CN103899343A - Three-freedom-degree parallel hydraulic support - Google Patents

Three-freedom-degree parallel hydraulic support Download PDF

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Publication number
CN103899343A
CN103899343A CN201410160318.6A CN201410160318A CN103899343A CN 103899343 A CN103899343 A CN 103899343A CN 201410160318 A CN201410160318 A CN 201410160318A CN 103899343 A CN103899343 A CN 103899343A
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China
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parallel
supporting mechanism
hinge
hydraulic support
base
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CN103899343B (en
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王成军
李龙
孟祥瑞
张超
李英明
刘琼
汪亚真
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Anhui University of Science and Technology
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Anhui University of Science and Technology
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Abstract

The invention discloses a three-freedom-degree parallel hydraulic support which comprises a base, a front parallel supporting mechanism, a rear parallel supporting mechanism, a rear shielding device, a top beam and a stretchable beam. The front parallel supporting mechanism and the rear parallel supporting mechanism are connected between the base and the top beam in parallel, are completely same in structure and are both parallel mechanisms of 3-RPC structures. The rear shielding device is located at the rear end of the rear parallel supporting mechanism and respectively connected with the base and the top beam through hinges, and the lower end of the rear shielding device is provided with a bottom guard plate with the adjustable position and the adjustable angle. Top lateral guard plates are arranged on the two sides of the top beam, the stretchable beam is embedded inside the top beam, and a side protection plate is arranged at the head of the stretchable beam. According to the three-freedom-degree parallel hydraulic support, the technical defects of an existing hydraulic support can be overcome, loads, including the lateral force, in three space freedom degree directions can be borne, safety accidents such as support falling can be avoided, the supporting stability and the adaptability to surrounding rock of the hydraulic support can be improved, and the three-freedom-degree parallel hydraulic support further has the advantages of being stable and reliable in quality, rapid and convenient to operate and maintain and the like.

Description

Freedom degree parallel connection hydraulic support
Technical field
The present invention relates to mining machinery technical field, particularly a kind of freedom degree parallel connection hydraulic support that bears lateral force.
Background technology
Comprehensive mechanized coal mining equipment is made up of hydraulic support, coal-winning machine and transporter, and hydraulic support is as comprehensive mechanical coal mining work capital equipment, and one-time investment accounts for to combine adopts equipment the more than 70% of total fund, is the key that fully-mechanized mining working is realized safety, High-efficient Production.The top of hydraulic support, base plate must adapt to mining face under mine coal seam environment, for operating personnel provide safe working space, and also will be for adopting, fortune equipment provides effective power source, determines the normal fltting speed of the equipment that fells and transports.Therefore, hydraulic support is the key equipment that can fully-mechanized mining working realize high-yield and high-efficiency success or failure.
Combine while adopting operation, hydraulic support dispersed placement, on whole coal-face, realizes and supports, cuts top, certainly moves and the operation such as pushing and sliding, and the flexible flightconveyor of it and high-power coal cutter, large conveying quantity forms the comprehensive mechanization equipment of stope.Combine while adopting operation hydraulic support or the key factor of high seam Longwall top coal caving technology success or failure.Now widely used hydraulic support is all to grow up on four bar hydraulic support bases of people from former Soviet Union design sixties in last century.But due to seam inclination and architectonic reason, top board certainly exists cross component force to the pressure of hydraulic support.And the connection of existing four link type bracket upright post is all to adopt spherical hinge to make bracket upright post and back timber all not bear the ability of lateral force, lateral force passes to linkage by caving shield, this is the basic reason that causes down frame and bracket institution to damage, thereby existing link type hydraulic support exists principle defect.Because lanar four rod mechanism only has 1 degree of freedom, the degree of freedom of 2 parallel lanar four rod mechanisms is-1, belongs to indeterminate mechanism, causes hydraulic support poor stability, and bearing height is also restricted.And China Mine Geological complex structure, in actual applications due to the out-of-flatness of top board and the variation of seam inclination, can produce larger additional load, cause caving shield to damage, fall the serious accidents such as frame and downslide.
Since four link type hydraulic supports inventions over more than 50 year, each producing coal country of the world is all in use to having carried out a large amount of research and improvement based on four link type hydraulic supports.But the stability of strutting system based on four bar hydraulic supports, the series of problems such as compliance and the controllability of support to top board are never solved.Thereby, develop a kind ofly there is stability of strutting system, compliance and the good hydraulic support of controllability to top board becomes a global difficult problem.Not the problem of structure design based on four bar hydraulic support stability, compliance to top board and the Controllability of support, but exist principle defect to cause based on four bar hydraulic support mechanisms.And parallel institution has that the rigidity of structure is large, supporting capacity is strong, inertia is little, location and kinematic accuracy high, parallel institution becomes the optimum supporting mechanism of mine hydraulic bracket, its high stability and the compliance the most complete to movement of roof, and in self structure, best mechanical property has determined that hydraulic support bearing height in parallel is large, high stability, lightweight, pass fast superiority.In view of the existing principle defect existing based on four bar hydraulic supports, the sub-penetrating judgment of bandit of Institutes Of Technology Of Taiyuan is awarded and the proposition such as Master degree candidate Wei Jin is applied to parallel institution in the design of hydraulic support, design the series of problems that a kind of new type hydraulic bearer based on parallel institution brings to solve four link type hydraulic support principle defects, mostly be six-freedom parallel hydraulic support based on 6-SPS parallel institution about the design and research of hydraulic support in parallel early stage, and the hydraulic support of the actual use of colliery mining face under mine does not need six-freedom degree.Excessive degree of freedom not only makes the complex structure of hydraulic support, difficulty of processing improve, and machining accuracy is difficult to improve, and has also increased the manufacturing cost of hydraulic support, and all brings difficulty and inconvenience to control, operation and maintenance.
And the parallel institution that adopts three translation Three Degree Of Freedoms can be realized the relative roof and floor of hydraulic support as the body supports mechanism of hydraulic support and realizes limited appointment and allow and press motion and effectively carrying, except mainly bearing the pressure at right angle that top board and base plate apply hydraulic support, also can bear the cross component force from other direction, can effectively improve the support performance of hydraulic support, improve the reliability of supporting, safety and stability, avoid caving shield to damage, fall the generation of the security incidents such as frame and downslide, overcome the shortcoming of existing hydraulic support, great social benefit and huge economic benefit will be produced.
Summary of the invention
The object of the invention is the deficiency for existing hydraulic support technology, a kind of freedom degree parallel connection hydraulic support that bears lateral force is provided.Technical problem to be solved by this invention realizes by the following technical solutions.
A kind of freedom degree parallel connection hydraulic support, comprises base, front supporting mechanism in parallel, rear supporting mechanism in parallel, back screen device, back timber and extensible canopy.Wherein, described base front end face is arcwall face, is convenient to hydraulic support and moves; Centre position at base is provided with push rod, for passing hydraulic support and the drag conveyor with hydraulic support auxiliary work; Be provided with end junction plate in the rear end of base.The body supports mechanism that described supporting mechanism front in parallel is freedom degree parallel connection hydraulic support with rear supporting mechanism in parallel, for bearing the load of the vertical direction of shoulder bed effects between base and back timber and the lateral load of other direction; Described supporting mechanism front in parallel is identical with the structure of rear supporting mechanism in parallel, is three translation 3-freedom parallel mechanisms of 3-RPC structure; Described supporting mechanism front in parallel is connected in parallel between base and back timber with rear supporting mechanism in parallel, and its lower end symmetry is arranged on base, and the top of front supporting mechanism in parallel, rear supporting mechanism in parallel is all connected with back timber.The pressure that described back screen device is mainly used in bearing hydraulic support horizontal force and is caving balkstone, prevents that the spoil of erecting dense individual props from entering the below of hydraulic support, to ensure hydraulic support below personnel and equipment work safety; Described back screen device can also bear the horizontal applied force from top board and back timber simultaneously, plays the stability that improves Roof Control by Means of Hydraulic Supports; Described back screen device is positioned at the rear end of described rear supporting mechanism in parallel, and its front end is connected by hinge with base, and its top is connected by hinge with back timber.Be provided with top side backplate in the both sides of back timber, be embedded with extensible canopy in the inside of back timber, for extending the working space of hydraulic support, described back timber is connected with extensible canopy by extensible canopy jack; Head at extensible canopy is provided with face guard.Described face guard and top side backplate are for playing gear cash, anti-down tune frame and extending the effect of hydraulic support left and right sides to support work scope.
Described back screen device forms by connecting otic placode, front angular adjustment jack, caving shield, rear angular adjustment jack, river bottom protection jack, rear side guard board and river bottom protection plate, the lower end of described connection otic placode is connected by hinge with end junction plate, and its upper end is provided with slippage bearing pin and is connected by slip hinge with caving shield; The two ends of described front angular adjustment jack are connected by hinge with end junction plate, river bottom protection plate respectively; The top of described caving shield is connected by hinge with back timber, and is provided with long waist shaped hole and lower long waist shaped hole on the reinforcement gusset of caving shield inner side; The upper end of described rear angular adjustment jack is connected by hinge with caving shield, and the lower end empty set of rear angular adjustment jack is connecting on the slippage bearing pin of otic placode; The upper end of described river bottom protection jack is connected by hinge with caving shield, and its lower end is provided with slippage optical axis, and the two ends of described slippage optical axis are placed in the lower long waist shaped hole of caving shield, and river bottom protection plate is connected by hinge with slippage optical axis; Rear side guard board is positioned at the both sides of caving shield.
Described supporting mechanism front in parallel and rear supporting mechanism in parallel by fixed base plate, movable panel and be connected to fixed base plate and movable panel between three support chain composition.Described fixed base plate and base are connected; Three described support chain are connected in parallel between fixed base plate, movable panel, and three described support chain are the Series Sheet open chain of RPC structure; Described movable panel and back timber are connected.Described support chain is made up of hinged ear seat, double acting hydraulic cylinder and two damping Connection Block.Described hinged ear seat is arranged on fixed base plate; The lower end of described double acting hydraulic cylinder is connected by hinge with hinged ear seat, its upper end is connected by cylindrical pair with two damping Connection Blocks, and described double acting hydraulic cylinder can be according to the support work height of hydraulic support need to select the flexible double acting hydraulic cylinder of two-stage or three grades of flexible double acting hydraulic cylinders.Described two damping Connection Blocks play cylindrical pair and apply the effect of damping along cylindrical pair axis direction, described two damping Connection Blocks comprise multidigit fixed head, damper and meta bearing pin, described meta bearing pin is positioned at the centre position of multidigit fixed head and is connected with multidigit fixed head, described damper has two and be arranged symmetrically in the both sides of meta bearing pin, and the two ends of damper are all connected with multidigit fixed head by hinge.
In described supporting mechanism front in parallel or rear supporting mechanism in parallel, the axis of the meta bearing pin at three described support chain tops is isosceles triangle and arranges, the axis of the hinge hole of three described support chain bottom-hinged ear seats is also isosceles triangle to be arranged, and the axis of the meta bearing pin of same support chain upper top is parallel to the axis of the hinge hole of bottom-hinged ear seat.
When use, regulate the collapsing length of the double acting hydraulic cylinder of three support chain of front supporting mechanism in parallel and rear supporting mechanism in parallel according to the actual needs of support works face, back timber is risen, withstand top country rock, regulate again extensible canopy jack, extensible canopy is stretched out, extend the working space of hydraulic support, and then regulate top side backplate and face guard, it is launched respectively; Then the collapsing length of angular adjustment jack after regulating, slippage bearing pin moves down, and back screen device is launched backward, withstands rear portion country rock, again rear side is protected to expansion, and then the collapsing length of adjusting river bottom protection jack, slippage optical axis is moved down, realize the translation of river bottom protection plate, extend the working space of back screen device, in the time that slippage optical axis is displaced downwardly to the lower long waist shaped Kongzui bottom of caving shield, under front angular adjustment jack telescopic action, realize the swing of river bottom protection plate around slippage optical axis axis; Finally, under this duty, the push rod of base is stretched out, realize the function of pushing and sliding drag conveyor.
In the time of needs mobile hydraulic support, regulate the collapsing length of double acting hydraulic cylinder, extensible canopy jack, rear angular adjustment jack, front angular adjustment jack, back timber decline, extensible canopy retraction, the withdrawal of back screen device, rear backplate are retracted, packing up top side backplate, face guard, rear side protects again, the pusher retracted of last base, realizes and moves holder function.
The invention has the beneficial effects as follows, compared with prior art, the present invention adopts the parallel institution 3-RPC of two group of three translation Three Degree Of Freedom as the body supports mechanism of freedom degree parallel connection hydraulic support, can realize the relative roof and floor of hydraulic support realizes limited appointment and allows and press motion and effectively carrying, not only can bear the pressure at right angle that top board and base plate apply hydraulic support and also can bear the cross component force from other direction outward, can effectively improve the support performance of hydraulic support, improve the reliability of supporting, safety and stability, avoid caving shield to damage, fall the generation of the security incidents such as frame and downslide, overcome the shortcoming of existing hydraulic support.
Accompanying drawing explanation
Fig. 1 is general structure schematic diagram of the present invention;
Fig. 2 is the structural representation of back screen device of the present invention;
Fig. 3 is the river bottom protection plate of the back screen device work schematic diagram in the time of rotatable state;
Fig. 4 is the structural representation of front supporting mechanism in parallel of the present invention;
Fig. 5 is the mechanism principle schematic diagram of the support chain of front supporting mechanism in parallel;
Fig. 6 is the structural representation of two damping Connection Blocks of support chain;
Fig. 7 is that the hinged ear seat of three of support chain is arranged schematic diagram on fixed base plate;
Fig. 8 is the layout schematic diagrames of the two damping Connection Blocks of three of support chain on movable panel.
The specific embodiment
For technological means, creation characteristic that the present invention is realized, reach object and effect is easy to understand, below in conjunction with specific embodiment and diagram, further set forth the present invention.
As shown in Figure 1, Figure 2 and Figure 4, a kind of freedom degree parallel connection hydraulic support, comprises base 1, front supporting mechanism 2 in parallel, rear supporting mechanism 3 in parallel, back screen device 4, back timber 5 and extensible canopy 6.Wherein, described base 1 front end face is arcwall face, is convenient to hydraulic support and moves; Be provided with push rod 101 in the centre position of base 1, for passing hydraulic support and the drag conveyor with hydraulic support auxiliary work; Be provided with end junction plate 102 in the rear end of base 1.The body supports mechanism that described supporting mechanism 2 front in parallel is freedom degree parallel connection hydraulic support with rear supporting mechanism 3 in parallel, for bearing the load of vertical direction and the lateral load of other direction of shoulder bed effects between base 1 and back timber 5; Described supporting mechanism 2 front in parallel is identical with the structure of rear supporting mechanism 3 in parallel, is three translation 3-freedom parallel mechanisms of 3-RPC structure; Described supporting mechanism 2 front in parallel is connected in parallel between base 1 and back timber 5 with rear supporting mechanism 3 in parallel, and its lower end symmetry is arranged on base 1, and the top of front supporting mechanism 2 in parallel, rear supporting mechanism 3 in parallel is all connected with back timber 5.The pressure that described back screen device 4 is mainly used in bearing hydraulic support horizontal force and is caving balkstone, prevents that the spoil of erecting dense individual props from entering the below of hydraulic support, to ensure hydraulic support below personnel and equipment work safety; Described back screen device 4 can also bear the horizontal applied force from back timber 5 simultaneously, plays the stability that improves Roof Control by Means of Hydraulic Supports; Described back screen device 4 is positioned at the rear end of described supporting mechanism 3 rear in parallel, and its front end is connected by hinge with base 1, and its top is connected by hinge with back timber 5.Be provided with top side backplate 501 in the both sides of back timber 5, be embedded with extensible canopy 6 in the inside of back timber 5, for extending the working space of hydraulic support, described back timber 5 is connected with extensible canopy 6 by extensible canopy jack 601; Be provided with face guard 602 at the head of extensible canopy 6.Described face guard 602 and top side backplate 501 are for playing gear cash, anti-down tune frame and extending the effect of hydraulic support left and right sides to support work scope.
Described back screen device forms by connecting otic placode 401, front angular adjustment jack 402, caving shield 403, rear angular adjustment jack 404, river bottom protection jack 405, rear side guard board 406 and river bottom protection plate 407, the lower end of described connection otic placode 401 is connected by hinge with end junction plate 102, and its upper end is provided with slippage bearing pin 4011 and is connected by slip hinge with caving shield 403; The two ends of described front angular adjustment jack 402 are connected by hinge with end junction plate 102, river bottom protection plate 407 respectively; The top of described caving shield 403 is connected by hinge with back timber 5, and on the reinforcement gusset of caving shield 403 inner sides, is provided with long waist shaped hole 4031 and lower long waist shaped hole 4032; The upper end of described rear angular adjustment jack 404 is connected by hinge with caving shield 403, and the lower end empty set of rear angular adjustment jack 404 is connecting on the slippage bearing pin 4011 of otic placode 401; The upper end of described river bottom protection jack 405 is connected by hinge with caving shield 403, its lower end is provided with slippage optical axis 4051, and the two ends of described slippage optical axis 4051 are placed in the lower long waist shaped hole 4032 of caving shield 403, and river bottom protection plate 407 is connected by hinge with slippage optical axis 4051; Rear side guard board 406 is positioned at the both sides of caving shield 403.
As shown in Figure 4 and Figure 5, described supporting mechanism 2 front in parallel by fixed base plate 201, movable panel 203 and be connected to fixed base plate 201 and movable panel 203 between three support chain 202 form.Described fixed base plate 201 is connected with base 1; Three described support chain 202 are connected in parallel between fixed base plate 201, movable panel 203; Three described support chain 202 are the Series Sheet open chain of RPC structure; Described movable panel 203 is connected with back timber 5.Described support chain 202 is made up of hinged ear seat 2021, double acting hydraulic cylinder 2022 and two damping Connection Block 2023.Described hinged ear seat 2021 is arranged on fixed base plate 201; The lower end of described double acting hydraulic cylinder 2022 is connected by revolute pair R with hinged ear seat 2021, its upper end is connected by cylindrical pair C with two damping Connection Blocks 2023, described double acting hydraulic cylinder 2022 is for the flexible double acting hydraulic cylinder of two-stage, as the moving sets P in parallel institution RPC; And the axis of the axis of described revolute pair R and described cylindrical pair C is parallel to each other, and the axis of described moving sets P is perpendicular to the axis of described revolute pair R.
As shown in Figure 6, described two damping Connection Blocks 2023 comprise multidigit fixed head 20231, damper 20232 and meta bearing pin 20233, described meta bearing pin 20233 is positioned at the centre position of multidigit fixed head 20231 and is connected with multidigit fixed head 20231, described damper 20232 has two and be arranged symmetrically in the both sides of meta bearing pin 20233, and the two ends of damper 20232 are all connected with multidigit fixed head 20231 by hinge.
As shown in Figure 7, the axis of the hinge hole of described three support chain, 202 bottom-hinged ear seats 2021 is isosceles triangle and arranges, namely the axis of revolute pair R1, the R2 on three hinged ear seats 2021, R3 forms a little isosceles triangle, and two angle θ 1=θ 2 of described little isosceles triangle.
As shown in Figure 8, in described supporting mechanism 2 front in parallel, the axis of the meta bearing pin 20233 at three described support chain 202 tops is isosceles triangle and arranges, namely cylindrical pair C1, the C2 on three two damping Connection Blocks 2023, the axis of C3 form a large isosceles triangle, and two angle Ф 1=Ф 2 of described large isosceles triangle.
When use, regulate the collapsing length of the double acting hydraulic cylinder 2022 of three support chain 202 of front supporting mechanism 2 in parallel and rear supporting mechanism in parallel 3 according to the actual needs of support works face, back timber 5 is risen, withstand top country rock, regulate again extensible canopy jack 601, extensible canopy 6 is stretched out, extend the working space of hydraulic support, and then regulate top side backplate 501 and face guard 602, it is launched respectively; Then the collapsing length of angular adjustment jack 404 after regulating, slippage bearing pin 4011 moves down, back screen device 4 is launched backward, withstand rear portion country rock, again rear side is protected to 406 expansion, and then the collapsing length of adjusting river bottom protection jack 405, slippage optical axis 4051 is moved down, realize the translation of river bottom protection plate 407, extend the working space of back screen device, in the time that slippage optical axis 4051 is displaced downwardly to lower long waist shaped hole 4032 lowermost end of caving shield 403, under front angular adjustment jack 402 telescopic actions, realize the swing of river bottom protection plate 407 around slippage optical axis 4051 axis; Finally, under this duty, the push rod 101 of base 1 is stretched out, realize the function of pushing and sliding drag conveyor.
In the time of needs mobile hydraulic support, regulate the collapsing length of double acting hydraulic cylinder 2022, extensible canopy jack 601, rear angular adjustment jack 404, front angular adjustment jack 402, make that back timber 5 declines, extensible canopy 6 is retracted, back screen device 4 is regained, rear backplate 407 is retracted, pack up again top side backplate 501, face guard 602, rear side and protect 406, the push rod 101 of last base 1 is retracted, and realizes and moves holder function.
More than show and described basic principle of the present invention, principal character and advantage.The technician of the industry should understand; the present invention is not restricted to the described embodiments; that in above-described embodiment and manual, describes just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.

Claims (3)

1. a freedom degree parallel connection hydraulic support, comprise base, front supporting mechanism in parallel, rear supporting mechanism in parallel, back screen device, back timber and extensible canopy, it is characterized in that: described base front end face is arcwall face, and the centre position at base is provided with push rod, be provided with end junction plate in the rear end of base; Described supporting mechanism front in parallel is identical with the structure of rear supporting mechanism in parallel, and its lower end symmetry is arranged on base, and the top of front supporting mechanism in parallel, rear supporting mechanism in parallel is all connected with back timber; Described back screen device is positioned at the rear end of rear supporting mechanism in parallel, and the front end of back screen device is connected by hinge with base, and the top of back screen device is connected by hinge with back timber; Be provided with top side backplate in the both sides of back timber, be embedded with extensible canopy in the inside of back timber, back timber is connected with extensible canopy by extensible canopy jack; Head at extensible canopy is provided with face guard;
Described back screen device forms by connecting otic placode, front angular adjustment jack, caving shield, rear angular adjustment jack, river bottom protection jack, rear side guard board and river bottom protection plate, the lower end of described connection otic placode is connected by hinge with end junction plate, and its upper end is provided with slippage bearing pin and is connected by slip hinge with caving shield; The two ends of described front angular adjustment jack are connected by hinge with end junction plate, river bottom protection plate respectively; The top of described caving shield is connected by hinge with back timber, and is provided with long waist shaped hole and lower long waist shaped hole on the reinforcement gusset of caving shield inner side; The upper end of described rear angular adjustment jack is connected by hinge with caving shield, and the lower end empty set of rear angular adjustment jack is connecting on the slippage bearing pin of otic placode; The upper end of described river bottom protection jack is connected by hinge with caving shield, and its lower end is provided with slippage optical axis, and the two ends of described slippage optical axis are placed in the lower long waist shaped hole of caving shield, and river bottom protection plate is connected by hinge with slippage optical axis; Rear side guard board is positioned at the both sides of caving shield.
2. freedom degree parallel connection hydraulic support according to claim 1, it is characterized in that: described supporting mechanism front in parallel and rear supporting mechanism in parallel by fixed base plate, movable panel and be connected to fixed base plate and movable panel between three support chain composition, described fixed base plate and base are connected; Described movable panel and back timber are connected; Described support chain is made up of hinged ear seat, double acting hydraulic cylinder and two damping Connection Block, described hinged ear seat is arranged on fixed base plate, the lower end of double acting hydraulic cylinder is connected by hinge with hinged ear seat, and its upper end is connected by cylindrical pair with two damping Connection Blocks; Described two damping Connection Blocks comprise multidigit fixed head, damper and meta bearing pin, described meta bearing pin is positioned at the centre position of multidigit fixed head and is connected with multidigit fixed head, described damper has two and be arranged symmetrically in the both sides of meta bearing pin, and the two ends of damper are all connected with multidigit fixed head by hinge.
3. freedom degree parallel connection hydraulic support according to claim 2, it is characterized in that: the axis of the meta bearing pin at three described support chain tops is isosceles triangle and arranges, article three, the axis of the hinge hole of support chain bottom-hinged ear seat is also isosceles triangle layout, and the axis of the meta bearing pin of same support chain upper top is parallel to the axis of the hinge hole of bottom-hinged ear seat.
CN201410160318.6A 2014-04-21 2014-04-21 Freedom degree parallel connection hydraulic support Expired - Fee Related CN103899343B (en)

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CN104234731A (en) * 2014-09-10 2014-12-24 山东科技大学 Novel parallel connection type hydraulic support frame and application of novel parallel connection type hydraulic support frame
CN104453967A (en) * 2014-11-24 2015-03-25 三一重型装备有限公司 Hydraulic support and top beam thereof
CN105798885A (en) * 2016-05-17 2016-07-27 庄巍 Building decoration supporting robot based on three-freedom-degree parallel mechanism
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CN111706377A (en) * 2020-06-16 2020-09-25 中煤科工开采研究院有限公司 Super large mining height hydraulic support
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