CN116201582A

CN116201582A - Fully-mechanized hydraulic support retracting system

Info

Publication number: CN116201582A
Application number: CN202310216836.4A
Authority: CN
Inventors: 王梁; 闫殿华; 王洪磊; 李�杰; 赵建; 王大书; 刘少权; 刘玉波; 颜晗; 闫飞; 曹云; 焦宏章; 王海军; 徐志刚; 王振; 郭文孝
Original assignee: Beijing Technology Research Branch Of Tiandi Technology Co ltd; General Coal Research Institute Co Ltd
Current assignee: Beijing Technology Research Branch Of Tiandi Technology Co ltd; General Coal Research Institute Co Ltd
Priority date: 2023-03-07
Filing date: 2023-03-07
Publication date: 2023-06-02

Abstract

The invention discloses a fully-mechanized mining hydraulic support withdrawing system which comprises a traction device, a plurality of shield supports and a triangular support frame, wherein the traction device is used for drawing the hydraulic support out of a support along a preset path, the shield supports are in a lifting state and a lowering state, the shield supports are provided with flat push rods which stretch out and draw back along the roadway direction, the flat push rods are connected with the traction device, the triangular support frame comprises two support columns which stretch out and draw back along the vertical direction, and the support columns can rotate around the other support column to advance by stepping. The fully-mechanized hydraulic support retraction system greatly improves the shielding safety and the hydraulic support retraction efficiency, reduces the personnel configuration of the hydraulic support retraction working face, enhances the safety of the hydraulic support retraction work, realizes the effects of reducing people, enhancing the efficiency and enhancing the safety, and has extremely high economic value and social value.

Description

Fully-mechanized hydraulic support retracting system

Technical Field

The invention relates to the technical field of supporting and shielding of mines, roadways, mining working surfaces, tunnels and the like, in particular to a fully-mechanized mining hydraulic support withdrawing system.

Background

At present, in the retraction work of a fully-mechanized coal mining hydraulic support, triangular area shielding is generally carried out by adopting modes of supporting and beating wood piles, supporting logs and the like, and the traction work of the hydraulic support mainly adopts a winch to carry out traction through a steel wire rope, so that the following problems are brought:

1. The wood is supported and shielded in the modes of supporting and beating the wood stack, supporting the log and the like, so that the wood is consumed greatly, the cost is high, the labor is wasted, the resource environment is wasted greatly, the supporting and beating of the wood stack is carried out in a very dangerous environment by workers, and accidents are frequent; the hydraulic support has poor supporting effect, and the problems that equipment such as the hydraulic support is buried by roof collapse and the like often occur, so that the working efficiency of withdrawing the hydraulic support is low, and the hydraulic support is full of danger and uncertainty.

2. The winch is adopted to pull the hydraulic support, the pulling direction of the hydraulic support is often inconsistent with the direction required by the lifting or moving of the hydraulic support, the pulling direction of the steel wire rope is required to be changed through pulleys, and because the hydraulic support is heavier and has tens of tons or even 100 tons, very high requirements are put on pulley fixing points, the pulley fixing points which can be used for anchoring in the coal mine underground are few, so that the pulling force direction is relatively single and is difficult to adjust, and because the elastic flash suction of the steel wire rope frequently causes the pulled hydraulic support to collide with the shield support, the roadway wall and the like, scratch and splash of sparks, and the probability of equipment damage and dangerous conditions is increased; the steel wire rope is required to be manually dragged, coiled and connected by a plurality of operators, the process is very difficult, so that the operators on the retracted working face gather, and potential safety hazards exist; in addition, due to the fact that the winch is used under severe working conditions, abnormal loss is often caused to the used steel wire rope, rope breakage accidents frequently occur, and due to the fact that traction force is large, elastic back suction of the broken steel wire rope is extremely dangerous, and casualties frequently occur.

With the increasing height of coal mine adopted at present, for the large-mining-height working face hydraulic support withdrawing work, the hydraulic support withdrawing device in the related technology cannot meet the requirements no matter from the support, shielding angles or from the frame-out and frame-adjusting angles, so a brand new withdrawing system is needed to realize the enhancement and safety of fewer people in the coal mine.

Disclosure of Invention

The present invention has been made based on the findings and knowledge of the inventors regarding the following facts and problems:

the ideal route of the hydraulic support withdrawing traction route (the hydraulic support is independently pulled out of the hydraulic support at one side and finishes direction adjustment along the roadway direction, and does not refer to the whole withdrawing traction route) is approximately composed of three sections:

the first section is a straight line section, the length of the first section is about the length of a base of the hydraulic support and is generally between 2.0 meters and 4.0 meters, the traction force required by the first section is maximum, and the general traction force is equivalent to the weight of the hydraulic support and is generally between 20 tons and 100 tons; the second section is a direction-adjusting section, a large arc section which is about 30 degrees with the first section, the hydraulic support is gradually adjusted in the direction-adjusting section, and the tail of the hydraulic support cannot deflect to collide with the shield support; the third section is a nearly straight line section which is nearly vertical to the straight line of the first section, so that the hydraulic support finishes direction adjustment.

However, the traction process of the traction device in the related art is difficult to fit to the ideal route, so that the hydraulic support is difficult to take out of the frame, and the towed hydraulic support frequently collides with and rubs against the coal wall, the shield support and other hydraulic supports, so that equipment is damaged and safety problems exist.

The present invention aims to solve at least one of the technical problems in the related art to some extent. For this purpose, the embodiment of the invention provides a fully-mechanized hydraulic support retracting system.

The fully-mechanized hydraulic support retracting system of the embodiment of the invention comprises:

the traction device is arranged in a roadway and used for pulling the hydraulic support out of the frame along a preset path, the traction device comprises a base, a large arm, a small arm, a traction head, a large arm driving device and a small arm driving device, the small arm is a telescopic small arm, the large arm is movably arranged on the base, the large arm driving device is arranged on the base and connected with the large arm, the large arm driving device is used for pushing and pulling the large arm to move along a first horizontal direction, a first end of the small arm is hinged with a first end of the large arm, the small arm driving device is arranged on the large arm and connected with the small arm, the small arm driving device is used for pushing and pulling the small arm to enable the small arm to swing relative to the large arm, and the traction head is arranged at a second end of the small arm and used for being connected with the hydraulic support;

The shield supports are sequentially arranged in the roadway along the first horizontal direction, each shield support is provided with a flat push rod which stretches along the roadway direction, the end parts of the flat push rods are connected with the traction device, each shield support is in a lifting state and a lowering state, the tops of the shield supports are propped against the top plate of the roadway in the supporting state, and the shield supports retract to be separated from the top plate in the shrinking state;

the triangular area support frame is erected on the triangular area on one side of a roadway and comprises a first support column, a second support column and a connecting structure, wherein the first support column and the second support column are vertically arranged and are arranged in a telescopic mode in the vertical direction, and the connecting structure is connected between the first support column and the second support column and is used for driving one of the first support column and the second support column to rotate around the other one of the first support column and the second support column in a contracted state, so that advancing in a stepping mode is achieved.

The fully-mechanized hydraulic support withdrawing device provided by the invention greatly reduces the manual working procedures and a large amount of heavy manual labor in the traditional withdrawing system, realizes high safety, high reliability, high efficiency and high benefit of the hydraulic support withdrawing work, solves various pain problems which are not solved in the hydraulic support withdrawing process, realizes the automatic transformation of the coal mine roadway hydraulic support withdrawing, obviously improves the operation efficiency and safety of the hydraulic support withdrawing, and can generate great economic and social benefits.

In some embodiments, the boom drive device is a boom extension cylinder, a first end of the boom extension cylinder is hinged with the base and a second end of the boom extension cylinder is hinged with the boom, and the boom extension cylinder extends and contracts along the first horizontal direction to push and pull the boom; and/or the small arm driving device is a small arm telescopic oil cylinder, the first end of the small arm telescopic oil cylinder is hinged with the large arm, the second end of the small arm telescopic oil cylinder is hinged with the small arm, and the small arm telescopic oil cylinder stretches to push and pull the small arm.

In some embodiments, the forearm comprises a forearm inner sleeve, a forearm outer sleeve and a built-in telescopic cylinder, the forearm inner sleeve is sleeved with the forearm outer sleeve and the forearm inner sleeve and the built-in telescopic cylinder are slidably arranged, the built-in telescopic cylinder is positioned in the forearm outer sleeve and connected with the forearm inner sleeve and used for pushing and pulling the forearm inner sleeve, a first end of the forearm is hinged with the forearm outer sleeve, and the traction head is hinged with the forearm inner sleeve.

In some embodiments, the traction device further comprises at least one link, a first end of the link is hinged to the base, a second end of the link is hinged to the boom, and the hinge location of the link to the boom is located on a side of the connection location of the boom drive device to the boom remote from the first end of the boom.

In some embodiments, the shield support comprises a hydraulic support bar and a top shield beam, the hydraulic support bar being supported at the bottom of the top shield beam, the hydraulic support bar being telescopically arranged to raise or lower the top shield beam; at least one side shield beam is arranged on one side, facing the triangular area, of the shield support close to the triangular area, the side shield beam is connected with the top shield beam of the shield support and can be arranged in a turnover mode, the side shield beam has an unfolding state and a folding state, in the unfolding state, the side shield beam and the top shield beam play a supporting role in parallel, and in the folding state, the side shield beam sags.

In some embodiments, the three shield supports include a first shield support, a second shield support and a third shield support that are sequentially arranged in the first horizontal direction, the first shield support includes a first flat push rod, the second shield support includes a second flat push rod, the third shield support includes a third flat push rod, and three connection points of the first flat push rod, the second flat push rod and the third flat push rod and the traction device are in an acute triangle shape.

In some embodiments, the triangular support frame comprises sleeve assemblies, wherein the sleeve assemblies are sleeved with the support columns in a one-to-one correspondence manner and are mutually fixed with the support columns in the circumferential direction, the sleeve assemblies are positioned between the top support portion and the bottom support portion, and the sleeve assemblies and the connecting structures are mutually fixed in the axial direction and are arranged in a manner of being relatively rotatable in the circumferential direction.

In some embodiments, the sleeve assembly and the support column are arranged in a relatively slidable manner in the axial direction, the shield support further comprises a plurality of inhaul cables, the tops of the inhaul cables are connected with the top supporting portion, the bottoms of the inhaul cables are connected with the connecting structure or the sleeve assembly, when the support column is in a supporting state, the inhaul cables are tensioned, and under the action of the tensile force of the inhaul cables, the connecting structure is located above the bottom end of the support column in the supporting state by a certain distance.

In some embodiments, the support column comprises an inner cylinder and an outer cylinder sleeved with the inner cylinder, the inner cylinder and the outer cylinder are arranged in a relatively sliding manner along the axial direction, the driving mechanism is positioned inside the inner cylinder, the inner cylinder is connected with one of the bottom of the top support part and the top of the bottom support part, the outer cylinder is connected with the other one of the bottom of the top support part and the top of the bottom support part, and the sleeve assembly is sleeved with the outer cylinder and is arranged in a relatively sliding manner along the axial direction with the outer cylinder.

In some embodiments, the connection structure comprises a first driving gear and a second driving gear, the first support column comprises a first driven gear meshed with the first driving gear, the second support column comprises a second driven gear meshed with the second driving gear, the first driving gear is driven to rotate around the first driven gear so as to drive the second support column to rotate around the central axis of the first support column, and the second driving gear is driven to rotate around the second driven gear so as to drive the first support column to rotate around the central axis of the second support column.

Drawings

Fig. 1 is a schematic structural diagram of a system retraction system according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a traction device according to an embodiment of the present invention.

Fig. 3 is a drawing of an out-of-rack traction process of the traction device provided by the embodiment of the invention.

Fig. 4 is a schematic structural view of a first shield support according to an embodiment of the present invention.

Fig. 5 is a schematic structural view of a second shield support according to an embodiment of the present invention.

Fig. 6 is a schematic structural view of a third shield support according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a tripod according to an embodiment of the present invention.

Fig. 8 is a schematic view of a portion of a tripod according to an embodiment of the present invention.

Fig. 9 is a cross-sectional view of a tripod according to an embodiment of the present invention.

FIG. 10 is a cross-sectional view of A-A of a tripod according to an embodiment of the present invention.

Fig. 11 is an application diagram of a tripod according to an embodiment of the present invention.

Fig. 12 is a schematic diagram of an unloading traction process of the traction device on the hydraulic support according to the embodiment of the invention.

Fig. 13 is a process and work layout diagram of the retract preparation stage S1 according to the embodiment of the present invention.

Fig. 14 is a process and work layout diagram of the retraction stage S2 according to the embodiment of the present invention.

Fig. 15 is a process and work layout diagram of the embodiment of the invention in the retraction ending stage S3.

Fig. 16 to 20 are schematic views of the processes and arrangements of steps S204 to S206 according to the present invention.

Fig. 21 is a schematic diagram of a process of the tripod section S106 according to the embodiment of the present invention.

Fig. 22 is a schematic diagram illustrating a process of the tripod rest S203 according to the embodiment of the present invention.

Reference numerals:

traction device 100, base 101, large arm 102, small arm 103, traction head 104, large arm telescopic cylinder 105, small arm telescopic cylinder 106, first link 107, second link 108, small arm inner sleeve 109, small arm outer sleeve 110, chain 111,

A first shield support 200, a first flat push rod 201, a first hydraulic support rod 202, a first top shield beam 203, a shield curtain 204, a seat 205, an illuminating lamp 206, a connecting lug 207,

A second shield support 300, a second flat push rod 301, a second hydraulic support rod 302, a second top shield beam 303, an electro-hydraulic control system 304,

A third shield support 400, a third flat push rod 401, a third hydraulic support rod 402, a third top shield beam 403, a first side shield beam 404, a second side shield beam 405, a base side shield 406,

A hydraulic support 500 to be retracted, a hydraulic support 501,

Triangle section support frame 600, first support column 601a, second support column 601b, top support 611, bottom support 612, drive mechanism 613, inner cylinder 614, outer cylinder 615, limit boss 616, first driven gear 617, second driven gear 618, connection structure 602, first drive gear 621, second drive gear 622, connection case 623, case cover 6231, first rotary motor 624, second rotary motor 625, cable 603, sleeve assembly 604, first sleeve assembly 604a, second sleeve assembly 604b, upper flange 641, sleeve 642, lower flange 643, limit groove 644, first bearing 651, second bearing 652, top plate 661, bottom plate 662, electrical control assembly 607.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

A fully mechanized hydraulic support retraction system according to an embodiment of the present invention is described below with reference to fig. 1-22, and the retraction system is used for retracting a hydraulic support, and includes a traction device 100, a plurality of shield supports, and a tripod 600.

The traction device 100 is provided in a roadway for drawing the hydraulic bracket 501 out of the rack along a preset path. As shown in fig. 2 and 3, traction device 100 includes a base 101, a large arm 102, a small arm 103, a traction head 104, a large arm drive, and a small arm drive. Wherein the small arm 103 is a telescopic small arm, and the large arm 102 is movably arranged on the base 101. The large arm 102 has a first end and a second end opposite in the direction of extension thereof, and the small arm 103 has a first end and a second end opposite in the direction of extension thereof, the first end of the small arm 103 being hinged to the first end of the large arm 102. The movement of the large arm 102 can drive the small arm 103 to move, and the small arm 103 can swing relative to the large arm 102 by taking the hinge point as the rotation center. The big arm driving device is arranged on the base 101 and connected with the big arm 102, the big arm driving device is used for pushing and pulling the big arm 102 along the first horizontal direction to enable the big arm 102 to move, the small arm driving device is arranged on the big arm 102 and connected with the small arm 103, the small arm driving device is used for pushing and pulling the small arm 103 to enable the small arm 103 to swing relative to the big arm 102, the traction head 104 is arranged at the second end of the small arm 102, and the traction head 104 is used for being connected with the hydraulic support 501.

The plurality of shield supports are sequentially arranged in the roadway along the first horizontal direction, each shield support is provided with a flat push rod which stretches out and draws back along the roadway direction, the end parts of the flat push rods are connected with the traction device 100, the shield supports are in a lifting state and a falling state, the tops of the shield supports are propped against the top plate of the roadway in a supporting state, and the shield supports retract to be separated from the top plate in a shrinking state.

As shown in fig. 7, the tripod support 600 is provided at a tripod on one side of a roadway, the tripod support 600 includes a first support column 601a, a second support column 601b, and a connection structure 602, the first support column 601a and the second support column 601b are vertically arranged and are telescopically arranged in a vertical direction, and the connection structure 602 is connected between the first support column 601a and the second support column 601b for driving one of the support columns in a contracted state to rotate around the other support column in a supported state, thereby realizing advancing in a stepping manner. That is, the elongated support column can be supported between the top plate and the bottom plate to play a supporting role, and after the support column is contracted, the support column can rotate around another support column in a supporting state by a certain angle, and by setting the rotating direction and the rotating angle, the step-by-step in any direction is realized.

The traction device 100, a plurality of shield supports and the tripod support 600 are mutually matched to finish the discharging, direction adjustment, withdrawing and shielding of the hydraulic support 501.

As shown in fig. 12, during the racking traction, the traction apparatus 100 pulls out one hydraulic bracket 501 of the hydraulic brackets 500 to be retracted in the first horizontal direction and finally achieves the steering of the hydraulic bracket 501. As shown in fig. 3 and 12, the traction device 100 performs the processes of unloading and steering the hydraulic bracket 501 as follows:

step 1: as shown in fig. 3A, the hydraulic support 501 to be retracted is connected with the traction head 104 through a chain, the small arm 103 is in an extended state, and the extending direction of the small arm 103 is along a first horizontal direction, and at this time, the extending direction of the small arm 103 is along the first horizontal direction;

step 2: as shown in fig. 3B and 3C, the boom driving apparatus drives the boom 102 to move along the first horizontal direction and drives the forearm 103 to move along the first horizontal direction, and simultaneously, the forearm 103 contracts, so that the traction device 100 pulls the hydraulic support 501 out of the hydraulic support 500 to be retracted along the first horizontal direction, and the first straight line segment in the frame-out traction route is completed;

step 3: as shown in fig. 3D, the small arm driving device drives the small arm 103 to swing relative to the large arm 102 to enable the traction head 104 to move away from the large arm 102, and meanwhile, the small arm 103 is gradually extended, so that the traction device 100 draws the hydraulic support 501 to gradually adjust the direction, and the second section direction-adjusting section in the out-frame traction route is completed;

Step 4: as shown in fig. 3E, the arm 103 continues to extend, and at the same time, the arm driving device drives the arm 103 to swing continuously, so that the traction frame 100 pulls the hydraulic frame 501 to move along the roadway direction, and the third section of the frame-out traction route is completed to be approximately a straight line section.

The traction device 100 of the embodiment of the present invention achieves a maximum fit to an ideal racking traction route. Specifically, the large arm 102 moves to match with the small arm 103 to shrink, the first section of traction work of the frame traction route is completed, then the small arm 103 swings forward and controls the small arm 103 to stretch moderately, the traction head 104 is enabled to advance approximately along the direction of the second section of traction route, and finally the traction head 104 is enabled to advance along the third section of traction route by stretching the small arm 103 and adjusting the swing angle of the small arm 103.

In step 2, the large arm driving device drives the large arm 102 to move along the first horizontal direction, so that the large arm 102 drives the small arm 103 to move along the first horizontal direction, and the traction device 100 accurately pulls out the hydraulic support 501 after this step.

In the process of drawing the frame, the drawing device 100 provided by the embodiment of the invention adjusts the drawing direction at any time by controlling each driving device, so that the frame drawing and direction adjustment of the hydraulic support 501 can be better realized, various collisions and scratch are avoided, and equipment damage and dangerous situations are avoided. The hydraulic support can completely avoid a plurality of problems and potential safety hazards in the traditional winch traction mode, the work efficiency of withdrawing the hydraulic support can be greatly improved, the number of workers required by a working face of withdrawing is greatly reduced, the effects of reducing people, enhancing efficiency and improving safety are achieved, and the hydraulic support has extremely high economic value and social value.

As shown in fig. 16 to 20, a plurality of shield supports sequentially arranged in the tunnel along the first horizontal direction play a role in pushing the traction device 100 to step. Specifically, after the traction device 100 completes the traction operation of one hydraulic support 501, the flat push rods of a plurality of shield supports simultaneously extend to push the traction device 100 forward by one step distance to reach the traction position of the next hydraulic support 501 waiting to be pulled out, and then the plurality of shield supports sequentially complete the steps of lowering, shrinking and advancing the flat push rods and lifting the support, thereby completing one frame discharging cycle.

The process of lowering the shield support, shrinking and moving the flat push rod forward and supporting the shield support is specifically that the shield support is lowered and separated from the top plate of the roadway, then the flat push rod of the shield support is shrunk to drag the shield support to move forward by one step distance in the direction approaching to the traction device 100, and after the shield support reaches the position, the shield support is lifted again and supported.

According to the retraction system provided by the embodiment of the invention, a plurality of shield supports are adopted for alternately shielding, and the horizontal push rods of the shield supports are sequentially pushed and pulled to realize stepping self-movement of the shield supports, so that the condition that the shield supports are pulled to move forward by adopting a winch in a general retraction system is abandoned, the retraction time is saved, and the retraction efficiency of the hydraulic support is improved. The shield supports can be sequentially and independently stepped, at least one shield support can be in a lifting state to play a role in shield support, and the safety of a roadway is enhanced. When the roof of the retractable working face has roof collapse and collapse pressing frames, the shield support can be effectively prevented from being pressed down, so that the shield support can move forward more smoothly and efficiently.

As shown in fig. 7 to 11, the tripod support 600 according to the embodiment of the present invention includes a support column including a first support column 601a and a second support column 601b vertically arranged, and a connection structure 602. The first support column 601a and the second support column 601b each comprise a top support portion 611, a bottom support portion 612 and a driving mechanism 613, the driving mechanism 613 is connected between the corresponding top support portion 611 and bottom support portion 612, the driving mechanism 613 is used for driving the top support portion 611 and the bottom support portion 612 connected with the driving mechanism to approach or separate along the axial direction (i.e. the vertical direction), the support column has a supporting state and a shrinking state, and the support column in the supporting state plays a supporting role.

Specifically, the driving mechanism 613 drives the top supporting portion 611 and the bottom supporting portion 612 to be relatively far away in the vertical direction until the supporting columns are in a supporting state, and the top ends and the bottom ends of the supporting columns in the supporting state are propped against the stressed object to play a role in supporting the shelter; the driving mechanism 613 drives the top support 611 and the bottom support 612 relatively close in the vertical direction until the support column reaches a contracted state, at least one of the top end and the bottom end of the support column in the contracted state being separated from the force-receiving object, and no longer playing a supporting shielding role. The length of the support column in the supporting state in the vertical direction is longer than the length of the support column in the contracted state in the vertical direction.

The connection structure 602 is connected between the first support column 601a and the second support column 601b, and is capable of driving one of the support columns to rotate around the other support column in the contracted state, in other words, the connection structure 602 is capable of driving one of the support columns in the contracted state to rotate around the central axis of the other support column in the supported state as a rotation center line. The connection 602 and the support column in the collapsed state are located vertically between the top and bottom ends of the support column in the supported state when rotated.

Specifically, when the first support column 601a is in the supporting state and the second support column 601b is in the contracted state, the first support column 601a is supported between the top plate 661 and the bottom plate 662 of the stressed object, the top end and the bottom end of the second support column 601b and the connecting mechanism 2 are located between the top end and the bottom end of the first support column 601a in the vertical direction, that is, located between the top plate 661 and the bottom plate 662 of the stressed object, and have a certain interval with the top plate and the bottom plate of the stressed object, and the connecting structure 602 drives the second support column 601b to rotate with the central axis of the first support column 601a as the rotation center line.

When the second support column 601b is in the supporting state, the first support column 601a is in the contracted state, the second support column 601b is supported between the top plate 661 and the bottom plate 662 of the stressed object, the top end and the bottom end of the first support column 601a and the connecting mechanism 2 are both located between the top end and the bottom end of the second support group 102 in the vertical direction, that is, located between the top plate 661 and the bottom plate 662 of the stressed object, and a certain interval is provided between the top plate and the bottom plate of the stressed object, and the connecting structure 602 drives the first support column 601a to rotate by taking the central axis of the second support column 601b as the rotation center line.

Of course, the first support column 601a and the second support column 601b may be simultaneously in a supported state, i.e., simultaneously supported before the top plate 661 and the bottom plate 662 of the force-receiving object.

The stepping process of the tripod 600 is as follows:

placing the tripod 600 between the top plate 661 and the bottom plate 662 of the stressed object;

the driving mechanism 613 is used for enabling the first support column 601a to be in a supporting state and the second support column 601b to be in a contracted state, the first support column 601a is supported between the top plate 661 and the bottom plate 662, and a certain interval is reserved between the connecting structure 602 and the second support column 601b and between the top plate 661 and the bottom plate 662;

the connecting structure 602 drives the second support column 601b to rotate around the first support column 601a by an angle alpha;

the driving mechanism 613 is used for enabling the second support column 601b to be in a supporting state, the first support column 601a is in a contracted state, the second support column 601b is supported between the top plate 661 and the bottom plate 662, and a certain interval is reserved between the connecting structure 602 and the first support column 601a and between the top plate 661 and the bottom plate 662;

the connecting structure 602 drives the first support column 601a to rotate around the second support column 601b by an angle beta;

the above steps are repeated to step the tripod 600. And the rotation direction and the angle can be set according to the requirement to finish different forward advancing modes.

The triangular region support is carried out by the triangular region support frame 600, the process of piling up wood by sleepers in the related art retraction process is omitted, the support strength is high, the support speed is high, good support shielding can be provided, the roof is prevented from collapsing, and the safety of personnel and equipment to be shielded is ensured. And the two support columns of the tripod zone support frame 600 can alternately support and advance by rotating and advancing, and can adjust the rotation angle according to the requirement, advance by rotating and advancing along any direction and randomly adjust the support position, so that the preparation process of the front stage of the hydraulic support and the ending process of the back stage of the hydraulic support can be greatly simplified, and good shielding is provided for the back-out of the hydraulic support and the shielding support.

In addition, the rotation stepping mode of the tripod support 600 can realize no repeated support of the roof and the floor, reduce damage to the roof and the floor, further reduce the risk of roof breakage and collapse, and the rotation stepping mode can enable the support column in an unsupported state to always move between the support column in a supported state and a shield area between the hydraulic support to be withdrawn or the shield support, thereby effectively avoiding the risk of pressing the roof due to the loss of support and pressing down of the roof.

Therefore, the fully-mechanized mining hydraulic support retraction system provided by the embodiment of the invention greatly improves the shielding safety and the hydraulic support retraction efficiency, reduces the personnel configuration of the hydraulic support retraction working face, enhances the safety of the hydraulic support retraction work, realizes the effects of reducing personnel, enhancing the efficiency and enhancing the safety, and has extremely high economic value and social value.

Traction device 100 in some embodiments of the present invention is described in detail below with reference to fig. 2 and 3.

In some embodiments, the boom drive device is a boom extension cylinder 105, as shown in fig. 2, a first end of the boom extension cylinder 105 is hinged to the base 101, and a second end is hinged to the boom 102, and the boom extension cylinder 105 extends and contracts in a first horizontal direction to push and pull the boom 102, so that the boom 102 moves in the first horizontal direction. When the boom extension cylinder 105 is extended, it pushes the boom 102, and when the boom extension cylinder 105 is contracted, it pulls the boom 102.

In some alternative embodiments, as shown in fig. 2, the boom extension cylinder 105 is provided on the side of the boom 102 near the hydraulic support 501, and the boom extension cylinder 105 is extended to push the boom 102. In alternative embodiments, the boom extension cylinder 105 may be disposed on a side of the boom 102 remote from the hydraulic support 501, and the boom extension cylinder 105 is retracted to pull the boom 102 in step 2.

In some embodiments, as shown in fig. 2, the forearm drive device is a forearm telescopic cylinder 106, a first end of the forearm telescopic cylinder 106 is hinged to the forearm 102, and a second end is hinged to the forearm 103, and the forearm telescopic cylinder 106 is telescopic to push and pull the forearm 103. The arm extension cylinder 106 extends, the arm 103 swings and its second end is away from the large arm 102, the arm extension cylinder 106 contracts, the arm 103 swings reversely and its second end is close to the large arm.

In some alternative embodiments, the forearm telescopic cylinder 106 is extended, the angle of the forearm 103 from the boom 102 is increased, the forearm telescopic cylinder 106 is contracted, and the angle of the forearm 103 from the boom 102 is decreased.

The telescopic oil cylinder is used for providing power for the movement of the large arm 102 and the swing of the small arm 103, and can provide great traction force, so that the phenomenon of clamping can be effectively avoided, and the frame-out traction process is stable in operation.

In some embodiments, as shown in fig. 2, the second end of the large arm 102 is hinged to the base 101, so that the first end of the large arm 102 is kept moving in the first horizontal direction as much as possible when the large arm is driven to move by the large arm driving device. Traction device 100 further includes at least one link having a first end hinged to base 101 and a second end hinged to boom 102, and the hinge location of the link to boom 102 is located on a side of the connection location of the boom drive means to boom 102 away from the first end of boom 102. The arrangement of the connecting rods forms a connecting rod structure, and when the large arm driving device drives the large arm to move, the large arm 102 drives the connecting rods to swing, so that the first end of the large arm 102 can keep nearly linear motion during swinging.

In other alternative embodiments, the boom 102 may be integrally translated in the first horizontal direction under the driving of the boom driving device, for example, the boom driving device is a boom telescopic cylinder 105, a sliding rail extending in the first horizontal direction is provided on the base 101, at least one supporting point of the boom 102 is supported on the sliding rail and is slidably provided along the sliding rail, and the boom telescopic cylinder 105 pushes the boom 105 to slide along the sliding rail, so that the boom 105 integrally translates in the first horizontal direction, and thus the first end of the boom can keep moving in the first horizontal direction.

A traction device 100 according to an embodiment of the present invention and an off-frame traction method using such a traction device 100 will be described below by way of example with reference to fig. 2, 3, and 12.

As shown in fig. 2, the traction device 100 includes a base 101, a boom 102, a forearm 103, a traction head 104, a boom extension cylinder 105, a forearm extension cylinder 106, a first link 107, and a second link 108.

For convenience of description, the first horizontal direction is defined as a left-right direction, the hydraulic brackets 500 to be retracted are located at the left side of the traction device 100, and the traction device 100 pulls out one of the hydraulic brackets 501 to be retracted in the right direction and sends out the hydraulic brackets 501 forward by steering. The large arm 102 has a first end at its front end and a second end at its rear end. The left-right direction and the front-rear direction are shown by arrows in fig. 12.

The extending directions of the first link 107 and the second link 108 are parallel, and the first ends of the first link 107 and the second link 108 are hinged to the base 101, and the second ends are hinged to the large arm 102. And the first link 107 is located forward of the second link 108, and the hinge point of the first link 107 with the boom 102 is located forward of the hinge point of the second link 108 with the boom 102, closer to the first end of the boom 102. As shown in fig. 2, the second link 108 is hinged to the rear end portion, i.e., the second end, of the large arm 102.

As shown in fig. 3 and 12, the boom extension cylinder 105 is located on the left side of the boom 102, the first end (left end) thereof is hinged to the base 101, the second end (right end) thereof is hinged to the middle of the boom 102 at a forward position, and the hinge point of the boom extension cylinder 105 and the boom 102 is located in front of the hinge point of the first link 107 and the boom 102, closer to the first end of the boom 102. As shown in fig. 3, the telescopic direction of the boom cylinder 105 is kept substantially unchanged. The extension of the large arm telescopic cylinder 105 pushes the large arm 102 to move rightwards, and the contraction of the large arm telescopic cylinder 105 pulls the large arm 102 to move leftwards.

The boom 102, the boom extension cylinder 105, the first link 107, and the second link 108 form a four-bar linkage. As shown in fig. 3a to fig. C, the boom extension cylinder 105 extends, and pushes the boom 102 to move rightward, and simultaneously, the boom extension cylinder 105 and the boom 102 swing relatively around the connecting pin, and the first link 107 and the second link 108 swing under the action of the boom 102, so that the front end of the boom 102 keeps nearly linear movement rightward during the swing.

Before the start of the towing operation, as shown in fig. 2 and 3A, the extension direction of the arm 103 is substantially in the first horizontal direction, i.e., the left-right direction. At this time, the first end (right end) of the small arm 103 is hinged to the front end of the large arm 102, the second end (left end) of the small arm 104 faces the hydraulic support 501, and the traction head 104 is hinged to the second end of the small arm 104.

The forearm telescopic cylinder 106 is connected between the big arm 102 and the forearm 103, and the first end of the forearm telescopic cylinder 106 is hinged with the middle part of the big arm 102 at a front position, and the second end is hinged with the middle part of the forearm 103. In the present embodiment, as shown in fig. 2 and 3, the articulated position of the boom extension cylinder 106 and the boom 102 is located in front of the articulated position of the boom extension cylinder 105 and the boom 102. The forearm telescopic cylinder 106 is extended, which pushes the forearm 103 to swing clockwise with respect to the boom 102, and the forearm telescopic cylinder 106 is contracted, which pulls the forearm 103 to swing counterclockwise with respect to the boom 102.

Further, in order to achieve the telescopic performance of the small arm 103, in this embodiment, the small arm 103 includes a small arm inner sleeve 109, a small arm outer sleeve 110, and a built-in telescopic cylinder (not shown in the figure), where the small arm outer sleeve 110 is sleeved with the small arm inner sleeve 109 and the small arm inner sleeve 109 are slidably disposed relative to each other, that is, the small arm inner sleeve 109 is sleeved with the small arm outer sleeve 110 in a sliding connection. The built-in telescopic cylinder is positioned in the small arm outer sleeve 110 and connected with the small arm inner sleeve 109 for pushing and pulling the small arm inner sleeve 109, the first end of the large arm 102 is hinged with the small arm outer sleeve 110, and the traction head 104 is hinged with the small arm inner sleeve 109. The built-in telescopic oil cylinder stretches to push the small arm inner sleeve 109 to slide out of the small arm outer sleeve 110, and the small arm 103 stretches; the built-in telescopic cylinder contracts, which pulls the forearm inner sleeve 109 to slide into the forearm outer sleeve 110, shortening the forearm 103.

As shown in fig. 2, traction head 104 is connected to the hydraulic bracket 501 being extracted by chain 111. It will be appreciated that extension or retraction of the arm 103 moves the traction head 104, which in turn moves the hydraulic mount 501 to which the traction head 104 is connected by the chain 111.

The large arm telescopic cylinder 105 drives the large arm 102 to move, the small arm telescopic cylinder 106 drives the small arm 103 to swing, the built-in telescopic cylinder drives the small arm 103 to stretch and retract, the movement modes are matched with each other, and the traction device 100 pulls the hydraulic support 501 out along an ideal out-frame traction route and finishes direction adjustment.

The following describes in detail the racking-out traction process using the traction apparatus 100 in the above embodiment with reference to fig. 2, 3, 12. The layout position of the traction device 100 on the fully-mechanized hydraulic support withdrawing working surface and the drawing route diagram of the hydraulic support are shown in fig. 12, and the schematic diagram of the state transition process of the traction device 100 in the drawing process of the hydraulic support is shown in fig. 3 a-E. The frame-out traction method specifically comprises the following steps:

step 1, as shown in fig. 12 and 3A, when the traction device 100 reaches the working position, the extension direction of the small arm 103 is along the left-right direction (the first horizontal direction), the extension direction of the small arm 103 is also along the first horizontal direction, the traction head 104 is connected to the left end of the small arm 103 and is positioned right of the hydraulic support 501 to be lifted, the small arm is driven by the built-in extension cylinder of the small arm 103 to be in an extension state, the large arm extension cylinder 105 is in a contraction state, the large arm 102 is positioned at a left position, the small arm extension cylinder 106 is in a contraction state, and the hydraulic support 501 to be lifted and the traction head 104 are connected with each other by adopting the chain 111;

Step 2, as shown in fig. 12 and 3B, the internal telescopic cylinder is contracted, the inner sleeve 109 of the small arm is gradually contracted into the outer sleeve 110 of the small arm, the small arm 103 is shortened, meanwhile, as shown in fig. 3C, the telescopic cylinder 105 of the large arm is extended, the large arm 102 is pushed to move rightwards, the large arm 102 moves rightwards to drive the first connecting rod 107 and the second connecting rod 108 to swing anticlockwise, the front end of the large arm 102 moves rightwards to nearly linearly, the small arm 103 is driven to move rightwards, the traction head 104 pulls the hydraulic support 501 to move rightwards until the hydraulic support 501 is pulled out from a row of hydraulic supports 500 to be retracted, and a first straight section in a frame pulling route is completed;

step 3, as shown in fig. 12 and fig. 3D, the small arm telescopic cylinder 106 extends to drive the small arm 103 to swing clockwise relative to the large arm 102, and meanwhile, the small arm 103 is driven by the built-in telescopic cylinder to extend gradually, so that the traction head 104 pulls the hydraulic support 501 to adjust the direction gradually, and the second section direction adjusting section in the out-frame traction route is completed;

and 4, as shown in fig. 12 and 3E, the built-in telescopic oil controls the small arm 103 to extend continuously, and meanwhile, the small arm telescopic oil cylinder 106 drives the small arm 103 to swing continuously clockwise, or the small arm 103 is driven to swing anticlockwise by proper contraction, so that the traction head 104 pulls the hydraulic support 501 to move forwards, a third section of the frame-out traction route is completed, and the hydraulic support 501 is pulled into a roadway.

By adopting the traction device provided by the embodiment of the invention, according to the frame-out traction method, the frame-out traction of the hydraulic support can be completed according to an ideal traction route as far as possible. The traction direction can be adjusted at any time by controlling each telescopic oil cylinder, so that the frame discharging and phase modulation process of the hydraulic support can be well realized, various collision and scratch accidents are avoided, the efficiency of the hydraulic support withdrawing work is greatly improved, the number of workers required by a withdrawing working face is reduced, the labor cost is saved, equipment is protected, the safety coefficient of the withdrawing process is improved, and the hydraulic support withdrawing device has extremely high economic value and social value.

In some embodiments, the shield support includes a first shield support 200, a second shield support 300, and a third shield support 400 that are sequentially arranged along a first horizontal direction.

The first shield support 200, the second shield support 300 and the third shield support 400 according to the embodiment of the invention are described below with reference to fig. 4 to 6.

The first shield support 200 comprises a first flat push rod 201, the second shield support 300 comprises a second flat push rod 301, and the third shield support 400 comprises a third flat push rod 401. The third shield support 400 is located on the side close to the hydraulic support 500 to be retracted, i.e. the first shield support 200, the second shield support 300 and the third shield support 400 are arranged in sequence from right to left.

The three connection points of the first flat push rod 201, the second flat push rod 301 and the third flat push rod 401 with the traction device 100 form an acute triangle on the horizontal plane, and the connection point of the second flat push rod 301 is located behind the connection point of the first flat push rod 201 and the third flat push rod 401. The three connection points form an acute triangle, so that a triangle stable fixed point is formed between the stepping device and the traction device 100, and the function of stable positioning is achieved.

As an example, as shown in fig. 12, the first flat push rod 201, the second flat push rod 301, and the third flat push rod 401 each extend in the front-rear direction, and the front end of the first flat push rod 201, the front end of the second flat push rod 301, and the front end of the third flat push rod 401 are hinged with three hinge points on the base 101 of the traction device 100, respectively. Wherein the front ends of the second flat push rod 301 are located behind the front ends of the first flat push rod 201 and the third flat push rod 401, the front ends of the first flat push rod 201 and the third flat push rod 401 are substantially flush in the front-rear direction, and the front ends of the three flat push rods form an acute triangle.

When the stepping device pushes the traction device 100 to step forward, the first flat push rod 201, the second flat push rod 301 and the third flat push rod 401 synchronously extend forward, the traction device 100 is pushed forward by one step distance, and when the stepping device body steps forward, the first shield support 200, the second shield support 300 and the third shield support 400 step in sequence under the action of the first flat push rod 201, the second flat push rod 301 and the third flat push rod 401 respectively.

Further, as shown in fig. 4 to 6, each of the first, second and third shield supports 200, 300 and 400 includes a hydraulic support bar supported at the bottom of the top shield beam and a top shield beam, the hydraulic support bar being telescopically arranged to raise or lower the top shield beam. When the shield support is in the lifting state, the top shield beam is lifted, and when the shield support is in the lowering state, the top shield beam is lowered.

Before the shield support steps, the hydraulic support rods shrink to enable the top shield beam to descend to be in a descending state, and after the step is completed, the hydraulic support rods stretch to enable the top shield beam to ascend to be in an ascending state. The first shield support 200, the second shield support 300 and the third shield support 400 can be independently moved forward by respectively lowering and contracting the flat push rod, the lifting frames are fixed when moving to the proper positions, and the three shield supports are sequentially rotated to realize the full forward movement of the three shield supports, so that the traction device 100 and the three shield supports can be moved forward in a stepping manner.

Specifically, as shown in fig. 4, the first shield support 200 includes a base, a first flat push rod 201, a first hydraulic support rod 202, and a first top shield beam 203, the first flat push rod 201 is provided on the base, and a connection lug 207 is provided at a front end thereof for connection with the base 101. The top end of the first hydraulic support bar 202 is supported on the bottom of the first top shield beam 203 and the bottom end is supported on the base. And, one end of the first top shield beam 203 is hinged to the base so as to be disposed in a reversible manner with respect to the base. The first hydraulic support rods 202 are contracted, the first top shield beams 203 are turned down to lower the height of the first shield support 200 to step forward, the first hydraulic support rods 202 are extended, the first top shield beams 203 are turned down to raise the height of the first shield support 200, and the first shield support 200 is supported on the roof of the roadway to play a role in supporting the shield.

Further, the first shield support 200 also includes a screen 204, a seat 205, and an illumination lamp 206. The curtain 204 may preferably use several circular links, so that one end of the curtain is fixedly connected with the first top shield beam 203, and the other end of the curtain is freely suspended, so that a safe area is isolated for operators, splashing injuries such as breakage of steel wires and chains can be prevented, better eyesight can be provided for the operators, and the positions and states of the traction device, the hydraulic support and the shield support can be observed more clearly and conveniently, so that the curtain has good man-machine efficiency. The seat 205 is secured to the base of the first shield support 200 to provide a rest for the operator. The illumination lamp 206 is fixed at the bottom of the first top shield beam 203 to provide illumination, so that the problem of difficulty in illumination of a triangle under the coal mine is solved, operators can observe the position and the running state of each device more conveniently and clearly, and the safety is further improved.

As shown in fig. 4, the first flat push rod 201 of the first shield support 200 is an elongate flat push rod. The first shield support 200 is provided with a flat push rod which is longer than the common existing shield support, and the purpose of the design is as follows: a) The hinge points of the three shield supports and the traction device 100 can be extended forwards, so that the hinge points of the three shield supports finally fall in an acute triangle in the plane, and the heavy-duty traction device can be positioned more firmly; b) The top supporting area of the shield can be delayed to form a ladder shield with the second shield support 300, the third shield support 400 and the tripod zone supporting frame 600, so that the whole shield area is in a triangle area, the shield pressure of the second shield support 300, the third shield support 400 and the tripod zone supporting frame 600 is reduced, and a better shield effect is formed on a top plate; c) The lengthened flat push rod leaves a certain space in front of the frame, a safe operation area can be provided for operators, the operator has a better visual field and a more comfortable space, the artificial efficiency of the whole equipment is improved, and the operation efficiency and the safety are further improved.

As shown in fig. 5, the second shield support 300 comprises a base, a second flat push rod 301, a second hydraulic support bar 302 and a second top shield beam 303. The second flat push rod 301 is arranged on the base, and the front end of the second flat push rod is provided with a connecting lug for being connected with the base 101. The top ends of the second hydraulic support rods 302 are supported on the bottom of the second top shield beams 303 and the bottom ends are supported on the base. And, one end of the second top shield beam 303 is hinged to the base so as to be disposed in a reversible manner with respect to the base. The manner of overturning may be referred to as the first shield support 200.

Further, an electro-hydraulic control system 304 is further arranged on the second shield support 300, the electro-hydraulic control system 304 is fixed on the base of the second shield support 300 and is located below the second top shield beam 303, and the electro-hydraulic control system 304 is responsible for electro-hydraulic control of the whole system and supplies power to the lighting lamp 206. The traction system provided by the embodiment of the invention can also adopt intelligent detection remote control, and the intelligent detection function of the electro-hydraulic control system 304 can timely detect the conditions of the oil cylinders and the pressure, so that the changes of the pressure and the traction force of the top plate can be timely displayed, an operator can timely adjust the operation strategy according to the corresponding conditions, and the frame moving and retracting operations are safer and more reliable. The traction system adopts remote control, avoids close-fitting operation of equipment, is far away from mobile equipment, and can timely observe the running positions and states of the traction device 100 and the hydraulic support 501 at a more comprehensive visual angle, so that the whole operation process is safer.

As shown in fig. 6, the third shield support 400 comprises a base, a third flat push rod 401, a third hydraulic support bar 402 and a third top shield beam 403. The third flat push rod 401 is arranged on the base, and the front end of the third flat push rod is provided with a connecting lug for being connected with the base 101. The third hydraulic support bar 402 is supported at its top end on the bottom of the third top shield beam 403 and at its bottom end on the foundation. And, one end of the third top shield beam 403 is hinged to the base so as to be disposed in a reversible manner with respect to the base. The manner of overturning may be referred to as the first shield support 200.

In some embodiments, the side of the shield support closest to the hydraulic support 500 to be retracted that is adjacent to the tripod support 600 is provided with at least one side shield beam that is connected to and is arranged pivotably over the roof shield beam of the shield support, the side shield beam having an extended state in which the side shield beam is supported parallel to the roof shield beam and a collapsed state in which the side shield beam is sagging.

In the embodiment shown in fig. 10 and 12, the shield support closest to the hydraulic support 500 to be retracted is a third shield support 400, at least one side shield beam being provided on the side of the third shield support 400 remote from the second shield support 300, which side shield beam is connected to the third roof shield beam 403 and is arranged so as to be pivotable, the side shield beam having an extended state in which the side shield beam supports parallel to the third roof shield beam 403 and a collapsed state in which the side shield beam sagging shields the interior of the third shield support 400 for shielding purposes.

Specifically, as shown in fig. 10, the side shield beams include a first side shield beam 404 and a second side shield beam 405. As shown in fig. 10, the first side shield beam 404 and the second side shield beam 405 are both hinged to the side of the elongated ultra-thin third top shield beam 403, which is far away from the second shield support 300, and are respectively connected with swing cylinders, so that the first side shield beam 404 and the second side shield beam 405 can be folded. The first side shield beam 404 and the second side shield beam 405 may be deployed in time parallel to the upper plane of the third top shield beam 403, together with the roof panel.

The third shield support 400 further includes a base side shield 406, the base side shield 406 being secured to the base, the base side shield 406 being adapted to prevent intrusion of collapsed coal and rocks into the interior of the shield support.

The first side shield beams 404 and the second side shield beams 405 hang down in a vertical state when being folded together with the base side shield plates 406 to prevent broken stones and coal blocks in the subsidence area from invading the inner side of the shield support. The lengthened ultrathin third top shield beam 403 can better provide shielding for the hydraulic support to be retracted and can provide sufficient passing space for the hydraulic support.

Tripod supports 600 according to some embodiments of the present invention are described below with reference to fig. 7-11. As shown in fig. 7-11, the tripod support 600 includes two support columns including a first support column 601a and a second support column 601b arranged vertically, and a connection structure 602.

The connection structure 602 of the tripod support 600 is rotatable around each of the first support column 601a and the second support column 601 b. When one support column is in a supporting state, in order to facilitate rotation, the other support column is contracted and the bottom end of the support column is lifted to be separated from the bottom plate 662, and the top end of the support column is retracted to be separated from the top plate 661, the support column takes the connecting structure 602 as a support until reaching the contracted state, at this time, the connecting structure 602 needs to bear the whole weight of the support column in the contracted state, and the connecting structure 602 should be spaced from the top plate 661 and the bottom plate 662.

In some embodiments, as shown in fig. 7-9, the tripod support 600 includes sleeve assemblies 604, wherein the sleeve assemblies 604 are sleeved with the support columns in a one-to-one correspondence and are fixed to each other in the circumferential direction, i.e. the sleeve assemblies 604 cannot rotate relative to the support columns sleeved with the sleeve assemblies 604, the sleeve assemblies 604 are located between the top support portion 611 and the bottom support portion 612, and the sleeve assemblies 604 and the connection structure 602 are fixed to each other in the axial direction and are arranged in a relatively rotatable manner in the circumferential direction.

To achieve that the sleeve assembly 604 and the connection structure 602 are axially fixed to each other and rotatable relative to each other in the circumferential direction, in some embodiments, as shown in fig. 9, at least one bearing may be fitted between the connection structure 602 and the sleeve assembly 604, an outer ring of the bearing is connected to the connection structure 602, and an inner ring of the bearing is connected to the sleeve assembly 604.

In other alternative embodiments, the connection structure 602 and the sleeve assembly 604 may be fixed to each other in the axial direction and may rotate relatively in the circumferential direction by matching an annular slot with a slider, for example, the connection structure 602 is provided with a slider, an annular slot is provided on an outer circumferential surface of the sleeve assembly 604, and the slider is matched in the annular slot and may slide along the slot, and the slider abuts against a wall surface of the annular slot to achieve limiting in the axial direction.

Further, in some embodiments, the sleeve assembly 604 is axially slidably disposed relative to the support post. To raise the connection structure 602 to a certain height when it is turned, the tripod 600 includes a plurality of stay wires 603. As shown in fig. 8, the top of the cable 603 is connected to the top support 611, and the bottom of the cable 603 is connected to the sleeve assembly 604, so that the cable can achieve the purpose of raising the connection structure 602 because the connection structure 602 is fixed to the sleeve assembly 604 in the axial direction. Some of the plurality of stay wires 603 are provided on the first support column 601a, and another part is provided on the second support column 601b. As shown in fig. 8, a plurality of stay wires 603 surround a first support post 601a, and a plurality of stay wires 603 surround a second support post 601b. As shown in fig. 9, when the support column is in a supported state, the stay 603 connected to the support column is tensioned, and the bottom end of the connection structure 602 is located above the bottom end of the support column in a supported state under the action of the stay 603. That is, the tension of the stay 603 on the support column in the supported state lifts the connection structure 602 to a certain height with a certain interval from the bottom end thereof before the bottom plate 662 so that the connection structure 602 rotates. The first support column 601a and the second support column 601b alternately shrink and stretch, and the stay 603 of the first support column 601a and the stay 603 of the second support column 601b alternately lift the connection structure 602, so that the bottom end of the connection structure 602 always has a certain interval with the front of the bottom plate 662.

In addition, by adjusting the length of the stay 603, the supporting height of the support column and the height distance between the bottom end of the connection structure 602 and the bottom end of the support column can be adjusted within a certain range, that is, in the above embodiment, the supporting height of the support column and the height distance between the bottom end of the connection structure 602 and the bottom end of the support column are related to the length of the stay 603.

Further, as shown in fig. 8 and 9, the support column includes an inner cylinder 614 and an outer cylinder 615 sleeved with the inner cylinder 614, the inner cylinder 614 and the outer cylinder 615 are axially slidably disposed relative to each other, the driving mechanism 613 is disposed inside the inner cylinder 614, and the sleeve assembly 604 is sleeved with the outer cylinder 615 and is axially slidably disposed relative to the outer cylinder 615.

In the embodiment shown in fig. 8 and 9, the inner cylinder 614 is connected to the bottom of the top support 611 and extends downward, and the outer cylinder 615 is connected to the bottom of the bottom support 612 and extends upward. The outer peripheral surface of the inner tube 614 is in contact with the inner peripheral surface of the outer tube 615 and is slidably provided. The inner peripheral surface of the sleeve member 604 is in contact with the outer peripheral surface of the outer tube 14 and is slidably disposed relative to the outer peripheral surface.

In other alternative embodiments, the inner barrel 614 is connected to the bottom of the bottom support 612 and extends upwardly, and the outer barrel 615 is connected to the bottom of the top support 611 and extends downwardly.

The driving mechanism 613 is a large tonnage column cylinder, which is vertically disposed in the inner cylinder 614, and the driving mechanism 613 has a first hinge point and a second hinge point. The top support 611 is connected to the first hinge point, the bottom support 612 is connected to the second hinge point, and the column cylinder drives the top support 611 and the bottom support 612 to move up and down. The large-tonnage upright post oil cylinder can provide supporting force far exceeding that of a common wood pile and a single hydraulic support column, and the supporting force can even exceed that of a common hydraulic support.

As shown in fig. 8 and 9, when the driving mechanism 613 drives the second support column 601b to switch from the supporting state to the contracted state, the top supporting portion 611 of the support column moves downward, a limit is generated when the top supporting portion 611 is propped against the top end of the upper flange 641, the bottom supporting portion 612 moves upward under the lifting of the driving mechanism 613, the inner cylinder 614 and the outer cylinder 615 slide in opposite directions, i.e., the inner cylinder 614 moves vertically downward, the outer cylinder 615 moves vertically upward, and the sleeve assembly 604 is relatively fixed in position in the vertical direction under the pulling force of the cable 603 of the first support column 601a, and the outer cylinder 615 slides upward relative to the sleeve assembly 604.

In order to achieve mutual fixation between the sleeve assembly 604 and the outer cylinder 615 in the circumferential direction, the sleeve assembly 604 is prevented from being driven to rotate by the connecting structure 602 when the connecting structure 602 rotates. Further, as shown in fig. 9, the sleeve assembly 604 is provided with a limiting groove 644, the outer barrel 615 is provided with a limiting protrusion 616, the limiting groove 644 extends along the axial direction of the support column, and the limiting protrusion 616 is matched in the limiting groove 644 and is slidably arranged along the limiting groove 644. Alternatively, the limiting groove 644 may also be provided on the outer barrel 14 and the limiting boss 616 provided on the sleeve assembly 604.

Specifically, as shown in fig. 8 and 9, the sleeve assembly 604 includes a first sleeve assembly 604a and a second sleeve assembly 604b, the first sleeve assembly 604a is sleeved with the first support column 601a, and the second sleeve assembly 604b is sleeved with the second support column 601b. Each sleeve assembly 604 includes an upper flange 641, a sleeve 642, and a lower flange 643 connected in sequence from top to bottom. A first bearing 651 and a second bearing 652 are disposed between the connection structure 602 and each sleeve assembly 604, the first bearing 651 being fitted between the upper flange 641 and the connection structure 602, and the second bearing 652 being fitted between the lower flange 643 and the connection structure 602 such that the connection structure 602 is rotatable about each of the first sleeve assembly 604a and the second sleeve assembly 604b and axially fixed to each other. The limiting groove 644 is provided on the lower flange 643, and the limiting boss 616 is provided on the outer circumferential surface of the outer cylinder 615. The lower end of the cable 603 is connected to a lug on the outer peripheral surface of the upper flange 641. When the support column is in a contracted state, the top support portion 611 abuts against the top end of the upper flange 641, thereby generating a limit.

In some embodiments, as shown in fig. 8 and 9, the connection structure 602 includes a first driving gear 621 and a second driving gear 622, the first support column 601a includes a first driven gear 617, the first driven gear 617 is sleeved around and connected to the sleeve 642 of the first support column 601a, and the first driven gear 617 is meshed with the first driving gear 621. The second support post 601b includes a second driven gear 618, the second driven gear 618 is sleeved on and connected to a sleeve 642 of the second support post 601b, and the second driven gear 618 is meshed with the second driving gear 622.

The connection structure 602 includes a driving device, as shown in fig. 8, including a first rotating motor 624 for driving the first driving gear 621 to rotate, and a second rotating motor 625 for driving the second driving gear 622 to rotate. The first rotation motor 624 drives the first driving gear 621 to rotate around the first driven gear 617 to enable the connection structure 602 to drive the second support column 601b to rotate around the central axis of the first support column 601a, and the second rotation motor 625 drives the second driving gear 622 to rotate around the second driven gear 618 to enable the connection structure 602 to drive the first support column 601a to rotate around the central axis of the second support column 601 b.

As shown in fig. 7 and 9, the connection structure 602 includes a connection case 623, each of the first support column 601a and the second support column 601b is sleeved in the connection case 623, the top support portion 611 and the bottom support portion 612 of the first support column 601a and the second support column 601b protrude from upper and lower ends of the connection case 623, respectively, and the first and second driving gears 621 and 622, and the first and second

rotary motors

624 and 625 are located in the connection case 623. The connection box 623 further includes two box covers 6231, the two box covers 6231 are respectively sleeved with two support columns, and the first bearing 651 is fitted between the upper flange 641 and the box cover 6231.

As shown in fig. 18, the connection structure 602 further includes an electric control assembly 607, and the electric control assembly 607 is configured to control the first rotary motor 624 and the second rotary motor 625 to rotate the first driving gear 621 and the second driving gear 622.

The first support column 601a rotates around the second support column 601 b: the driving mechanism 613 of the first support column 601a is operated to shrink so that the first support column 601a is in a shrinking state, the second support column 601b is supported between the top plate 661 and the bottom plate 662, the second rotating motor 625 of the connecting structure 602 is operated, the second driving gear 622 rotates around the second driven gear 618, and the connecting structure drives the first support column 601a to rotate around the second support column 601 b.

The second support column 601b rotates around the first support column 601 a: the driving mechanism 613 of the second support column 601b is operated to be contracted to be in a contracted state. The first support column 601a is supported between the top plate 661 and the bottom plate 662, the first rotation motor 624 of the connection structure 602 operates, the first driving gear 621 rotates around the first driven gear 617, and the connection structure 602 drives the second support column 601b to rotate around the first support column 601 a.

The two support columns of the tripod zone support frame 600 provided by the embodiment of the invention can be simultaneously supported, alternatively supported and lifted off the ground, and revolved around the supported support columns, so that the support columns are alternately supported and revolved for displacement, thereby realizing the shape shifting and transposition functions, further realizing the advancing of stepping, further being capable of keeping up with the forward movement of the retracting working face and providing good shielding function for the hydraulic support to be retracted.

The following describes the steps of the retraction process of the fully-mechanized hydraulic support retraction system provided in accordance with an embodiment of the present invention, in accordance with fig. 13-15.

The retracting process comprises the following steps:

s1: as shown in fig. 13, in the preparation stage of retraction, a retraction system is installed on a retraction working surface, wherein a plurality of shield supports are sequentially arranged and lifted in a first horizontal direction which is mutually perpendicular to the roadway direction, a tripod support 600 is positioned near a tripod beside a hydraulic support 500 to be retracted, two support columns are respectively extended and supported, a traction device 100 reaches a traction position and is connected with a plurality of flat push rods of the plurality of shield supports, and the flat push rods are in a contracted state;

s2: as shown in fig. 14, in the retraction stage, the traction device 100 pulls out the hydraulic support 501 from the row of hydraulic supports 500 to be retracted and adjusts the direction along the roadway, the hydraulic support 501 pulled out of the roadway is retracted by using the retraction device, the tripod support 600 is stepped forward (stepped in the direction close to the next hydraulic support 501) for one step distance and supported again, the flat push rods of a plurality of shield supports are simultaneously extended to push the traction device 100 forward for one step distance to reach the pulling-out position of the next hydraulic support 501 to be retracted, and then the plurality of shield supports sequentially complete the steps of lowering the frame, retracting and advancing the flat push rods and lifting the frame for supporting, thereby completing one frame-out cycle, and repeating the steps;

S3: as shown in fig. 15, the traction device is withdrawn at the retraction ending stage, and the shield support and the tripod are sequentially withdrawn.

In step S2, the steps of lowering the shield support, shrinking and moving the flat push rod forward, and lifting the shield support are specifically that the shield support is lowered and separated from the top plate of the roadway, then the flat push rod of the shield support is shrunk to drag the shield support to move forward by one step distance in the direction approaching to the traction device 100, after the shield support arrives at the position, the shield support is lifted again, and a plurality of shield supports sequentially complete the steps, so that when one shield support is in a lowered state, the rest shield supports are lifted and supported to play a role of shielding.

In step S2, the frame removing device may be a winch, a forklift or other devices.

According to the fully-mechanized hydraulic support withdrawing process, after the hydraulic support is pulled out of the frame by the traction device, the hydraulic support is withdrawn along a roadway by the withdrawing frame, such as a winch, instead of the process that the hydraulic support is pulled by the winch and the movable pulley directly in the traditional withdrawing process, the traction route of the traction device is flexible and adjustable, the hydraulic support is well completed to be pulled out of the frame and turned, collision and scratch caused by the hydraulic support pulled by the winch are avoided, the spark splashing phenomenon is avoided, the efficiency of the hydraulic support is greatly improved, personnel configuration of a hydraulic support withdrawing working face is reduced, and potential safety hazards caused by personnel aggregation are avoided.

The multiple shield supports are alternatively used for shielding, the flat push rods of the shield supports are sequentially pushed and pulled to realize the stepping self-movement of the multiple shield supports, the step of pulling the shield supports to move forward by using a winch in the common retracting process is abandoned, and in the step S2, the working step of pulling out the roadway by the hydraulic support by the support pulling device can be synchronously carried out with the step of stepping forward of the shield supports, so that the retracting time is saved, and the retracting efficiency of the hydraulic support is improved. The shield supports can be sequentially and independently stepped, at least one shield support can be in a lifting state to play a role in shield support, and the safety of a roadway is enhanced. When the roof of the retractable working face has roof collapse and collapse pressing frames, the shield support can be effectively prevented from being pressed down, so that the shield support can move forward more smoothly and efficiently.

The triangular region support is carried out by adopting the triangular region support frame, so that the process of beating a wood pile through a sleeper in the withdrawal process of the related technology is omitted, the support strength is high, the support speed is high, good support shielding can be provided, the roof is prevented from collapsing, and the safety of personnel and equipment to be shielded is ensured. And two support columns of the triangular region support frame can alternately support and advance through rotation stepping, rotation angles can be adjusted as required, the rotation angles can be adjusted to advance along any direction stepping, and the support positions can be adjusted at will, so that the preparation process of the front stage of the hydraulic support frame and the ending process of the back stage of the hydraulic support frame can be greatly simplified, and good shielding is provided for the back-out of the hydraulic support frame and the shielding support frame.

In addition, the rotation stepping mode of the triangular support frame can realize no repeated support of the top plate and the bottom plate, reduce damage to the top plate and the bottom plate, further reduce the risk of crushing and collapse of the top plate, and the rotation stepping mode can enable the support column in an unsupported state to always move between the support column in a supported state and a shield area to be withdrawn and removed from the hydraulic support or between the support column and the shield support, thereby effectively avoiding the risk of pressing the support frame caused by the loss of support and pressing of the top plate.

The retraction process is described in detail below with reference to fig. 13-22.

As shown in fig. 13, the arrangement direction of the hydraulic supports 501 in the hydraulic support 500 to be retracted is along the roadway direction, the roadway direction extends along the front-rear direction, the hydraulic supports 500 to be retracted are sequentially numbered (1) … from back to front along the roadway direction, the retraction sequence is generally from back to front, that is, the hydraulic supports 501 with smaller numbers are firstly withdrawn, in order to provide space for installation of the retraction system, in the step S1 retraction preparation process, a part of the hydraulic supports 501 need to be withdrawn from the frame, and then gradually moved forward.

As an example, step S1 specifically includes:

s101, withdrawing the (4) th and (5) th hydraulic supports 501 on the withdrawing working surface,

S102, installing the tripod zone support 100 at the position where the two hydraulic supports 501 withdrawn in the step S101 are free, and extending and supporting two support columns of the tripod zone support 100;

s103, sequentially installing a plurality of shield supports in place along a first horizontal direction, and lifting the support, wherein the first horizontal direction is mutually perpendicular to the extending direction of the roadway, and in the embodiment shown in FIG. 13, the roadway is positioned on the right side of the hydraulic support to be retracted 500, and the shield supports are installed in the roadway, namely, the shield supports are positioned on the right side of the hydraulic support to be retracted 500;

s104, withdrawing the (3) th and (6) th hydraulic supports on a withdrawing working surface;

s105, mounting the traction device 100 to a traction position corresponding to the (7) th hydraulic support, namely, the right side of the (7) th hydraulic support, connecting the traction device 100 with the flat push rods of the shield supports, wherein the flat push rods are in a contracted state;

s106, as shown in FIG. 13, the tripod support 600 is moved forward in the direction of the (7) th hydraulic support, and then both support columns are extended to support;

and S107, sequentially shielding and dragging the (2) th and (1) th hydraulic supports remained behind the shield support to the roadway mouth, and withdrawing the hydraulic support which is sequentially the (2) th hydraulic support and the (1) th hydraulic support.

The hydraulic supports (1) - (6) can be withdrawn in the steps S101, S104 and S107 by using a winch, a forklift or other devices.

As shown in fig. 14, step S2 specifically includes:

s201, connecting the hydraulic support 501 waiting to be retracted (backward from the (7) th hydraulic support in sequence) with the traction device 100, and controlling the traction device 100 to pull out and adjust the hydraulic support 501;

s202, withdrawing the hydraulic support pulled out in the step S201 by the frame withdrawing device;

s203, the tripod zone supporting frame 100 is stepped forward by one step distance and is supported again;

s204, controlling the horizontal pushing rods of a plurality of shield supports to extend simultaneously, and pushing the traction device 100 forwards by a step distance, wherein the step distance is the width of the hydraulic support frame to be retracted, so that the traction device 100 reaches the traction position of the next hydraulic support 501 to be retracted;

s205, controlling the shield support which is closest to the hydraulic support to descend (in the embodiment shown in fig. 14, the shield support which is closest to the hydraulic support is the leftmost shield support), then controlling the flat push rod of the shield support to retract to complete the forward movement of the shield support, and then enabling the shield support to ascend again for support;

s206, sequentially advancing the rest shield supports according to the direction from the approach to the separation of the hydraulic supports (from left to right), and completing a frame discharging cycle;

S207, repeating the steps S201 to S206 until the 3 rd hydraulic support 501 in the whole working surface is retracted, and entering the S3 retraction ending stage.

As shown in fig. 15, step S3 specifically includes:

s301, disassembling and withdrawing the traction device 100, and withdrawing the shield support closest to the tripod zone support frame 600;

s302, contracting a support column of the triangular region support frame 600 close to the goaf to enable the support column to advance forwards around another support column, and enabling the triangular region support frame 600 to face a roadway;

s303, the 2 nd hydraulic support 501 on the retracting working surface is subjected to shield withdrawal, then the shield supports are sequentially withdrawn in a direction approaching to and away from the hydraulic support (from left to right), the last hydraulic support 501 is withdrawn, and finally the tripod support 600 is withdrawn.

In step S207, the remaining two hydraulic supports 501 are not withdrawn from the working surface because they are limited by the length of the roadway, and the traction device 100 cannot draw out any more, and in actual working, as many hydraulic supports as possible may be withdrawn according to the actual situation of the roadway and the working space required by the traction device 100, without being limited to the situation that the retraction of the 3 rd hydraulic support 501 in the entire working surface is completed in step S207 and then the retraction of the S3 retraction end stage is performed.

Figure 16 shows the initial position of the traction device 100 after completion of the racking of a hydraulic cradle 501,

the step S204 specifically includes: as shown in fig. 16 and 17, after the racking of the traction apparatus 100 is completed, the first flat push rod 201, the second flat push rod 301, and the third flat push rod 401 are controlled to simultaneously extend forward, and the traction apparatus 100 is pushed forward by one step, and the traction apparatus 100 reaches the next racking position, opposite to the next hydraulic bracket 501.

The step S205 specifically includes: as shown in fig. 18, the third hydraulic support rods 402 of the third shield support 400 retract to drive the third top shield beams 403 to descend, the third flat push rods 401 are controlled to retract, the body of the third shield support 400 is pulled forward by one step, and the third hydraulic support rods 402 extend to drive the third top shield beams 403 to ascend and support and fix.

The step S206 specifically includes:

as shown in fig. 19, the second hydraulic support rods 302 of the second shield support 300 shrink to drive the second top shield beams 303 to descend, the second flat push rods 301 are controlled to shrink, the body of the second shield support 300 is pulled forward by one step, and the second hydraulic support rods 302 stretch to drive the second top shield beams 303 to ascend and support and fix;

as shown in fig. 20, the first hydraulic support rods 202 of the first shield support 200 retract to drive the first top shield beams 203 to descend, the first flat push rods 201 are controlled to retract, the body of the first shield support 200 is pulled forward by one step, and the first hydraulic support rods 202 extend to drive the first top shield beams 203 to ascend and support and fix.

According to the traction device 100 provided by the embodiment of the invention, large-tonnage traction can be performed on a near horizontal plane according to the method for pulling out the frame, the traction path can be suitable for an ideal path required by withdrawing the hydraulic support, the traction direction can be timely adjusted according to traction requirements, and the traction force far exceeding that of an ordinary winch can be provided due to the fact that the oil cylinder and the heavy-duty mechanical arm are used for outputting force, and the method can be better suitable for pulling out and adjusting the direction of the large-tonnage hydraulic support.

The traction device 100 is respectively hinged with the flat push rods of the first shield support 200, the second shield support 300 and the third shield support 400, and the flat push rods are controlled to alternately shield, so that the step-by-step self-movement of the heavy-load traction device and the three shield supports is realized by sequentially pushing or pulling the three shield supports, the step of pulling and advancing equipment such as a winch is omitted from the conventional shield support, and the step-by-step advancing process can be combined with the step of pulling and loading the winch out of a roadway and the like, so that the time is saved. Moreover, the mode of forward walking of the traction device 100 driven by the flat push rod has higher moving precision, excessive forward movement is effectively prevented, the flat push rod works under the pushing of the oil cylinder, larger pulling frame force can be provided, and the shield support can be effectively prevented from being pressed when the roof of the retractable working face has roof collapse and collapse pressing frames in a sequential forward walking mode, so that the forward movement is smoother and more efficient.

Based on the traction device 100 and the first, second and third shield stands 200, 300, 400 in the above embodiment, the third shield stand 400 is withdrawn in step S301. In step S303, the remaining devices of the retracting working surface are: the penultimate hydraulic support, the tripod head 600, the second shield support 300, the first shield support 200.

Step S303 specifically includes: the winch or other traction devices are adopted to alternately shield and move the five devices, the five devices gradually move towards the withdrawal chute, the direction and the gesture are adjusted to form a sector supporting area, one device is withdrawn one by one, the circle of sector shielding area is reduced, and generally, the preferred withdrawal sequence is as follows: penultimate hydraulic support → second shield support 300 → first shield support 200 (with other equipment withdrawn together) → penultimate hydraulic support → tripod support 600. So far, the whole hydraulic support retracting work is completed.

As shown in fig. 14 and 21, in step S102, the support column near the shield support, which defines the tripod support 600, is a first support column 601a, and the support column near the goaf is a second support column 601b. In step S106, the two support columns make three total strokes to achieve forward movement in the direction of the (7) hydraulic supports. Step S106 includes:

S10601, the first support column 601a is contracted to rotate around the second support column 601b by a certain angle to make it advance forward, and after the first support column 601a is stretched to support;

s10602, the second support column 601b is contracted to rotate around the second support column 601b by a certain angle to make it advance forward, and after the second support column 601b is stretched to support;

s10603, the first support column 601a is contracted to rotate around the second support column 601b by a certain angle to advance forward, and after the first support column 601a is extended to support, the first support column 601a approaches the shield support, and the second support column 601b approaches the goaf.

Specifically, as shown in fig. 21, in step S102, the first support column 601a is located on the right side of the second support column 601 b. In S10601, the first support column 601a is rotated 45 ° counterclockwise (rotation direction-1 in fig. 21) around the second support column 601b to advance a distance forward; in S10602, the second support column 601b is rotated back 90 ° clockwise (rotation direction-2 in fig. 21) around the first support column 601a to advance forward a certain distance; in S10603, the first support column 601a is rotated 45 ° counterclockwise (rotation direction-3 in fig. 21) around the second support column 601b to reach the right-hand position of the second support column 601b again.

As shown in fig. 14 and 22, in step S202, the support column near the shield support, which defines the tripod support 600, is a first support column 601a, and the support column near the goaf is a second support column 601b. S203 specifically includes:

s20301, the first support column 601a is contracted to turn around the second support column 601b by 90 degrees to advance forward, and after that, the first support column 601a is extended to support;

s20302, the second support column 601b is contracted so as to be turned around the first support column 601a by 90 degrees in the same direction as the turning direction in step S20301, and after that, the second support column 601b is extended and supported. To this end, the tripod head 600 completes the stepping forward by one step. At this time, the first support column 601a is close to the goaf, and the second support column 601b is close to the shield support.

Specifically, as shown in fig. 22, in step S202, the first support column 601a is located on the right side of the second support column 601b. In S20301, the first support column 601a is rotated 90 degrees counterclockwise (rotation direction-1 in fig. 22) around the second support column 601b, and in S20302, the second support column 601b is rotated 90 degrees counterclockwise (rotation direction-2 in fig. 22) around the first support column 601 a.

As shown in fig. 15, in step S302, the support column of the tripod 600 near the goaf is contracted to be rotated by 90 degrees clockwise around the other support column to advance forward so that the tripod 600 faces the roadway.

It is to be understood that the stepping method of the tripod 600 is not limited thereto, and the turning movement mode may be flexibly selected according to different working conditions.

In addition, the pullback process further comprises:

when the tripod 600 is stepped, the side shield beams of the third shield support 400 are turned over to be in the unfolded state.

As an example, in steps S106, S203, the side shield beams may support the shield as the case may be, and the shield delta support 600 is advanced.

In summary, the fully-mechanized hydraulic support retracting device and the fully-mechanized hydraulic support retracting process provided by the invention greatly reduce manual procedures and a large amount of heavy manual labor in the traditional retracting system, realize high safety, high reliability, high efficiency and high benefit of hydraulic support retracting work, solve various pain problems which are not solved in hydraulic support retracting, realize automatic transformation of coal mine roadway hydraulic support retracting, remarkably improve the operating efficiency and safety of hydraulic support retracting, and can generate great economic and social benefits.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

For purposes of this disclosure, the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims

1. A fully-mechanized hydraulic support retraction system, comprising:

2. The fully-mechanized hydraulic support retraction system according to claim 1 wherein the boom drive is a boom extension cylinder, a first end of the boom extension cylinder being hinged to the base and a second end being hinged to the boom, the boom extension cylinder extending in the first horizontal direction to push and pull the boom;

and/or the small arm driving device is a small arm telescopic oil cylinder, the first end of the small arm telescopic oil cylinder is hinged with the large arm, the second end of the small arm telescopic oil cylinder is hinged with the small arm, and the small arm telescopic oil cylinder stretches to push and pull the small arm.

3. The fully-mechanized hydraulic support retraction system according to claim 2 wherein the forearm includes an inner forearm sleeve, an outer forearm sleeve and a built-in telescopic ram, the inner forearm sleeve being slidably disposed about the outer forearm sleeve, the built-in telescopic ram being positioned within the outer forearm sleeve and connected to the inner forearm sleeve for pushing and pulling the inner forearm sleeve, the first end of the boom being hinged to the outer forearm sleeve, the traction head being hinged to the inner forearm sleeve.

4. A fully-mechanized hydraulic support retraction system according to any one of claims 1 to 3 wherein the traction means further comprises at least one link, a first end of the link being hinged to the base, a second end of the link being hinged to the boom, and the position of the link hinged to the boom being on a side of the connection of the boom drive means to the boom remote from the first end of the boom.

5. The fully-mechanized hydraulic support retraction system according to claim 1 wherein,

the shield support comprises a hydraulic support rod and a top shield beam, wherein the hydraulic support rod is supported at the bottom of the top shield beam, and the hydraulic support rod is arranged in a telescopic manner so as to enable the top shield beam to be lifted or lowered;

at least one side shield beam is arranged on one side, facing the triangular area, of the shield support close to the triangular area, the side shield beam is connected with the top shield beam of the shield support and can be arranged in a turnover mode, the side shield beam has an unfolding state and a folding state, in the unfolding state, the side shield beam and the top shield beam play a supporting role in parallel, and in the folding state, the side shield beam sags.

6. The fully-mechanized hydraulic support retraction system according to claim 1 or 5 wherein the three shield supports include a first shield support, a second shield support and a third shield support arranged in sequence in the first horizontal direction, the first shield support including a first flat pushrod, the second shield support including a second flat pushrod, the third shield support including a third flat pushrod, the three connection points of the first flat pushrod, the second flat pushrod and the third flat pushrod with the traction device being acutely triangular.

7. The fully-mechanized hydraulic support retraction system according to claim 1 wherein the triangular support frame includes sleeve assemblies that sleeve the support columns in a one-to-one correspondence and are circumferentially fixed to each other, the sleeve assemblies being located between the top support portion and the bottom support portion, the sleeve assemblies being axially fixed to each other and being circumferentially relatively rotatably disposed with the connection structure.

8. The fully-mechanized hydraulic support retraction system according to claim 7 wherein the sleeve assembly and the support post are slidably disposed relative to each other in an axial direction, the shield support further comprising a plurality of cables, the top of the cables being connected to the top support portion, the bottom of the cables being connected to the connecting structure or the sleeve assembly, the cables being tensioned when the support post is in a supported state, the connecting structure being positioned a distance above the bottom end of the support post in a supported state under the tension of the cables.

9. The fully-mechanized hydraulic support retraction system according to claim 8 wherein the support column includes an inner barrel and an outer barrel that is sleeved with the inner barrel, the inner barrel and the outer barrel being axially slidably disposed relative to each other, the drive mechanism being located within the inner barrel, the inner barrel being connected to one of the bottom of the top support and the top of the bottom support, the outer barrel being connected to the other of the bottom of the top support and the top of the bottom support, the sleeve assembly being sleeved with the outer barrel and axially slidably disposed relative to the outer barrel.

10. The fully-mechanized hydraulic support retraction system according to any one of claims 1, 7-9 wherein the connection structure includes a first drive gear and a second drive gear, the first support column includes a first driven gear engaged with the first drive gear, the second support column includes a second driven gear engaged with the second drive gear, the first drive gear is driven to rotate about the first driven gear to effect rotation of the second support column about a central axis of the first support column, and the second drive gear is driven to rotate about the second driven gear to effect rotation of the first support column about a central axis of the second support column.