CA3088053A1 - 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

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Publication number
CA3088053A1
CA3088053A1 CA3088053A CA3088053A CA3088053A1 CA 3088053 A1 CA3088053 A1 CA 3088053A1 CA 3088053 A CA3088053 A CA 3088053A CA 3088053 A CA3088053 A CA 3088053A CA 3088053 A1 CA3088053 A1 CA 3088053A1
Authority
CA
Canada
Prior art keywords
pin shaft
control console
stud
hydraulic cylinder
trolley
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CA3088053A
Other languages
French (fr)
Inventor
Lirong WAN
Shuai ZHANG
Zhaosheng MENG
Kuidong GAO
Zhihai LIU
Chunxiang YANG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong University of Science and Technology
Original Assignee
Shandong University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to CN201910665452.4A priority Critical patent/CN110238630A/en
Priority to CN201910665452.4 priority
Application filed by Shandong University of Science and Technology filed Critical Shandong University of Science and Technology
Priority to PCT/CN2019/128335 priority patent/WO2020140812A1/en
Publication of CA3088053A1 publication Critical patent/CA3088053A1/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines 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
    • B23P19/02Machines 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
    • B23P19/027Machines 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

Abstract

An automatic mining hydraulic support pin disassembly apparatus and a use thereof. The bottom of a lifting platform (18) is installed on a movable trolley by means of a scissor lift mechanism. One side of a hydraulic oil tank pin withdrawal apparatus (9) is connected to a holding plate (13), and the hydraulic oil tank pin withdrawal apparatus (9) and the bottom of the holding plate (13) are placed on an H-shaped rail (17) by means of electric rollers (16); a bolt replacement apparatus (1) is installed on the holding plate (13); a bolt fastening apparatus (5) is connected to a recessed rail (15) disposed on the holding plate (13) and is driven by a motor A (14); the front end of the hydraulic oil tank pin withdrawal apparatus (9) is connected to a pin clamping apparatus (7), and an image recognition and processing device (10) is installed at the rear end of the hydraulic oil tank pin withdrawal apparatus (9); a lifting apparatus (22) and a console (21) are installed on the movable trolley; the movable trolley, the hydraulic oil tank pin withdrawal apparatus (9), the bolt fastening apparatus (5), the bolt replacement apparatus (1), the scissor lift mechanism, the lifting apparatus (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 console (21). The present apparatus can replace the traditional manual operation and enable automatic and intelligent pin disassembly.

Description

Description A kind of automatic pin shaft disassembly equipment for mine hydraulic support and its applications Technical Field 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 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.
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.
For example, Chinese Patent Document CN108581931A has disclosed a kind of pin shaft Date recu/Date Received 2020-07-09 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.
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.
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 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
2 Date recu/Date Received 2020-07-09 high operation efficiency.
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:
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;
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.
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.
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.
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
3 Date recu/Date Received 2020-07-09 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.
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.
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.
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.
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.
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.
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.
4 Date recu/Date Received 2020-07-09 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 to lifting cylinder to have the lifting hook lift up or lower down the hydraulic support parts.
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.
An operating method of the automatic pin shaft disassembly equipment for mine hydraulic support, which comprises steps as follows:
A. Pin shafts with 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 the 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 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;
(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 Date recu/Date Received 2020-07-09 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 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;
(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;
(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. Pin shafts without 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 Date recu/Date Received 2020-07-09 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;
(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:
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.
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.
3) The invention can realize the disassembly of multiple pin shafts without stopping the Date recu/Date Received 2020-07-09 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.
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.
Brief Description of the Figures Figure 1 is the stereoscopic diagram I of the automatic disassembly equipment in the invention;
Figure 2 is the stereoscopic diagram II of the automatic disassembly equipment in the invention;
Figure 3 is the front view of the automatic disassembly equipment in the invention;
Figure 4 is the side view of the automatic disassembly equipment in the invention;
Figure 5 is the top view of the automatic disassembly equipment in the invention;
Where: 1- Stud replacement device; 2- Stud clamping device; 3- Motor B; 4-Groove; 5-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.
Detailed Embodiments The invention is further described in combination with the attached figures and embodiments as follows, but is not limited to that.
Embodiment 1:
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 Date recu/Date Received 2020-07-09 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.
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.
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.
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.
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.

Date recu/Date Received 2020-07-09 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.
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.
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.
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.
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.
Each special stud comprises a screw stem and a tail ring, with the tail ring connected to Date recu/Date Received 2020-07-09 the end of the screw stem. The screw stem and the tail ring may be welded together or one-piece molded.
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.
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.
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.
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,
11 Date recu/Date Received 2020-07-09 which controls the working process of the oil cylinders, motors and CCD
cameras through the existing circuits, oil lines and acquisition cards.
Embodiment 2:
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:
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:
(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;
(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;
(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;
(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;
(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;
(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
12 Date recu/Date Received 2020-07-09 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;
(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;
(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;
(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.
(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:
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:
(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;
(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;
(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;
(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
13 Date recu/Date Received 2020-07-09 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;
(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;
(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;
(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;
(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;
(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;
(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.
14 Date recu/Date Received 2020-07-09

Claims (10)

Clams
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 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.
2. A kind of automatic pin shaft disassembly equipment for mine hydraulic support as described in Claim 1, which is characterized in that 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. A kind of automatic pin shaft disassembly equipment for mine hydraulic support as described in Claim 1, which is characterized in that 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.
4. A kind of automatic pin shaft disassembly equipment for mine hydraulic support as described in Claim 1, which is characterized in that the 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. A kind of automatic pin shaft disassembly equipment for mine hydraulic support as described in Claim 1, which is characterized in that 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.
6. A kind of automatic pin shaft disassembly equipment for mine hydraulic support as described in Claim 5, which is characterized in that 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 said special stud includes a screw stem and a tail ring, with the tail ring connected to the end of the screw stem.
7. A kind of automatic pin shaft disassembly equipment for mine hydraulic support as described in Claim 1, which is characterized in that 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.
8. A kind of automatic pin shaft disassembly equipment for mine hydraulic support as described in Claim 1, which is characterized in that 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.
9. A kind of automatic pin shaft disassembly equipment for mine hydraulic support as described in Claim 1, which is characterized in that the image recognition and processing device uses a CCD camera.
10. An operating method of the automatic pin shaft disassembly equipment for mine hydraulic support as described in any one of Claims 1- 9, which comprises the steps as below:
A. Pin shafts with 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 the 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 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;
(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;
(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 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;
(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;
(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. Pin shafts without 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;
(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.
CA3088053A 2019-07-23 2019-12-25 A kind of automatic pin shaft disassembly equipment for mine hydraulic support and its applications Pending CA3088053A1 (en)

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Application Number Priority Date Filing Date Title
CN201910665452.4A CN110238630A (en) 2019-07-23 2019-07-23 A kind of pin shaft of mine hydraulic support automatic dismantling equipment and its application
CN201910665452.4 2019-07-23
PCT/CN2019/128335 WO2020140812A1 (en) 2019-07-23 2019-12-25 Automatic mining hydraulic support pin disassembly apparatus and use thereof

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CN113044088B (en) * 2019-12-26 2022-05-31 北京铁路信号有限公司 Device for dismounting train bottom receiving antenna unit
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AU2019382302B2 (en) 2021-09-23
CN110238630A (en) 2019-09-17
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JP2021512240A (en) 2021-05-13
AU2019382302A1 (en) 2021-02-11

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