supporting plate. On one end of the grooved track arranged on the supporting plate, there is a
motor A which drives the stud fixing device to move along the grooved track through chain
transmission.
[0013] At the front end of the hydraulic cylinder pin shaft pulling device is connected the pin
shaft clamping device, while at the tail end is installed the image recognition and processing
device. Both the lifting device and the control console are mounted on the trolley and on one
side of the scissors mechanism.
[0014] The trolley, the hydraulic cylinder pin shaft pulling device, the stud fixing device, the
stud replacement device, the scissors mechanism, the lifting device, the image recognition and
processing device, the motor A, and the electric rollers are all connected to and controlled by
the control console.
[0015] According to a preferred embodiment of the invention, on the outer wall of the said
hydraulic cylinder pin shaft pulling device is connected a sleeve which has an opening on one
side and in which the pin shaft clamping device is located. Such a design can ensure that the
pin shafts can go straight into the sleeve upon being pulled out, thus preventing the pin shafts
from dropping accidentally and ensuring the safety of operations.
[0016] According to a preferred embodiment of the invention, the said pin shaft clamping
device comprises micro motors, gears and two L-shaped clamping rods, wherein the micro
motors' output shafts are connected to the gears, while the gears engage with the ends of the
L-shaped clamping rods. The nice thing about this design is that the teeth at the ends of the L
shaped clamping rods can form gear rack drive mechanisms with the gears, so that the two L
shaped clamping rods can move towards or away from each other driven by the micro motor
and the gear, as the ends of the rods are controlled by motor and gear connections
respectively.
[0017] According to a preferred embodiment of the invention, the said lifting platform is
connected with a pin shaft recovery plate on one side. Such a design can make the
disassembled pin shaft roll through the sleeve opening to the pin shaft recovery plate by
gravity automatically as the recovery plate is located just on the opening side of the sleeve.
[0018] According to a preferred embodiment of the invention, on the two sides of the said
trolley, four hydraulic cylinder outriggers connected to and controlled by the control console are
provided.
[0019] According to a preferred embodiment of the invention, the said stud replacement
device comprises a motor B and a disk, with the motor's output shaft connected to the disk. On
the disk, there are several stud clamping devices which are used to clamp the special studs.
The nice thing about this design is that the stud clamping device can clamp different types of
studs, so it is suitable for disassembly of various types of pin shafts.
[0020] According to a preferred embodiment of the invention, the said stud clamping device
consists of two arc-shaped rods and a spring, with the two arc-shaped rods connected to the
disk via shafts and the bottoms of the rods connected by a spring. The nice thing about this
design is that it can clamp the special studs tightly by placing the studs in the two arc-shaped
rods and providing a certain clamping force through the spring.
[0021] According to a preferred embodiment of the invention, the said special stud includes
a screw stem and a tail ring, with the tail ring connected to the end of the screw stem.
[0022] According to a preferred embodiment of the invention, the said stud fixing device
comprises a motor C and a rotating head, with the motor C's output shaft connected to the
rotating head and the rotating head being provided with a groove. The motor C is connected to and controlled by the control console. Such a design can ensure that the tail ring at the end of
the special stud can be inserted into the groove on the rotating head and driven by the motor C
to rotate along with the rotating head so as to tighten or loosen the special stud in the threaded
hole of the pin shaft.
[0023] According to a preferred embodiment of the invention, the said lifting device
comprises a rotating base, the first connecting rod, the second connecting rod, a lifting hook
and a hydraulic lifting cylinder. The first connecting road is installed on the rotating base which
is fixed on the trolley via bolts, while the second connecting rod is connected to the lifting hook
with its front end, and hinged to the top of the first connecting rod with its rear end. The
hydraulic lifting cylinder which is connected to and controlled by the control console is
connected to the first connecting rod with its cylinder barrel and hinged to the bottom of the
second connecting rod with the top of its piston rod. The advantage of such a design lies in
that the second connecting rod can be lifted up or dropped down through the extending and
retracting of the hydraulic lifting cylinder to have the lifting hook lift up or lower down the
hydraulic support parts.
[0024] According to a preferred embodiment of the invention, the image recognition and
processing device uses a CCD camera. Such a design can collect images with a CCD camera and transmit the signals to the control console for identification and processing.
[0025] An operating method of the automatic pin shaft disassembly equipment for mine
hydraulic support, which comprises steps as follows:
[0026] A. Pin shafts with threaded holes
[0027] (1) The trolley moves to the side of the hydraulic support where pin shafts need to be
disassembled under the control of the control console;
[0028] (2) The lifting device is adjusted and used to fix the hydraulic support parts to be
disassembled under the control of the control console;
[0029] (3) The image recognition and processing device is started via the control console to
collect the image information of the current pin shafts to be removed, and upload the
information to the control console;
[0030] (4) Then, the control console adjusts the trolley, the lifting platform, and the
supporting plate automatically for collaborative operations according to the feedback image information, finally aligning the groove at the head of the stud fixing device to the threaded hole
on the pin shaft, and controlling the hydraulic cylinder outriggers to stretch out and fix the
whole equipment;
[0031] (5) The disk at the front end of the stud replacement device rotates under the control
of the control console to align the special stud that matches with the threaded hole of the pin
shaft and that is carried by the stud clamping device to the groove at the head of the stud fixing
device;
[0032] (6) The motor A operates under the control of the control console to have the stud
fixing device travel forward along the grooved track on the supporting plate and enable the
groove at the head of the stud fixing device to be fitted with the tail ring of the special stud;
then, the internal motor C begins to operate, tightening the special stud into the threaded hole
of the pin shaft;
[0033] (7) The stud fixing device travels backward along the grooved track on the
supporting plate and the image recognition and processing device then transmits the image
information of the tightened special stud to the control console;
[0034] (8) The control console readjusts the trolley, the lifting platform, and the supporting
plate for collaborative operations automatically according to the feedback image information,
finally aligning the L-shaped clamping rod at the front end of the hydraulic cylinder pin shaft
pulling device to the tail ring of the special stud;
[0035] (9) Then, the hydraulic cylinder pin shaft pulling device's hydraulic cylinder begins to
work, and the L-shaped clamping rod hooks the tail ring of the special stud to pull and remove
the pin shaft;
[0036] (10) The removed pin shaft enters the sleeve, and rolls from the side opening to the
pin shaft recovery plate under the action of gravity when moving to the opening of the pin
shaft;
[0037] or
[0038] B. Pin shafts without threaded holes
[0039] (1) The trolley moves to the side of the hydraulic support where pin shafts need to be
disassembled under the control of the control console;
[0040] (2) The lifting device is adjusted and used to fix the hydraulic support parts to be
disassembled under the control of the control console;
[0041] (3) The image recognition and processing device is started by the control console to
collect the image information of the current pin shaft to be removed, and upload the
information to the control console;
[0042] (4) Then, the control console adjusts the trolley, the lifting platform, and the
supporting plate for collaborative operations automatically according to the feedback image information, finally aligning the L-shaped clamping rod at the front end of the hydraulic cylinder
pin shaft pulling device to the pin shaft, and controlling the hydraulic cylinder outriggers to
stretch out and fix the whole equipment;
[0043] (5) The hydraulic cylinder of the hydraulic cylinder pin shaft pulling device reaches
out, enabling the front end of the L-shaped clamping rod to drive the pin shaft out for a
distance;
[0044] (6) The hydraulic cylinder outriggers are retracted, and the trolley moves to the
opposite side of the hydraulic support under the control of the control console;
[0045] (7) The image recognition and processing device collects the image information of
the current pin shaft to be disassembled again and uploads the information to the control
console;
[0046] (8) The control console readjusts the trolley, the lifting platform, and the supporting
plate for collaborative operations automatically according to the feedback image information,
finally aligning the L-shaped clamping rod at the front end of the hydraulic cylinder pin shaft
pulling device to the pin shaft, and controlling the hydraulic cylinder outriggers to stretch out
and fix the whole equipment;
[0047] (9) The control console starts up the micro motors to have the two paratactic L
shaped clamping rods spread out, and drive the clamping rods to get to the pin shaft through
the hydraulic cylinder; then, the two L-shaped clamping rods clamp the protruding part of the
pin shaft tightly to pull it out and complete the disassembly;
[0048] (10) The removed pin shaft enters the sleeve, and rolls from the side opening to the
pin shaft recovery plate under the action of gravity when moving to the opening of the pin
shaft;
The beneficial effects of the invention are as follows:
[0049] 1) The automatic pin shaft disassembly equipment for mine hydraulic support in the
invention can replace the traditional manual operations by using a hydraulic cylinder to push
out or pull out the pin shaft, which is more powerful, and can reduce the difficulty in pulling out
the pin shaft, save a plenty of labor force and reduce the safety hazards.
[0050] 2) The invention adopts image recognition technology for intelligent control, which
can reduce the operation difficulty and the technical requirements on operators, and also
improve the positioning accuracy and efficiency through avoiding manual positioning. It can
have the studs installed into threaded holes of the pin shafts automatically through the stud
replacement device and the fixing device, reducing the labor force required.
[0051] 3) The invention can realize the disassembly of multiple pin shafts without stopping
the operation of the equipment through use of the automatic replacement special stud, the
fixing stud and the pin shaft recovery plate jointly, which has greatly improved the overall
disassembly efficiency of pin shafts.
[0052] 4) With the travelling device, the scissors mechanism lifting platform, and the electric
roller under the supporting plate in the invention, the equipment can be used to remove pin
shafts of different positions and heights; with the help of the lifting device, it realizes the integration of lifting, parts disassembly and pin shaft disassembly, and reduces the number of equipment and workers required; the pin shaft recovery plate has spared the manual handling of the disassembled pin shafts through cooperating with the trolley.
[0053] Unless the context clearly requires otherwise, throughout the description and the
claims, the words "comprise", "comprising", and the like are to be construed in an inclusive
sense as opposed to an exclusive or exhaustive sense; that is to say, in the sense of
"including, but not limited to".
Brief Description of the Figures
[0054] Figure 1 is the stereoscopic diagram I of the automatic disassembly equipment in the
invention;
[0055] Figure 2 is the stereoscopic diagram II of the automatic disassembly equipment in
the invention;
[0056] Figure 3 is the front view of the automatic disassembly equipment in the invention;
[0057] Figure 4 is the side view of the automatic disassembly equipment in the invention;
[0058] Figure 5 is the top view of the automatic disassembly equipment in the invention;
[0059] Where: 1- Stud replacement device; 2- Stud clamping device; 3- Motor B; 4- Groove;
- Stud fixing device; 6- Pulley; 7- Pin shaft clamping device; 8- Sleeve; 9- Hydraulic cylinder
pin shaft pulling device; 10- Image recognition and processing device; 11- Opening; 12- Pin
shaft recovery plate; 13- Supporting plate; 14- Motor A; 15- Grooved track; 16- Electric roller;
17- I-shaped track; 18- Lifting platform; 19- Lifting platform hydraulic cylinder; 20- Power
supply; 21- Control console; 22- Lifting device; 23-Travelling device; 24- Hydraulic cylinder
outrigger.
[0060] Detailed Embodiments
[0061] The invention is further described in combination with the attached figures and
embodiments as follows, but is not limited to that.
[0062] Embodiment 1:
[0063] As shown in Figure 1 through Figure 5, the embodiment provides a kind of automatic
pin shaft disassembly equipment for mine hydraulic support, which comprises a trolley, a
hydraulic cylinder pin shaft pulling device 9, a stud fixing device 5, a stud replacement device
1, a lifting platform 18, a lifting device 22, and a control console 21.
[0064] The lifting platform 18 is installed on the trolley via a scissors mechanism at the
bottom, while on its top is installed the I-shaped track 17. The lifting platform 18 is to realize
rising and falling by driving the scissors mechanism to spread out for lifting up or to fold up for
dropping down through the two lifting platform hydraulic cylinders 19. On one side of the
hydraulic cylinder pin shaft pulling device 9 is welded the supporting plate 13, and bottoms of
both the hydraulic cylinder pin shaft pulling device 9 and the supporting plate 13 are placed on
the I-shaped track 17 through electric rollers 16. The stud replacement device 1 is welded on
the supporting plate 13. On one end of the grooved track 15 arranged on the supporting plate
13, there is the motor A 14 which drives the stud fixing device 5 to move back and forth along
the grooved track 15 through chain transmission.
[0065] At the front end of the hydraulic cylinder pin shaft pulling device 9 is connected the
pin shaft clamping device 7, while at the tail end is installed the image recognition and
processing device 10. Both the lifting device 22 and the control console 21 are mounted on the
trolley and on one side of the scissors mechanism.
[0066] The trolley, the hydraulic cylinder pin shaft pulling device 9, the stud fixing device 5,
the stud replacement device 1, the scissors mechanism, the lifting device 22, the image recognition and processing device 10, the motor A 14, and the electric rollers 16 are all connected to and controlled by the control console.
[0067] To be more specific, the trolley is a conventional transport flatbed on which is
installed the control console 21 which is mainly an industrial computer. The trolley's
movements (forward, backward and turn, etc.) are controlled by the control console 21. On the two sides of the trolley are installed four hydraulic cylinder outriggers 24 via bolts to ensure the
stability of the whole equipment during operation. The working process of the four hydraulic
cylinder outriggers 24 is also controlled by the control console 21 (the control console controls the solenoid valves on the hydraulic pipelines, so that the oil in the oil tank enters the hydraulic
cylinder outriggers and makes them work). After the piston rods stretching out to the ground,
the four hydraulic cylinder outriggers 24 can ensure the stability of the whole equipment in the process of disassembly.
[0068] On the outer wall of the hydraulic cylinder pin shaft pulling device 9 is welded a
sleeve 8 which has an opening 11 on one side and in which the pin shaft clamping device 7 is located. The main part of the hydraulic cylinder pin shaft pulling device 9 is a hydraulic cylinder
whose piston rod is welded a pin shaft clamping device 7 at the front end. The pin shaft
clamping device 7 can stretch out or retract in the sleeve 8 driven by the extension and retraction of the piston rod in the hydraulic cylinder.
[0069] In the integral housing of the pin shaft clamping device 7 are provided micro motors, gears and two L-shaped clamping rods. Output shafts of the micro motors are connected to the gears which form two gear rack transmission mechanisms with the teethed ends of the two L
shaped clamping rods respectively. The two gears are driven by the two micro motors simultaneously, that is the gears are driven by the motors to have the two L-shaped clamping
rods move towards or away from each other to realize folding or separating. Through the
retraction of the piston rod of the hydraulic cylinder, the pin shaft clamping device 7 can go straightly into the sleeve 8 carrying the removed pin shaft, thus preventing the pin shaft from
dropping accidentally and ensuring the safety of operations.
[0070] The supporting plate 13 is welded on one side of the hydraulic cylinder pin shaft
pulling device 9. The electric rollers 16 at the bottoms of the two are all electric rollers that
have integrated drive motors which are also connected to and controlled by the control console
21. The electric rollers 16 travel on the I-shaped track 17 via the drive motors under the control
of the control console 21.
[0071] The stud replacement device 1 comprises a motor B3 which is welded on the
supporting plate 13, and a disk which is connected to the motor B3's output shaft at the center.
On the disk, there are seven stud clamping devices 2 which are used to clamp the special
studs. Such stud clamping devices 2 can clamp different types of studs, and thus are suitable
for disassembly of various types of pin shafts.
[0072] Each stud clamping device 2 comprises two arc-shaped rods and a spring. The two
arc-shaped rods are connected to the disk through shafts with the lower halves located in the
notches provided on the disk. The bottoms of the two arc-shaped rods are connected through
a spring which can provide a certain clamping force to clamp the special stud tightly.
[0073] Each special stud comprises a screw stem and a tail ring, with the tail ring connected
to the end of the screw stem. The screw stem and the tail ring may be welded together or one
piece molded.
[0074] The stud fixing device 5 consists of a motor C and a rotating head, with the motor
C's output shaft connected to the rotating head and the front end of the rotating head being
provided with a groove 4 which matches with and can accommodate the tail ring. The motor C
is connected to and controlled by the control console 21. The tail ring at the tail of the special
stud can be inserted into the groove 4 at the front end of the rotating head and driven by the
motor C to rotate along with the rotating head so as to tighten or loosen the special stud in the
threaded hole of the pin shaft. Additionally, the stud fixing device 5 is provided with a pulley 6
at the bottom, and is driven by the motor A 14 to move forward along the grooved track 15 through chain transmission, and screw the special stud into the threaded hole cooperating with the rotating head.
[0075] The lifting device 22 comprises a rotating base, the first connecting rod, the second
connecting rod, a lifting hook and a hydraulic lifting cylinder. The first connecting road is
installed on the rotating base which is fixed on the trolley via bolts, while the second
connecting rod is connected to the lifting hook with its front end, and hinged to the top of the
first connecting rod with its rear end. The hydraulic lifting cylinder which is connected to and
controlled by the control console 21 is connected to the first connecting rod with its cylinder
barrel and hinged to the bottom of the second connecting rod with the top of its piston rod. The
second connecting rod can be lifted up or dropped down through the extending and retracting
of the hydraulic lifting cylinder to have the lifting hook lift up or lower down the hydraulic
support parts. The rotating base is a conventional device with a rotating mechanism driven by
a motor inside, and is also connected to and controlled by the control console 21.
[0076] The image recognition and processing device 10 uses a CCD camera to collect images and transmit the signals to the control console 21 for identification and processing.
[0077] The scissors mechanism used to support the lifting platform 18 is an existing
equipment on the market which drives the hinged linkage mechanism via the lifting platform
hydraulic cylinder 19 to realize folding and lifting, thus driving the lifting platform 18 to lift up or
drop down. The lifting platform hydraulic cylinder 19 is also connected to and controlled by the
control console. The main component of the control console 21 is an industrial computer,
which controls the working process of the oil cylinders, motors and CCD cameras through the
existing circuits, oil lines and acquisition cards.
Embodiment 2:
[0078] A kind of automatic pin shaft disassembly equipment for mine hydraulic support with
the same construction as that described in the Embodiment 1, provided that on one side of the lifting platform 18 is connected a pin shaft recovery plate 12 which is located on the side of the sleeve opening 11 and used to enable the disassembled pin shaft to roll to the pin shaft recovery plate 12 by gravity through the sleeve opening 11.
Embodiment 3:
[0079] An operating method of the automatic pin shaft disassembly equipment for mine
hydraulic support, which uses the technical solution as described in Embodiment 2 and
disassembles the pin shafts with threaded holes following the steps as below:
[0080] (1) The trolley moves to the side of the hydraulic support where pin shafts need to be disassembled under the control of the control console 21;
[0081] (2) The lifting device 22 is adjusted and used to fix the hydraulic support parts to be disassembled under the control of the control console 21 so as to avoid safety accidents
caused by falling parts after the pin shafts being pulled out;
[0082] (3) The CCD camera is started by the control console 21 to collect the image
information of the current pin shafts to be removed, and upload the information to the control
console 21;
[0083] (4) Then, the control console 21 adjusts the trolley, the lifting platform 18, and the
supporting plate 13 automatically for collaborative operations according to the feedback image
information, finally aligning the groove 4 on the rotating head of the stud fixing device 5 to the threaded hole on the pin shaft, and controlling the hydraulic cylinder outriggers 24 to stretch
out and fix the whole equipment;
[0084] (5) The disk at the front end of the stud replacement device 1 is controlled by the control console 21 to rotate and align the special stud that matches with the threaded hole of
the pin shaft and that is carried by the stud clamping device 2 to the groove 4 on the rotating
head of the stud fixing device 5;
[0085] (6) The control console 21 controls the motor A 14 to operate, enabling the stud
fixing device 5 to travel forward along the grooved track 15 on the supporting plate 13 and
enabling the groove 4 on the rotating head of the stud fixing device 5 to be fitted with the tail
ring of the special stud; then, the internal motor C begins to operate, tightening the special stud
into the threaded hole of the pin shaft;
[0086] (7) The stud fixing device 5 travels backward along the grooved track 15 on the
supporting plate 13 and the CCD camera then transmits the image information of the tightened
special stud to the control console 21;
[0087] (8) The control console 21 readjusts the trolley, the lifting platform 18, and the
supporting plate 13 for collaborative operations automatically according to the feedback image information, finally aligning the L-shaped clamping rod at the front end of the hydraulic cylinder
pin shaft pulling device 9 to the tail ring of the special stud;
[0088] (9) Then, the rear hydraulic cylinder of the hydraulic cylinder pin shaft pulling device
9 begins to work, the piston rod of the hydraulic cylinder stretches out, and the L-shaped
clamping rod hooks the tail ring of the special stud to pull and remove the pin shaft through
the retraction of the piston rod.
[0089] (10) The removed pin shaft enters the sleeve 8, and rolls from the side opening 11
to the pin shaft recovery plate 12 under the action of gravity when moving to the opening of the
pin shaft;
Embodiment 4:
[0090] An operating method of the automatic pin shaft disassembly equipment for mine
hydraulic support, which uses the technical solution as described in Embodiment 2 and
disassembles the pin shafts without threaded holes following the steps as below:
[0091] (1) The trolley moves to the side of the hydraulic support where pin shafts need to be
disassembled under the control of the control console 21;
[0092] (2) The lifting device 22 is adjusted and used to fix the hydraulic support parts to be
disassembled with the hook under the control of the control console 21 so as to avoid safety
accidents caused by falling parts after the pin shafts being pulled out;
[0093] (3) The CCD camera is started by the control console 21 to collect the image
information of the current pin shafts to be removed, and upload the information to the control
console 21;
[0094] (4) Then, the control console 21 adjusts the trolley, the lifting platform 18, and the
supporting plate 13 for collaborative operations automatically according to the feedback image
information, finally aligning the L-shaped clamping rod at the front end of the hydraulic cylinder
pin shaft pulling device 9 to the pin shaft to be disassembled, and controlling the hydraulic
cylinder outriggers 24 to stretch out and fix the whole equipment;
[0095] (5) The rear hydraulic cylinder piston rod of the hydraulic cylinder pin shaft pulling
device 9 reaches out, enabling the front end of the L-shaped clamping rod to drive the pin shaft
out for a distance;
[0096] (6) The hydraulic cylinder outriggers 24 are retracted, and the trolley moves to the
opposite side of the hydraulic support under the control of the control console 21;
[0097] (7) The CCD camera collects the image information of the current pin shaft to be
disassembled again and uploads the information to the control console 21;
[0098] (8) The control console 21 readjusts the trolley, the lifting platform 18, and the
supporting plate 13 for collaborative operations automatically according to the feedback image
information, finally aligning the L-shaped clamping rod at the front end of the hydraulic cylinder pin shaft pulling device 9 to the pin shaft, and controlling the hydraulic cylinder outriggers 24 to stretch out and fix the whole equipment;
[0099] (9) The control console 21 starts up the micro motors to have the two paratactic L
shaped clamping rods to spread out, and drive the clamping rods to get to the pin shaft
through the hydraulic cylinder; then, the two L-shaped clamping rods clamp the protruding part
of the pin shaft (there is a protruding part around the end of the pin shaft) tightly to pull it out
and complete the disassembly;
[00100] (10) The removed pin shaft enters the sleeve 8, and rolls from the side opening 11
of the sleeve 8 to the pin shaft recovery plate 12 under the action of gravity when moving to
the opening;

Claims (10)

  1. Claims 1. A kind of automatic pin shaft disassembly equipment for mine hydraulic support,
    which comprises a trolley, a hydraulic cylinder pin shaft pulling device, a stud fixing device, a
    stud replacement device, a lifting platform, a lifting device and a control console;
    the lifting platform is installed on the trolley via a scissors mechanism at the bottom,
    while on its top is installed an I-shaped track, on one side of the hydraulic cylinder pin shaft
    pulling device is connected a supporting plate, and bottoms of both the hydraulic cylinder pin
    shaft pulling device and the supporting plate are placed on the I-shaped track through electric
    rollers, the , the supporting plate includes a grooved track arranged on one end thereof, a motor A drives the stud fixing device to move along the grooved track through a chain
    transmission,
    at the front end of the hydraulic cylinder pin shaft pulling device is connected the pin
    shaft clamping device, while at the tail end is installed the image recognition and processing
    device both the lifting device and the control console are mounted on the trolley and on one
    side of the scissors mechanism,
    the trolley, the hydraulic cylinder pin shaft pulling device, the stud fixing device, the stud
    replacement device, the scissors mechanism, the lifting device, the image recognition and
    processing device, the motor A, and the electric rollers are all connected to and controlled by
    the control console.
  2. 2. A kind of automatic pin shaft disassembly equipment for mine hydraulic support as
    described in Claim 1, wherein on the outer wall of the hydraulic cylinder pin shaft pulling device
    is welded a sleeve which has an opening on one side and in which the pin shaft clamping
    device is located.
  3. 3. A kind of automatic pin shaft disassembly equipment for mine hydraulic support as
    described in Claim 1, wherein said pin shaft clamping device comprises micro motors, gears and two L-shaped clamping rods, wherein the micro motors' output shafts are connected to the gears, while the gears engage with the ends of the L-shaped clamping rods.
  4. 4. A kind of automatic pin shaft disassembly equipment for mine hydraulic support as
    described in Claim 1, wherein said lifting platform is connected with a pin shaft recovery plate
    on one side; on the two sides of the said trolley, four hydraulic cylinder outriggers connected to
    and controlled by the control console are provided.
  5. 5. A kind of automatic pin shaft disassembly equipment for mine hydraulic support as
    described in Claim 1, wherein said stud replacement device comprises a motor B and a disk,
    with the motor's output shaft connected to the disk; on the disk, there are several stud
    clamping devices which are used to clamp the special studs.
  6. 6. A kind of automatic pin shaft disassembly equipment for mine hydraulic support as
    described in Claim 5, wherein said stud clamping device consists of two arc-shaped rods and a
    spring, with the two arc-shaped rods connected to the disk via shafts and the bottoms of the
    rods connected by a spring; the said special stud includes a screw stem and a tail ring, with
    the tail ring connected to the end of the screw stem.
  7. 7. A kind of automatic pin shaft disassembly equipment for mine hydraulic support as
    described in Claim 1, wherein said stud fixing device comprises a motor C and a rotating head,
    with the motor C's output shaft connected to the rotating head and the rotating head being
    provided with a groove; the motor C is connected to and controlled by the control console.
  8. 8. A kind of automatic pin shaft disassembly equipment for mine hydraulic support as
    described in Claim 1, wherein said lifting device comprises a rotating base, the first connecting
    rod, the second connecting rod, a lifting hook and a hydraulic lifting cylinder, the first
    connecting road is installed on the rotating base which is fixed on the trolley via bolts, while the
    second connecting rod is connected to the lifting hook with its front end, and hinged to the top
    of the first connecting rod with its rear end, the hydraulic lifting cylinder which is connected to and controlled by the control console is connected to the first connecting rod with its cylinder barrel and hinged to the bottom of the second connecting rod with the top of its piston rod.
  9. 9. A kind of automatic pin shaft disassembly equipment for mine hydraulic support as described in Claim 1, wherein the image recognition and processing device uses a CCD
    camera.
  10. 10. An operating method of the automatic pin shaft disassembly equipment for mine
    hydraulic support as described in claims 1, which comprises the steps as below: A. when the pin shafts have threaded holes:
    (1) the trolley moves to the side of the hydraulic support where pin shafts need to be
    disassembled under the control of the control console; (2) the lifting device is adjusted and used to fix the hydraulic support parts to be disassembled under the control of the control console;
    (3) the image recognition and processing device is started via the control console to
    collect image information of the current pin shafts to be removed, and upload the information to the control console;
    (4) then, the control console adjusts the trolley, the lifting platform, and the supporting
    plate automatically for collaborative operations according to feedback image information, finally aligning the groove at the head of the stud fixing device to the threaded hole on the pin
    shaft, and controlling hydraulic cylinder outriggers to stretch out and fix the whole equipment;
    (5) a disk at the front end of the stud replacement device rotates under the control of the control console to align a special stud that matches with the threaded hole of the pin shaft
    and that is carried by the stud clamping device to the groove at the head of the stud fixing device;
    (6) the motor A operates under the control of the control console to have the stud fixing
    device travel forward along the grooved track on the supporting plate and enable the groove at the head of the stud fixing device to be fitted with the tail ring of the special stud; then, the internal motor C begins to operate, tightening the special stud into the threaded hole of the pin shaft; (7) the stud fixing device travels backward along the grooved track on the supporting plate and the image recognition and processing device then transmits the image information of the tightened special stud to the control console;
    (8) the control console readjusts the trolley, the lifting platform, and the supporting plate
    for collaborative operations automatically according to the feedback image information, finally aligning a L-shaped clamping rod at the front end of the hydraulic cylinder pin shaft pulling
    device to the tail ring of the special stud;
    (9) then, the hydraulic cylinder pin shaft pulling device's hydraulic cylinder begins to work, and the L-shaped clamping rod hooks the tail ring of the special stud to pull and remove
    the pin shaft; and (10) the removed pin shaft enters the sleeve, and rolls from the side opening to the pin
    shaft recovery plate under the action of gravity when moving to the opening of the pin shaft; or
    B. when the pin shafts do not have threaded holes
    (1) the trolley moves to the side of the hydraulic support where pin shafts need to be disassembled under the control of the control console;
    (2) the lifting device is adjusted and used to fix the hydraulic support parts to be
    disassembled under the control of the control console; (3) the image recognition and processing device is started by the control console to
    collect the image information of the current pin shaft to be removed, and upload the information to the control console;
    (4) then, the control console adjusts the trolley, the lifting platform, and the supporting
    plate for collaborative operations automatically according to the feedback image information, finally aligning the L-shaped clamping rod at the front end of the hydraulic cylinder pin shaft
    pulling device to the pin shaft, and controlling the hydraulic cylinder outriggers to stretch out
    and fix the whole equipment;
    (5) the hydraulic cylinder of the hydraulic cylinder pin shaft pulling device reaches out, enabling the front end of the L-shaped clamping rod to drive the pin shaft out for a distance; (6) the hydraulic cylinder outriggers are retracted, and the trolley moves to the opposite
    side of the hydraulic support under the control of the control console;
    (7) the image recognition and processing device collects the image information of the
    current pin shaft to be disassembled again and uploads the information to the control console;
    (8) the control console readjusts the trolley, the lifting platform, and the supporting plate for collaborative operations automatically according to the feedback image information, finally
    aligning the L-shaped clamping rod at the front end of the hydraulic cylinder pin shaft pulling
    device to the pin shaft, and controlling the hydraulic cylinder outriggers to stretch out and fix the whole equipment;
    (9) the control console starts up the micro motors to have the two paratactic L-shaped clamping rods spread out, and drive the clamping rods to get to the pin shaft through the
    hydraulic cylinder; then, the two L-shaped clamping rods clamp the protruding part of the pin shaft tightly to pull it out and complete the disassembly; and
    (10) the removed pin shaft enters the sleeve, and rolls from the side opening to the pin
    shaft recovery plate under the action of gravity when moving to the opening of the pin shaft.
    Figures Attached to the Description
    Figure 1
    1/5
    Figure 2
    2/5
    Figure 3
    3/5
    Figure 4
    4/5
    Figure 5
    /5
AU2019382302A 2019-07-23 2019-12-25 A kind of automatic pin shaft disassembly equipment for mine hydraulic support and its applications Active AU2019382302B2 (en)

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CN201910665452.4 2019-07-23
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JP6931944B2 (en) 2021-09-08

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