CN116536996A - Flexible supporting device, using method and transport mechanism of heavy-load mine car - Google Patents

Abstract

A flexible supporting device, a using method and a transporting mechanism of a heavy-duty mine car, wherein at least two supporting devices are arranged at the bottom of a rigid beam, and the supporting devices comprise: the support leg is placed on the ground, the top of the support leg is fixedly connected with cylinder bases of the support cylinders, telescopic rods of the support cylinders are fixedly connected with the bottoms of the rigid beams through the support cylinder hinged supports, the tops of the side walls of the support leg are hinged with the telescopic rods of the swing cylinders, the cylinder bases of the swing cylinders are hinged with the bottoms of the rigid beams through the swing cylinder hinged supports, the support cylinders are driven through the support cylinder hydraulic system and the buffer hydraulic system, and the swing cylinders are driven through the swing cylinder hydraulic system. The design can realize the automatic control of the pipeline valve through mechanisms such as a motor, a planetary gear set and the like, and can control the opening and closing speeds of the valve, so that the valve control requirements under different working conditions are met.

Description

Flexible support device, method of use and transport mechanism of heavy-duty mine car

technical field

The invention relates to a support device, in particular to a flexible support device for a rigid beam, which is particularly suitable for a flexible support device that can absorb rigid impacts under heavy load conditions and can automatically compensate ground subsidence to ensure stable support of legs.

Background technique

For large-scale mines, mining trucks are usually used to transport ore or coal from the bottom of the mine to the storage site. The transportation route is set on the side wall of the mine, and the height difference in the vertical direction is large, which may cause More than tens of meters, in order to slow down the slope of the road, the transportation route is usually a tortuous zigzag, which leads to a longer transportation distance and time for the mine car. At the same time, in order to improve work efficiency, a large number of mine cars are required to be transported at the same time. The carbon emissions of mining vehicles in the site are relatively large, and the use time and frequency of a single mining vehicle are high, which leads to an increase in the failure rate and damage rate of mining vehicles, resulting in a waste of resources. In order to change this situation, some mining vehicles The field uses a transportation mechanism specially used for large mining vehicles. This mechanism includes a large-span rigid beam. The rigid beam is erected on the side wall of the mine through multiple rigid legs, and one end of the rigid beam is located at the bottom of the mine. The other end of the beam is located where the stockyard is at the top of the mine, and the slope of the rigid beam is suitable for the climbing ability of the mine car, so that the mine car can be directly transferred from the bottom of the mine to the top of the mine.

Although this device can effectively reduce the running time and frequency of the mine car and achieve the effect of energy saving and emission reduction, it still has the following defects:

1. The full-load operation of the mine car on the rigid beam will inevitably cause a corresponding load impact on the rigid beam, resulting in mechanical deformation of the rigid beam. However, the use of the original rigid outriggers cannot solve the problem of reducing the rigid beam under heavy load and ground subsidence The impact deformation causes the fatigue life of the rigid beam to be greatly reduced.

2. The ground of the mine is usually not hardened. During the transportation of the mine truck, the rigid outriggers will gradually sink, resulting in the inability to support the rigid beam well. In severe cases, the mine truck cannot be transported smoothly or even the system is damaged.

Contents of the invention

The purpose of the present invention is to overcome the disadvantages in the prior art that the outriggers cannot reduce the impact deformation of the rigid beam, and at the same time, the sag of the outriggers will lead to the inability to support the rigid beam well, and provide a Rigid impact, at the same time, it can automatically compensate the ground subsidence to ensure the stable support of the outriggers.

For realizing above object, technical solution of the present invention is:

A flexible support device, the support device comprising: a leg, a swing cylinder, a hinged support for the swing cylinder, a hinge support for the support cylinder, and a plurality of support cylinders;

The bottom of the support leg is placed on the ground, the top of the support leg is fixedly connected to the cylinder bases of multiple support cylinders, and the telescopic rods of the multiple support cylinders are all hinged to the bottom of the hinged support of the support cylinder. The top of the hinged support of the support cylinder is fixedly connected with the bottom of the rigid beam,

The top of the side wall of the leg is hinged with the telescopic rod of the swing cylinder, the cylinder seat of the swing cylinder is fixedly connected with the bottom of the hinged support of the swing cylinder, and the top of the hinged support of the swing cylinder is hinged with the bottom of the rigid beam, The swing cylinder, the rigid beam and a plurality of support cylinders form a triangular structure, the rodless chamber of the swing cylinder communicates with the first oil port of the hydraulic system of the swing cylinder, and the rod chamber of the swing cylinder communicates with the hydraulic system of the swing cylinder The second oil ports of the multiple support cylinders are connected with the first oil port of the support cylinder hydraulic system, and the rod chambers of the multiple support cylinders are connected with the second oil port of the support cylinder hydraulic system. The mouth is connected.

The hydraulic system of the supporting oil cylinder includes a main oil pump, a first three-position four-way electromagnetic reversing valve, a first hydraulic lock and a second hydraulic lock, the oil inlet end of the main oil pump is connected with the oil tank, and the outlet of the main oil pump is The oil end is connected with the oil inlet port of the first three-position four-way electromagnetic reversing valve, and the first working port of the first three-position four-way electromagnetic reversing valve is connected with the oil inlet port of the first hydraulic lock. The oil outlet of the first hydraulic lock communicates with the rodless chamber of the supporting cylinder, the second working port of the first three-position four-way electromagnetic reversing valve communicates with the oil inlet of the second hydraulic lock, and the The oil outlet of the second hydraulic lock communicates with the rod cavity of the supporting oil cylinder, the oil return port of the first three-position four-way electromagnetic reversing valve communicates with the oil tank, the first hydraulic lock and the second hydraulic lock The oil discharge port is connected with the oil tank.

The support cylinder hydraulic system also includes two first two-position two-way electromagnetic directional valves and two first one-way valves, and the first working ports of the two first two-position two-way electromagnetic directional valves are respectively connected to The rodless cavity and the rod cavity of the supporting oil cylinder are connected, the second working ports of the two first two-position two-way electromagnetic reversing valves are all connected with the oil tank, and the oil outlets of the two first one-way valves are connected to each other. The ports are respectively communicated with the rodless cavity and the rod cavity of the supporting oil cylinder, and the oil inlets of the two first one-way valves are both communicated with the oil tank.

The support device also includes a buffer hydraulic system, and the buffer hydraulic system includes a charge pump, a first one-way valve, a second two-position two-way electromagnetic reversing valve, a third two-position two-way electromagnetic reversing valve, and a piston accumulator. Energy device, high-pressure gas cylinder, inflation valve group, proportional relief valve, first ball valve, second ball valve and third ball valve, the oil inlet end of the oil charge pump is connected with the oil tank, and the oil outlet end of the oil charge pump is connected with the oil tank. The oil inlet of the first one-way valve is connected, and the oil outlet of the first one-way valve is connected with the oil inlet of the second two-position two-way electromagnetic reversing valve, and the second two-position two-way solenoid The oil outlet of the reversing valve is connected with the first working port of the third two-two-way electromagnetic reversing valve, and the second working port of the third two-two-way electromagnetic reversing valve is connected with the rodless cavity of the supporting cylinder. The first working port of the third two-position two-way electromagnetic reversing valve is connected in series with the first ball valve and communicates with the liquid port of the piston accumulator, and the gas port of the piston accumulator is connected in series The second ball valve and the inflation valve group are connected with the first working port of the high-pressure gas cylinder, the second working port of the high-pressure gas cylinder is connected with the high-pressure gas source, and the first working port of the third ball valve is connected in series. Between the first ball valve and the liquid port of the piston accumulator, the second working port of the third ball valve communicates with the oil tank, and the first working port of the proportional overflow valve is connected in series with the first ball valve and the piston accumulator. Between the liquid ports of the accumulator, the second working port of the proportional overflow valve communicates with the oil tank.

The buffer hydraulic system also includes an oil charge pressure sensor, an accumulator pressure sensor, and an oil discharge pressure sensor. Between the rod chambers, the detection port of the accumulator pressure sensor is connected in series between the second ball valve and the charging valve group, and the detection port of the oil discharge pressure sensor is connected in series between the first ball valve and the proportional relief valve .

The swing cylinder hydraulic system includes a swing cylinder oil pump, a fourth two-position two-way electromagnetic reversing valve, a throttle valve, a second three-position four-way electromagnetic reversing valve, a third hydraulic lock and a fourth hydraulic lock. The oil inlet end of the oil cylinder oil pump is connected with the oil tank, the oil outlet end of the swing oil cylinder oil pump is connected with the first working port of the fourth two two-way electromagnetic reversing valve, and the fourth two two-way electromagnetic reversing valve The second working port of the valve is connected with the oil inlet port of the second three-position four-way electromagnetic reversing valve, and the first working port of the second three-position four-way electromagnetic reversing valve is connected in series with the third hydraulic lock and connected with the swing The rodless chamber of the oil cylinder is connected, and the second working port of the second three-position four-way electromagnetic reversing valve is connected in series with the fourth hydraulic lock to communicate with the rod chamber of the swing cylinder. The second three-position four-way The oil return port of the electromagnetic reversing valve is connected with the oil tank, the first working port of the throttle valve is connected with the oil outlet end of the swing cylinder oil pump, the second working port of the throttle valve is connected with the second three-position four The oil inlet port of the electromagnetic reversing valve is connected.

The swing cylinder hydraulic system also includes two fourth two-position two-way electromagnetic reversing valves and two second check valves, the first working ports of the two fourth two-position two-way electromagnetic reversing valves are respectively connected to The rodless cavity and the rod cavity of the swing oil cylinder are connected, the second working ports of the two fourth two-position two-way electromagnetic reversing valves are all connected with the oil tank, and the oil outlets of the two second one-way valves are connected to each other. The ports are respectively communicated with the rodless cavity and the rod cavity of the swing cylinder, and the oil inlets of the two second one-way valves are both communicated with the oil tank.

The support device also includes a swing cylinder displacement sensor and a support cylinder displacement sensor, the contact rod of the swing cylinder displacement sensor is in cooperation with the telescopic rod of the swing cylinder, and the contact rod of the support cylinder displacement sensor is driven by the telescopic rod of the support cylinder. Cooperate.

A method of using a flexible support device, the method of using comprising:

The first step: install the supporting device, hoist the rigid beam to the installation position, when the rigid beam is in the correct position, the operator drives the crane to adjust the inclination angle of the rigid beam until the inclination angle of the rigid beam is less than the maximum gradient of the mine car, when the rigid After the inclination adjustment of the beam is completed, the operator turns on the oil pumps of each swing cylinder on the rigid beam in turn, and all the swing cylinder oil pumps drive the hydraulic oil to pass through their corresponding fourth two-position two-way electromagnetic reversing valve, second three-position four-way valve, etc. Pass the electromagnetic reversing valve and the third hydraulic lock into the rodless chamber of the corresponding swing cylinder. At this time, the extension rod of the swing cylinder drives the outrigger to rotate along the hinged support of the support cylinder until the outrigger is perpendicular to the ground. When all the outriggers are perpendicular to the ground, the operator closes the oil pump of the swing cylinder, and at the same time connects the oil circuit in the fourth two-two-way electromagnetic reversing valve. Finally, the operator turns on the main oil pumps on the rigid beam in turn, and all the main oil pumps drive the hydraulic oil into the rodless chamber of the support cylinder through the corresponding first three-position four-way electromagnetic reversing valve and the first hydraulic lock. At this time, the extension of the telescopic rod supporting the oil cylinder drives the legs down until the bottom of each leg touches the ground. When the bottom of each leg touches the ground, the third two-way electromagnetic reversing valve The oil circuit is connected, so that the piston accumulator is connected to the system. When the oil charge pressure sensor monitors that the oil circuit pressure reaches the installation pressure, the corresponding main oil pump stops working, and at the same time, each of the first two two-way electromagnetic reversing valves The oil circuit is connected, and when all the main oil pumps stop working, the first step of installing the supporting device is completed;

The second step: the heavy load compensation step. When the heavy-duty mine car passes the rigid beam, the load of the rigid beam increases. At this time, the load is transmitted to the support cylinder through the hinged support of the support cylinder, and the rodless cavity of the support cylinder is compressed. The rodless chamber of the support cylinder discharges hydraulic oil, and the hydraulic oil discharged from the support cylinder enters the liquid chamber of the piston accumulator through the third two-position two-way electromagnetic reversing valve. At this time, the pressure of the rodless chamber of the support cylinder increases. When the charge oil pressure sensor detects that the pressure in the oil circuit reaches the oil discharge pressure, the proportional overflow valve opens to discharge the hydraulic oil into the oil tank. When the heavy-duty mine car passes the rigid beam, the load of the rigid beam is released. The piston of the accumulator returns to the initial position, and the hydraulic oil in the liquid chamber of the piston accumulator enters the rodless chamber of the supporting cylinder through the third two-position two-way electromagnetic reversing valve, so that the telescopic rod of the supporting cylinder is extended , at this time the second step of overload compensation is completed;

Step 3: Ground depression compensation step. When the outrigger sinks into the ground, the pressure in the rodless chamber of the support cylinder decreases. When the pressure in the rodless chamber of the support cylinder is lower than the pressure in the gas chamber of the piston accumulator, the piston The hydraulic oil in the hydraulic oil in the liquid chamber of the type accumulator enters the rodless chamber of the supporting cylinder through the third two-position two-way electromagnetic reversing valve, so that the telescopic rod of the supporting cylinder is extended until it reaches the rodless chamber of the supporting cylinder. The pressure is equal to the pressure of the gas chamber of the piston accumulator. When the charge oil pressure sensor detects that the pressure in the oil circuit is lower than the oil charge threshold, the charge oil pressure sensor sends out a signal to drive the charge pump to start working, and the charge pump drives the hydraulic oil through the first stage in turn. A one-way valve and a second two-position two-way electromagnetic reversing valve enter the liquid chamber of the piston accumulator until the charge pressure sensor detects that the pressure in the oil circuit reaches the installation pressure, at which point the third step of outrigger compensation is completed .

A transport mechanism for a heavy-duty mine car based on a flexible support device, the transport mechanism includes a rigid beam and at least two support devices, the at least two support devices are all arranged at the bottom of the rigid beam, and the at least two support devices The legs in the device are all placed on the ground, the tops of the hinged bearings of the supporting cylinders in the at least two supporting devices are fixedly connected with the bottoms of the rigid beams, and the hinged bearings of the swinging cylinders in the at least two supporting devices The tops are hinged to the bottom of the rigid beam.

Compared with prior art, the beneficial effect of the present invention is:

1. In a flexible supporting device of the present invention, the bottom of the supporting leg is placed on the ground, and the top of the supporting leg is fixedly provided with a plurality of cylinder seats for supporting oil cylinders. The bottom of the support cylinder is fixedly connected. The rodless chambers of all support cylinders are connected with the first oil port of the support cylinder hydraulic system, and the rod chambers of all support cylinders are connected with the second oil port of the support cylinder hydraulic system. When in use It can adapt to different installation heights of the rigid beam by changing the expansion and contraction of the supporting cylinder. Therefore, this design can adapt to different installation heights of the rigid beam by changing the expansion and contraction of the supporting cylinder, effectively expanding the scope of use of the system.

2. In a flexible support device of the present invention, the rodless cavity of the support cylinder is also connected with the buffer hydraulic system, which includes a charge pump and a piston accumulator, and the rigid beam is formed by the rigid beam in the heavy-duty mine car. When the load increases, the pressure of the rodless chamber of the supporting cylinder increases. Since the rodless chamber of the supporting cylinder is connected with the piston accumulator, the system can form a flexible support for the rigid beam through the high-pressure gas in the piston accumulator. Avoid mechanical deformation caused by excessive load on the rigid beam. Therefore, this design can form a flexible support for the rigid beam through the piston accumulator, avoiding the mechanical deformation caused by the excessive load of the rigid beam, and effectively prolonging the service life of the system.

3. In a flexible supporting device of the present invention, when the supporting leg sinks into the ground due to load, the pressure in the rodless chamber of the supporting cylinder decreases, and at this time, the gas chamber of the piston accumulator expands, causing the piston accumulator to The hydraulic oil in the liquid chamber enters the rodless chamber of the support cylinder, which makes the telescopic rod of the support cylinder stretch, and supplements the height difference caused by the sinking of the outrigger. At the same time, the buffer hydraulic system is also equipped with a charge pump. When the sensor detects that the pressure in the oil circuit is lower than the oil replenishment threshold, the system drives the oil charge pump to start working, and the oil charge pump drives the hydraulic oil to enter the piston accumulator through the first one-way valve and the second two-position two-way electromagnetic reversing valve in sequence. In the liquid chamber to supplement the pressure value of the oil circuit. Therefore, this design can compensate the height difference caused by the sinking of the outriggers through the piston accumulator and the oil charge pump, so as to avoid the inability to support the rigid beam well and cause the mine car to be unable to transport smoothly or even the system to be damaged.

4. In the method of using a flexible support device of the present invention, when the pressure of the oil circuit corresponding to each leg reaches the installation pressure, the oil circuit in each first two-position two-way electromagnetic reversing valve is connected, so that the swing cylinder The rodless cavity is connected with the rod cavity. At this time, the swing cylinder is in a free floating state, which prevents the swing cylinder, rigid beam and multiple supports from being repeatedly stretched and stretched by the telescopic rod supporting the cylinder when the system is in the heavy load compensation step and ground sinking compensation step. The deformation of the triangular structure formed by the oil cylinder causes system damage. Therefore, this design can prevent the system from being damaged due to repeated expansion and contraction of the telescopic rod supporting the cylinder by connecting the rodless cavity and the rod cavity of the swing cylinder.

5. In the transportation mechanism of a heavy-duty mine car of the present invention, at least two support devices are provided at the bottom of the rigid beam, and each support device can convert the rigid impact received by the rigid beam under the heavy-load working condition into a flexible impact, which improves the structural stability. The fatigue life can also compensate for the displacement of the outriggers when they sink into the ground, preventing the possibility of equipment tilting or collapsing, and greatly improving the reliability of the equipment. Therefore, this design can support the rigid beam through the support device, effectively prolonging the service life of the system and effectively improving the reliability of the equipment.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is a hydraulic principle diagram of the supporting cylinder hydraulic system in the present invention.

Fig. 3 is a hydraulic principle diagram of the swing cylinder hydraulic system in the present invention.

Fig. 4 is a structural schematic diagram of the present invention.

In the figure: outrigger 1, swing cylinder 2, swing cylinder displacement sensor 21, swing cylinder hinge support 3, support cylinder hinge support 4, support cylinder 5, support cylinder displacement sensor 51, rigid beam 6, support cylinder hydraulic system 7 , the main oil pump 71, the first three-position four-way electromagnetic reversing valve 72, the first hydraulic lock 73, the second hydraulic lock 74, the first two-position two-way electromagnetic reversing valve 75, the first one-way valve 76, the first Ball valve 77, second ball valve 78, third ball valve 79, buffer hydraulic system 8, oil charge pump 81, first check valve 82, second two-position two-way electromagnetic reversing valve 83, third two-position two-way electromagnetic reversing Valve 84, piston accumulator 85, high-pressure cylinder 86, gas charging valve group 87, proportional overflow valve 88, accumulator pressure sensor 89, oil supply pressure sensor 80, swing cylinder hydraulic system 9, swing cylinder oil pump 91, Fourth two-position two-way electromagnetic reversing valve 92, throttle valve 93, second three-position four-way electromagnetic reversing valve 94, third hydraulic lock 95, fourth hydraulic lock 96, fourth two-position two-way electromagnetic reversing Valve 97, second one-way valve 98, oil discharge pressure sensor 90.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

Referring to Fig. 1 to Fig. 4, a flexible support device, the support device includes: a leg 1, a swing cylinder 2, a swing cylinder hinge support 3, a support cylinder hinge support 4 and a plurality of support cylinders 5; the support The bottom of the leg 1 is placed on the ground, and the top of the supporting leg 1 is fixedly connected to the cylinder seats of a plurality of support cylinders 5, and the telescopic rods of the plurality of support cylinders 5 are all hinged with the bottom of the hinged support 4 of the support cylinder, The top of the support cylinder hinge support 4 is fixedly connected to the bottom of the rigid beam 6, the top of the side wall of the support leg 1 is hinged with the telescopic rod of the swing cylinder 2, and the cylinder seat of the swing cylinder 2 is hinged with the swing cylinder. The bottom of the seat 3 is fixedly connected, the top of the swing cylinder hinge support 3 is hinged with the bottom of the rigid beam 6, the swing cylinder 2, the rigid beam 6 and a plurality of support cylinders 5 form a triangular structure, the swing cylinder 2 The rodless cavity communicates with the first oil port of the swing cylinder hydraulic system 9, the rod cavity of the swing cylinder 2 communicates with the second oil port of the swing cylinder hydraulic system 9, and the rodless of the plurality of support cylinders 5 The chamber communicates with the first oil port of the support cylinder hydraulic system 7 , and the rod chambers of the plurality of support cylinders 5 communicate with the second oil port of the support cylinder hydraulic system 7 .

The support cylinder hydraulic system 7 includes a main oil pump 71, a first three-position four-way electromagnetic reversing valve 72, a first hydraulic lock 73 and a second hydraulic lock 74, and the oil inlet end of the main oil pump 71 communicates with the oil tank. The oil outlet of the main oil pump 71 communicates with the oil inlet port of the first three-position four-way electromagnetic reversing valve 72, and the first working port of the first three-position four-way electromagnetic reversing valve 72 communicates with the first hydraulic pressure port. The oil inlet of the lock 73 is connected, the oil outlet of the first hydraulic lock 73 is connected with the rodless chamber of the support cylinder 5, and the second working port of the first three-position four-way electromagnetic reversing valve 72 is connected with the The oil inlet of the second hydraulic lock 74 is connected, the oil outlet of the second hydraulic lock 74 is connected with the rod chamber of the support cylinder 5, and the oil return of the first three-position four-way electromagnetic reversing valve 72 The port is connected with the fuel tank, and the oil discharge ports of the first hydraulic lock 73 and the second hydraulic lock 74 are connected with the fuel tank.

The support cylinder hydraulic system 7 also includes two first two-position two-way electromagnetic reversing valves 75 and two first one-way valves 76, the first of the two first two-position two-way electromagnetic reversing valves 75 The working port is connected with the rodless cavity and the rod cavity of the support cylinder 5 respectively, and the second working ports of the two first two-position two-way electromagnetic reversing valves 75 are all connected with the oil tank, and the two first The oil outlets of the one-way valves 76 communicate with the rodless chamber and the rod chamber of the supporting cylinder 5 respectively, and the oil inlets of the two first one-way valves 76 communicate with the oil tank.

The support device 1 also includes a buffer hydraulic system 8, and the buffer hydraulic system 8 includes an oil charge pump 81, a first check valve 82, a second two-position two-way electromagnetic reversing valve 83, a third two-position two-way electromagnetic reversing valve Directional valve 84, piston accumulator 85, high-pressure gas cylinder 86, charging valve group 87, proportional overflow valve 88, first ball valve 77, second ball valve 78 and third ball valve 79, the oil inlet of the charge pump 81 The end is connected with the oil tank, the oil outlet end of the charge pump 81 is connected with the oil inlet port of the first check valve 82, and the oil outlet port of the first check valve 82 is connected with the second two-position two-way electromagnetic switch. The oil inlet port of the valve 83 is connected, and the oil outlet port of the second two-position two-way electromagnetic selector valve 83 is connected with the first working port of the third two-position two-way electromagnetic selector valve 84. The second working port of the three-two-two-way electromagnetic reversing valve 84 communicates with the rodless chamber of the support cylinder 5, and the first working port of the third two-two-way electromagnetic reversing valve 84 is connected in series with the first ball valve 77 After that, it communicates with the liquid port of the piston accumulator 85, and the gas port of the piston accumulator 85 is connected in series with the second ball valve 78 and the charging valve group 87, and then communicates with the first working port of the high-pressure gas cylinder 86, The second working port of the high-pressure gas cylinder 86 communicates with the high-pressure gas source, and the first working port of the third ball valve 79 is connected in series between the first ball valve 77 and the liquid port of the piston accumulator 85, so The second working port of the third ball valve 79 communicates with the oil tank, the first working port of the proportional overflow valve 88 is connected in series between the first ball valve 77 and the liquid port of the piston accumulator 85, and the proportional The second working port of the relief valve 88 communicates with the oil tank.

The buffer hydraulic system 8 also includes an oil charge pressure sensor 80, an accumulator pressure sensor 89 and an oil discharge pressure sensor 90. The detection port of the oil charge pressure sensor 80 is connected in series to the third two-position two-way electromagnetic reversing valve 84 and the rodless cavity supporting the oil cylinder 5, the detection port of the accumulator pressure sensor 89 is connected in series between the second ball valve 78 and the charging valve group 87, and the detection port of the oil discharge pressure sensor 90 is connected in series Between the first ball valve 77 and the proportional relief valve 88 .

The swing cylinder hydraulic system 9 includes a swing cylinder oil pump 91, a fourth two-position two-way electromagnetic reversing valve 92, a throttle valve 93, a second three-position four-way electromagnetic reversing valve 94, a third hydraulic lock 95 and a fourth Hydraulic lock 96, the oil inlet end of the swing oil cylinder oil pump 91 is connected with the oil tank, the oil outlet end of the swing oil cylinder oil pump 91 is connected with the first working port of the fourth two-position two-way electromagnetic reversing valve 92, so The second working port of the fourth two-position two-way electromagnetic reversing valve 92 communicates with the oil inlet port of the second three-position four-way electromagnetic reversing valve 94, and the second three-position four-way electromagnetic reversing valve 94 The first working port is connected in series with the third hydraulic lock 95 and communicates with the rodless chamber of the swing cylinder 2, and the second working port of the second three-position four-way electromagnetic reversing valve 94 is connected in series with the fourth hydraulic lock 96 and connected with the fourth hydraulic lock 96. The rod cavity of the swing cylinder 2 is connected, the oil return port of the second three-position four-way electromagnetic reversing valve 94 is connected with the oil tank, the first working port of the throttle valve 93 is connected with the outlet of the swing cylinder oil pump 91 The oil end is connected, and the second working port of the throttle valve 93 is connected with the oil inlet port of the second three-position four-way electromagnetic reversing valve 94 .

The swing cylinder hydraulic system 9 also includes two fourth two-position two-way electromagnetic reversing valves 97 and two second one-way valves 98,

The first working ports of the two fourth two-position two-way electromagnetic reversing valves 97 communicate with the rodless chamber and the rod chamber of the swing cylinder 2 respectively, and the two fourth two-position two-way electromagnetic reversing valves The second working port of 97 is connected with the oil tank, and the oil outlets of the two second one-way valves 98 are respectively connected with the rodless cavity and the rod cavity of the swing cylinder 2, and the two second one-way valves The oil inlet of valve 98 is all communicated with oil tank.

The support device 1 also includes a swing cylinder displacement sensor 21 and a support cylinder displacement sensor 51, the contact rod of the swing cylinder displacement sensor 21 is in transmission cooperation with the telescopic rod of the swing cylinder 2, and the contact rod of the support cylinder displacement sensor 51 is connected to the The telescoping link transmission of support oil cylinder 5 cooperates.

A method of using a flexible support device, the method of using comprising:

The first step: install the support device, hoist the rigid beam 6 to the installation position, when the rigid beam 6 is in the correct position, the operator drives the crane to adjust the inclination angle of the rigid beam 6 until the inclination angle of the rigid beam 6 is smaller than the maximum climb of the mine car Slope, when the inclination angle of the rigid beam 6 is adjusted, the operator turns on each swing cylinder oil pump 91 on the rigid beam 6 in turn, and all swing cylinder oil pumps 91 drive the hydraulic oil through their corresponding fourth two-position two-way electromagnetic converter in turn. The directional valve 92, the second three-position four-way electromagnetic reversing valve 94 and the third hydraulic lock 95 enter the rodless chamber of the corresponding swing cylinder 2, and at this time, the extension rod of the swing cylinder 2 drives the support leg 1 along the support The hinged support 4 of the oil cylinder rotates until the legs 1 are perpendicular to the ground. When all the legs 1 are perpendicular to the ground, the operator closes the oil pump 91 of the swing oil cylinder, and at the same time makes the oil in the fourth two-position two-way electromagnetic reversing valve 97 When all the fourth two-position two-way electromagnetic reversing valves 97 are energized, the operator turns on each main oil pump 71 on the rigid beam 6 in turn, and all the main oil pumps 71 drive the hydraulic oil through their corresponding The first three-position four-way electromagnetic reversing valve 72 and the first hydraulic lock 73 enter the rodless chamber of the supporting cylinder 5, and at this time, the extension rod of the supporting cylinder 5 drives the legs 1 to descend until the bottom of each leg 1 are all in contact with the ground, when the bottom of each leg 1 is in contact with the ground, the oil circuit in the third two-position two-way electromagnetic reversing valve 84 is connected, so that the piston accumulator 85 is connected to the system, and when the oil is replenished After the pressure sensor 80 monitors that the pressure in the oil circuit reaches the installation pressure, the corresponding main oil pump 71 stops working, and at the same time the oil circuit in each first two-position two-way electromagnetic reversing valve 75 is connected, when all the main oil pumps 71 stop working The last step is to install the support device and the step is completed;

The second step: the heavy load compensation step. When the heavy-duty mine car passes the rigid beam 6, the load of the rigid beam 6 increases. At this time, the load is transmitted to the support cylinder 5 through the support cylinder hinged support 4, and the support cylinder 5 is compressed. The rodless chamber of the support cylinder 5 discharges the hydraulic oil, and the hydraulic oil discharged from the support cylinder 5 enters the liquid chamber of the piston accumulator 85 through the third two-position two-way electromagnetic reversing valve 84. At this time, the support The pressure in the rodless chamber of the oil cylinder 5 rises. When the oil supply pressure sensor 80 monitors that the pressure in the oil circuit reaches the oil discharge pressure, the proportional overflow valve 88 is opened to discharge the hydraulic oil into the oil tank. When the heavy-duty mine car passes through the rigid beam 6 Finally, the load of the rigid beam 6 is released, at this time the piston of the piston accumulator 85 returns to the initial position, and the hydraulic oil in the liquid chamber of the piston accumulator 85 passes through the third two-position two-way electromagnetic reversing valve 84 Enter the rodless cavity of the support cylinder 5, so that the telescopic rod of the support cylinder 5 is extended, and now the second step of heavy load compensation is completed;

The third step: ground sinking compensation step, when the outrigger 1 sinks into the ground, the pressure in the rodless chamber of the supporting cylinder 5 decreases, when the pressure in the rodless chamber of the supporting cylinder 5 is less than that of the gas chamber of the piston accumulator 85 When the pressure is high, the hydraulic oil in the hydraulic oil in the liquid chamber of the piston accumulator 85 enters the rodless chamber of the supporting cylinder 5 through the third two-position two-way electromagnetic reversing valve 84, so that the telescopic rod of the supporting cylinder 5 is extended. , until the pressure in the rodless chamber of the support cylinder 5 is equal to the pressure in the gas chamber of the piston accumulator 85, when the charge oil pressure sensor 80 detects that the pressure in the oil circuit is lower than the oil charge threshold, the charge oil pressure sensor 80 sends a signal to drive the charge The oil pump 81 starts to work, and the charge oil pump 81 drives the hydraulic oil through the first one-way valve 82 and the second two-position two-way electromagnetic reversing valve 83 into the liquid chamber of the piston accumulator 85 until the oil charge pressure sensor 80 monitors When the pressure in the oil circuit reaches the installation pressure, the third step of outrigger compensation is completed.

A transport mechanism for a heavy-duty mine car based on a flexible support device, the transport mechanism includes a rigid beam 6 and at least two support devices, and the at least two support devices are all arranged at the bottom of the rigid beam 6, and the at least two The supporting legs 1 in the two supporting devices are all placed on the ground, and the tops of the supporting oil cylinder hinged supports 4 in the at least two supporting devices are fixedly connected with the bottom of the rigid beam 6, and the at least two supporting devices are fixedly connected to the bottom of the rigid beam 6. The tops of the swing cylinder hinged supports 3 are all hinged with the bottoms of the rigid beams 6 .

Principle of the present invention is described as follows:

When the present invention is in use, the rigid beam 6 can be laid with a floor for the running of the mine car, and can also be provided with a slide rail for the car to slide, and the car can be transported by the car and the supporting winch;

When the present invention is in use, due to the frequent charging and releasing of the piston accumulator 85, its temperature will inevitably rise, causing the nitrogen pressure in the gas chamber of the piston accumulator 85 to increase. At this time, the piston accumulator The nitrogen in the device 85 can be released through the overflow valve c of the charging valve group 87 to maintain a constant nitrogen pressure and reach a constant compensation pressure;

When the accumulator pressure sensor 89 detects that the nitrogen pressure of the piston accumulator 85 is lower than a certain value than the initial charging value, the electronic control program controls the two-position two-way electromagnetic reversing valve b in the charging valve group 87 to be energized , the high-pressure nitrogen gas from the high-pressure cylinder 86 enters the piston accumulator 89 through the pressure reducing valve a and the two-position two-way electromagnetic reversing valve b of the charging valve group 87, and the nitrogen pressure is replenished to the initial setting value.

Example 1:

A flexible support device, the support device includes: a leg 1, a swing cylinder 2, a swing cylinder hinge support 3, a support cylinder hinge support 4 and a plurality of support cylinders 5; the bottom of the support leg 1 is placed on the ground Above, the top of the support leg 1 is fixedly connected to the cylinder seats of a plurality of support cylinders 5, and the telescopic rods of the plurality of support cylinders 5 are all hinged with the bottom of the support cylinder hinged support 4, and the support cylinder hinge support The top of 4 is fixedly connected with the bottom of the rigid beam 6, the top of the side wall of the leg 1 is hinged with the telescopic rod of the swing cylinder 2, and the cylinder seat of the swing cylinder 2 is fixedly connected with the bottom of the hinged support 3 of the swing cylinder, The top of the hinged support 3 of the swing cylinder is hinged to the bottom of the rigid beam 6, the swing cylinder 2, the rigid beam 6 and a plurality of support cylinders 5 form a triangular structure, and the rodless chamber of the swing cylinder 2 is connected to the hydraulic pressure of the swing cylinder. The first oil port of the system 9 is connected, the rod chamber of the swing cylinder 2 is connected with the second oil port of the swing cylinder hydraulic system 9, the rodless chamber of the multiple support cylinders 5 is connected with the support cylinder hydraulic system 7 The first oil ports of the support cylinders 5 communicate with the second oil ports of the support cylinder hydraulic system 7 .

The support cylinder hydraulic system 7 includes a main oil pump 71, a first three-position four-way electromagnetic reversing valve 72, a first hydraulic lock 73 and a second hydraulic lock 74, and the oil inlet end of the main oil pump 71 communicates with the oil tank. The oil outlet of the main oil pump 71 communicates with the oil inlet port of the first three-position four-way electromagnetic reversing valve 72, and the first working port of the first three-position four-way electromagnetic reversing valve 72 communicates with the first hydraulic pressure port. The oil inlet of the lock 73 is connected, the oil outlet of the first hydraulic lock 73 is connected with the rodless chamber of the support cylinder 5, and the second working port of the first three-position four-way electromagnetic reversing valve 72 is connected with the The oil inlet of the second hydraulic lock 74 is connected, the oil outlet of the second hydraulic lock 74 is connected with the rod chamber of the support cylinder 5, and the oil return of the first three-position four-way electromagnetic reversing valve 72 The port is connected with the fuel tank, and the oil discharge ports of the first hydraulic lock 73 and the second hydraulic lock 74 are connected with the fuel tank.

The support cylinder hydraulic system 7 also includes two first two-position two-way electromagnetic reversing valves 75 and two first one-way valves 76, the first of the two first two-position two-way electromagnetic reversing valves 75 The working port is connected with the rodless cavity and the rod cavity of the support cylinder 5 respectively, and the second working ports of the two first two-position two-way electromagnetic reversing valves 75 are all connected with the oil tank, and the two first The oil outlets of the one-way valves 76 communicate with the rodless chamber and the rod chamber of the supporting cylinder 5 respectively, and the oil inlets of the two first one-way valves 76 communicate with the oil tank.

The support device 1 also includes a buffer hydraulic system 8, and the buffer hydraulic system 8 includes an oil charge pump 81, a first check valve 82, a second two-position two-way electromagnetic reversing valve 83, a third two-position two-way electromagnetic reversing valve Directional valve 84, piston accumulator 85, high-pressure gas cylinder 86, charging valve group 87, proportional overflow valve 88, first ball valve 77, second ball valve 78 and third ball valve 79, the oil inlet of the charge pump 81 The end is connected with the oil tank, the oil outlet end of the charge pump 81 is connected with the oil inlet port of the first check valve 82, and the oil outlet port of the first check valve 82 is connected with the second two-position two-way electromagnetic switch. The oil inlet port of the valve 83 is connected, and the oil outlet port of the second two-position two-way electromagnetic selector valve 83 is connected with the first working port of the third two-position two-way electromagnetic selector valve 84. The second working port of the three-two-two-way electromagnetic reversing valve 84 communicates with the rodless chamber of the support cylinder 5, and the first working port of the third two-two-way electromagnetic reversing valve 84 is connected in series with the first ball valve 77 After that, it communicates with the liquid port of the piston accumulator 85, and the gas port of the piston accumulator 85 is connected in series with the second ball valve 78 and the charging valve group 87, and then communicates with the first working port of the high-pressure gas cylinder 86, The second working port of the high-pressure gas cylinder 86 communicates with the high-pressure gas source, and the first working port of the third ball valve 79 is connected in series between the first ball valve 77 and the liquid port of the piston accumulator 85, so The second working port of the third ball valve 79 communicates with the oil tank, the first working port of the proportional overflow valve 88 is connected in series between the first ball valve 77 and the liquid port of the piston accumulator 85, and the proportional The second working port of the relief valve 88 communicates with the oil tank.

The buffer hydraulic system 8 also includes an oil charge pressure sensor 80, an accumulator pressure sensor 89 and an oil discharge pressure sensor 90. The detection port of the oil charge pressure sensor 80 is connected in series to the third two-position two-way electromagnetic reversing valve 84 and the rodless cavity supporting the oil cylinder 5, the detection port of the accumulator pressure sensor 89 is connected in series between the second ball valve 78 and the charging valve group 87, and the detection port of the oil discharge pressure sensor 90 is connected in series Between the first ball valve 77 and the proportional relief valve 88 .

The swing cylinder hydraulic system 9 includes a swing cylinder oil pump 91, a fourth two-position two-way electromagnetic reversing valve 92, a throttle valve 93, a second three-position four-way electromagnetic reversing valve 94, a third hydraulic lock 95 and a fourth Hydraulic lock 96, the oil inlet end of the swing oil cylinder oil pump 91 is connected with the oil tank, the oil outlet end of the swing oil cylinder oil pump 91 is connected with the first working port of the fourth two-position two-way electromagnetic reversing valve 92, so The second working port of the fourth two-position two-way electromagnetic reversing valve 92 communicates with the oil inlet port of the second three-position four-way electromagnetic reversing valve 94, and the second three-position four-way electromagnetic reversing valve 94 The first working port is connected in series with the third hydraulic lock 95 and communicates with the rodless chamber of the swing cylinder 2, and the second working port of the second three-position four-way electromagnetic reversing valve 94 is connected in series with the fourth hydraulic lock 96 and connected with the fourth hydraulic lock 96. The rod cavity of the swing cylinder 2 is connected, the oil return port of the second three-position four-way electromagnetic reversing valve 94 is connected with the oil tank, the first working port of the throttle valve 93 is connected with the outlet of the swing cylinder oil pump 91 The oil end is connected, and the second working port of the throttle valve 93 is connected with the oil inlet port of the second three-position four-way electromagnetic reversing valve 94 .

A method of using a flexible support device, the method of using comprising:

The first step: install the support device, hoist the rigid beam 6 to the installation position, when the rigid beam 6 is in the correct position, the operator drives the crane to adjust the inclination angle of the rigid beam 6 until the inclination angle of the rigid beam 6 is smaller than the maximum climb of the mine car Slope, when the inclination angle of the rigid beam 6 is adjusted, the operator turns on each swing cylinder oil pump 91 on the rigid beam 6 in turn, and all swing cylinder oil pumps 91 drive the hydraulic oil through their corresponding fourth two-position two-way electromagnetic converter in turn. The directional valve 92, the second three-position four-way electromagnetic reversing valve 94 and the third hydraulic lock 95 enter the rodless chamber of the corresponding swing cylinder 2, and at this time, the extension rod of the swing cylinder 2 drives the support leg 1 along the support The hinged support 4 of the oil cylinder rotates until the legs 1 are perpendicular to the ground. When all the legs 1 are perpendicular to the ground, the operator closes the oil pump 91 of the swing oil cylinder, and at the same time makes the oil in the fourth two-position two-way electromagnetic reversing valve 97 When all the fourth two-position two-way electromagnetic reversing valves 97 are energized, the operator turns on each main oil pump 71 on the rigid beam 6 in turn, and all the main oil pumps 71 drive the hydraulic oil through their corresponding The first three-position four-way electromagnetic reversing valve 72 and the first hydraulic lock 73 enter the rodless chamber of the supporting cylinder 5, and at this time, the extension rod of the supporting cylinder 5 drives the legs 1 to descend until the bottom of each leg 1 are all in contact with the ground, when the bottom of each leg 1 is in contact with the ground, the oil circuit in the third two-position two-way electromagnetic reversing valve 84 is connected, so that the piston accumulator 85 is connected to the system, and when the oil is replenished After the pressure sensor 80 monitors that the pressure in the oil circuit reaches the installation pressure, the corresponding main oil pump 71 stops working, and at the same time the oil circuit in each first two-position two-way electromagnetic reversing valve 75 is connected, when all the main oil pumps 71 stop working The last step is to install the support device and the step is completed;

The second step: the heavy load compensation step. When the heavy-duty mine car passes the rigid beam 6, the load of the rigid beam 6 increases. At this time, the load is transmitted to the support cylinder 5 through the support cylinder hinged support 4, and the support cylinder 5 is compressed. The rodless chamber of the support cylinder 5 discharges the hydraulic oil, and the hydraulic oil discharged from the support cylinder 5 enters the liquid chamber of the piston accumulator 85 through the third two-position two-way electromagnetic reversing valve 84. At this time, the support The pressure in the rodless chamber of the oil cylinder 5 rises. When the oil supply pressure sensor 80 monitors that the pressure in the oil circuit reaches the oil discharge pressure, the proportional overflow valve 88 is opened to discharge the hydraulic oil into the oil tank. When the heavy-duty mine car passes through the rigid beam 6 Finally, the load of the rigid beam 6 is released, at this time the piston of the piston accumulator 85 returns to the initial position, and the hydraulic oil in the liquid chamber of the piston accumulator 85 passes through the third two-position two-way electromagnetic reversing valve 84 Enter the rodless cavity of the support cylinder 5, so that the telescopic rod of the support cylinder 5 is extended, and now the second step of heavy load compensation is completed;

The third step: ground sinking compensation step, when the outrigger 1 sinks into the ground, the pressure in the rodless chamber of the supporting cylinder 5 decreases, when the pressure in the rodless chamber of the supporting cylinder 5 is less than that of the gas chamber of the piston accumulator 85 When the pressure is high, the hydraulic oil in the hydraulic oil in the liquid chamber of the piston accumulator 85 enters the rodless chamber of the supporting cylinder 5 through the third two-position two-way electromagnetic reversing valve 84, so that the telescopic rod of the supporting cylinder 5 is extended. , until the pressure in the rodless chamber of the support cylinder 5 is equal to the pressure in the gas chamber of the piston accumulator 85, when the charge oil pressure sensor 80 detects that the pressure in the oil circuit is lower than the oil charge threshold, the charge oil pressure sensor 80 sends a signal to drive the charge The oil pump 81 starts to work, and the charge oil pump 81 drives the hydraulic oil through the first one-way valve 82 and the second two-position two-way electromagnetic reversing valve 83 into the liquid chamber of the piston accumulator 85 until the oil charge pressure sensor 80 monitors When the pressure in the oil circuit reaches the installation pressure, the third step of outrigger compensation is completed.

A transport mechanism for a heavy-duty mine car based on a flexible support device, the transport mechanism includes a rigid beam 6 and at least two support devices, and the at least two support devices are all arranged at the bottom of the rigid beam 6, and the at least two The supporting legs 1 in the two supporting devices are all placed on the ground, and the tops of the supporting oil cylinder hinged supports 4 in the at least two supporting devices are fixedly connected with the bottom of the rigid beam 6, and the at least two supporting devices are fixedly connected to the bottom of the rigid beam 6. The tops of the swing cylinder hinged supports 3 are all hinged with the bottoms of the rigid beams 6 .

Example 2:

Embodiment 2 is basically the same as Embodiment 1, and its difference is:

The swing cylinder hydraulic system 9 also includes two fourth two-position two-way electromagnetic reversing valves 97 and two second check valves 98, the first of the two fourth two-position two-way electromagnetic reversing valves 97 The working port is connected with the rodless cavity and the rod cavity of the swing cylinder 2 respectively, and the second working ports of the two fourth two-position two-way electromagnetic reversing valves 97 are all connected with the oil tank, and the two second The oil outlets of the one-way valve 98 communicate with the rodless chamber and the rod chamber of the swing cylinder 2 respectively, and the oil inlets of the two second one-way valves 98 communicate with the oil tank.

Example 3:

Embodiment 3 is basically the same as Embodiment 2, and its difference is:

The support device 1 also includes a swing cylinder displacement sensor 21 and a support cylinder displacement sensor 51, the contact rod of the swing cylinder displacement sensor 21 is in transmission cooperation with the telescopic rod of the swing cylinder 2, and the contact rod of the support cylinder displacement sensor 51 is connected to the The telescoping link transmission of support oil cylinder 5 cooperates.

Claims (10)

1. A flexible support device characterized by:

the support device includes: the support legs (1), the swing oil cylinders (2), the swing oil cylinder hinged support (3), the support oil cylinder hinged support (4) and the plurality of support oil cylinders (5);

the bottom of landing leg (1) is placed subaerial, the top of landing leg (1) is articulated with the jar seat fixed connection of a plurality of support hydro-cylinders (5), the telescopic link of a plurality of support hydro-cylinders (5) all articulates with the bottom of support hydro-cylinder articulated support (4), the top of support hydro-cylinder articulated support (4) is articulated with the bottom fixed connection of rigid beam (6), the top of landing leg (1) lateral wall is articulated with the telescopic link of swing hydro-cylinder (2), the jar seat of swing hydro-cylinder (2) is articulated with the bottom fixed connection of swing hydro-cylinder articulated support (3), the top of swing hydro-cylinder articulated support (3) is articulated with the bottom of rigid beam (6), swing hydro-cylinder (2), rigid beam (6) and a plurality of support hydro-cylinders (5) form the triangle structure, the rodless chamber of swing hydro-cylinder (2) is linked together with the first hydraulic fluid port of swing hydro-cylinder hydraulic system (9), the pole chamber of swing hydro-cylinder (2) is linked together with the second hydraulic fluid port of swing hydro-cylinder hydraulic system (9), the top of a plurality of support hydro-cylinder (5) is articulated with the hydraulic fluid port of support hydro-cylinder system (7).

2. A flexible support device as claimed in claim 1, wherein:

the hydraulic system of the support oil cylinder (7) comprises a main oil pump (71), a first three-position four-way electromagnetic directional valve (72), a first hydraulic lock (73) and a second hydraulic lock (74), wherein the oil inlet end of the main oil pump (71) is communicated with an oil tank, the oil outlet end of the main oil pump (71) is communicated with the oil inlet of the first three-position four-way electromagnetic directional valve (72), a first working port of the first three-position four-way electromagnetic directional valve (72) is communicated with the oil inlet of the first hydraulic lock (73), the oil outlet of the first hydraulic lock (73) is communicated with a rodless cavity of the support oil cylinder (5), the second working port of the first three-position four-way electromagnetic directional valve (72) is communicated with the oil inlet of the second hydraulic lock (74), the oil outlet of the second hydraulic lock (74) is communicated with a rod cavity of the support oil cylinder (5), the oil return port of the first three-position four-way electromagnetic directional valve (72) is communicated with the oil tank, and the oil outlet of the first hydraulic lock (73) and the second hydraulic lock (74) are communicated with the oil tank.

3. A flexible support device as claimed in claim 2, wherein:

The hydraulic system of the support oil cylinder (7) further comprises two first two-position two-way electromagnetic reversing valves (75) and two first one-way valves (76), first working ports of the two first two-position two-way electromagnetic reversing valves (75) are respectively communicated with a rodless cavity and a rod cavity of the support oil cylinder (5), second working ports of the two first two-position two-way electromagnetic reversing valves (75) are respectively communicated with an oil tank, oil outlets of the two first one-way valves (76) are respectively communicated with the rodless cavity and the rod cavity of the support oil cylinder (5), and oil inlets of the two first one-way valves (76) are respectively communicated with the oil tank.

4. A flexible support device as claimed in claim 3, wherein:

the support device also comprises a buffer hydraulic system (8), the buffer hydraulic system (8) comprises an oil supplementing pump (81), a first one-way valve (82), a second two-position two-way electromagnetic reversing valve (83), a third two-position two-way electromagnetic reversing valve (84), a piston type energy accumulator (85), a high-pressure gas cylinder (86), an inflating valve group (87), a proportional overflow valve (88), a first ball valve (77), a second ball valve (78) and a third ball valve (79), the oil inlet end of the oil supplementing pump (81) is communicated with an oil tank, the oil outlet end of the oil supplementing pump (81) is communicated with the oil inlet of the first one-way valve (82), the oil outlet of the first one-way valve (82) is communicated with the oil inlet of the second two-position two-way electromagnetic reversing valve (83), the oil outlet of the second two-way electromagnetic reversing valve (83) is communicated with the first working port of the third two-way electromagnetic reversing valve (84), the second working port of the third two-way electromagnetic reversing valve (84) is communicated with the second working port of the support cylinder (5), the second working port of the third two-way electromagnetic reversing valve (84) is communicated with the second piston type energy accumulator (85) in series connection with the first working port of the first two-way electromagnetic reversing valve (84), the second working port of the high-pressure gas cylinder (86) is communicated with a high-pressure gas source, the first working port of the third ball valve (79) is connected in series between the first ball valve (77) and the liquid port of the piston type energy accumulator (85), the second working port of the third ball valve (79) is communicated with the oil tank, the first working port of the proportional overflow valve (88) is connected in series between the first ball valve (77) and the liquid port of the piston type energy accumulator (85), and the second working port of the proportional overflow valve (88) is communicated with the oil tank.

5. A flexible support device as claimed in claim 4, wherein:

the buffer hydraulic system (8) further comprises an oil supplementing pressure sensor (80), an energy accumulator pressure sensor (89) and an oil unloading pressure sensor (90), wherein a detection port of the oil supplementing pressure sensor (80) is connected between a third two-position two-way electromagnetic reversing valve (84) and a rodless cavity of the support cylinder (5) in series, a detection port of the energy accumulator pressure sensor (89) is connected between the second ball valve (78) and the inflation valve group (87) in series, and a detection port of the oil unloading pressure sensor (90) is connected between the first ball valve (77) and the proportional overflow valve (88) in series.

6. A flexible support device as claimed in claim 5, wherein:

the swing cylinder hydraulic system (9) comprises a swing cylinder oil pump (91), a fourth two-position two-way electromagnetic reversing valve (92), a throttle valve (93), a second three-position four-way electromagnetic reversing valve (94), a third hydraulic lock (95) and a fourth hydraulic lock (96), wherein the oil inlet end of the swing cylinder oil pump (91) is communicated with an oil tank, the oil outlet end of the swing cylinder oil pump (91) is communicated with a first working port of the fourth two-position two-way electromagnetic reversing valve (92), a second working port of the fourth two-position two-way electromagnetic reversing valve (92) is communicated with an oil inlet of the second three-position four-way electromagnetic reversing valve (94), the first working port of the second three-position four-way electromagnetic reversing valve (94) is connected with a rodless cavity of the swing cylinder (2) in series, the second working port of the second three-position four-way electromagnetic reversing valve (94) is connected with a rod cavity of the swing cylinder (2) in series, the second working port of the second three-position four-way electromagnetic reversing valve (94) is communicated with the throttle valve (93), and the oil return port of the second three-position four-way electromagnetic reversing valve (94) is communicated with the oil pump (93).

7. A flexible support device as claimed in claim 6, wherein:

the swing oil cylinder hydraulic system (9) also comprises two fourth two-position two-way electromagnetic reversing valves (97) and two second one-way valves (98),

the first working ports of the two fourth two-position two-way electromagnetic reversing valves (97) are respectively communicated with a rodless cavity and a rod cavity of the swing oil cylinder (2), the second working ports of the two fourth two-position two-way electromagnetic reversing valves (97) are respectively communicated with an oil tank, the oil outlets of the two second one-way valves (98) are respectively communicated with the rodless cavity and the rod cavity of the swing oil cylinder (2), and the oil inlets of the two second one-way valves (98) are respectively communicated with the oil tank.

8. A flexible support device as claimed in any one of claims 1 to 7 wherein:

the supporting device further comprises a swinging oil cylinder displacement sensor (21) and a supporting oil cylinder displacement sensor (51), a feeler lever of the swinging oil cylinder displacement sensor (21) is in transmission fit with a telescopic rod of the swinging oil cylinder (2), and a feeler lever of the supporting oil cylinder displacement sensor (51) is in transmission fit with a telescopic rod of the supporting oil cylinder (5).

9. A method of using the flexible support device of claims 1 to 8, characterized in that:

The using method comprises the following steps:

the first step: installing a supporting device, hoisting a rigid beam (6) to an installation position, when the rigid beam (6) is positioned at a correct position, driving a crane to adjust the inclination angle of the rigid beam (6) until the inclination angle of the rigid beam (6) is smaller than the maximum climbing gradient of a mine car, after the inclination angle adjustment of the rigid beam (6) is finished, sequentially opening all swing cylinder oil pumps (91) on the rigid beam (6) by an operator, all swing cylinder oil pumps (91) sequentially drive hydraulic oil to enter rodless cavities of swing cylinders (2) corresponding to the hydraulic oil pumps through corresponding fourth two-position two-way electromagnetic reversing valves (92), second three-position four-way electromagnetic reversing valves (94) and third hydraulic locks (95), at the moment, stretching telescopic rods of the swing cylinders (2) drive supporting legs (1) to rotate along supporting cylinder hinged supports (4) until the supporting legs (1) are perpendicular to the ground, when all the supporting legs (1) are perpendicular to the ground, simultaneously closing all swing cylinder oil pumps (91), simultaneously enabling all swing cylinder oil pumps (97) to sequentially drive oil paths in the fourth two-position two-way electromagnetic reversing valves (97) to sequentially pass through the fourth two-way electromagnetic reversing valves (92), and sequentially opening all the hydraulic oil pumps (71) corresponding to the main electromagnetic reversing valves (71) after all the fourth two-way electromagnetic reversing valves (97) sequentially enter the rodless cavities (71) through the main electromagnetic reversing valves (71), at the moment, the telescopic rod of the supporting oil cylinder (5) stretches to drive the supporting legs (1) to descend until the bottoms of the supporting legs (1) are contacted with the ground, after the bottoms of the supporting legs (1) are contacted with the ground, an oil way in a third two-position two-way electromagnetic reversing valve (84) is communicated, so that a piston type energy accumulator (85) is connected into the system, when an oil way pressure sensor (80) detects that the oil way pressure reaches the installation pressure, a corresponding main oil pump (71) stops working, meanwhile, the oil way in each first two-position two-way electromagnetic reversing valve (75) is communicated, and after all the main oil pumps (71) stop working, the step of installing the supporting device is completed in the first step;

And a second step of: the method comprises the steps of heavy load compensation, namely when a heavy load mine car passes through a rigid beam (6), the load of the rigid beam (6) is increased, the load is transmitted to a supporting oil cylinder (5) through a supporting oil cylinder hinged support (4), a rodless cavity of the supporting oil cylinder (5) is compressed, hydraulic oil is discharged from the rodless cavity of the supporting oil cylinder (5), the hydraulic oil discharged from the supporting oil cylinder (5) enters a liquid cavity of a piston type energy accumulator (85) through a third two-position two-way electromagnetic reversing valve (84), the rodless cavity pressure of the supporting oil cylinder (5) is increased, when an oil circuit pressure is monitored to reach a draining pressure by an oil supplementing pressure sensor (80), a proportional overflow valve (88) is opened to enable the hydraulic oil to be discharged into an oil tank, and when the heavy load mine car passes through the rigid beam (6), the load of the rigid beam (6) is released, the piston of the piston type energy accumulator (85) returns to an initial position, and the hydraulic oil in the liquid cavity of the piston type energy accumulator (85) enters the rodless cavity of the supporting oil cylinder (5) through a third two-position two-way electromagnetic reversing valve (84), so that the second telescopic compensation of the supporting oil cylinder (5) is completed;

and a third step of: and a ground sinking compensation step, when the supporting leg (1) falls into the ground, the pressure in the rodless cavity of the supporting oil cylinder (5) is reduced, when the pressure in the rodless cavity of the supporting oil cylinder (5) is smaller than the pressure in the gas cavity of the piston type energy accumulator (85), hydraulic oil in the liquid cavity of the piston type energy accumulator (85) enters the rodless cavity of the supporting oil cylinder (5) through a third two-position two-way electromagnetic reversing valve (84), the telescopic rod of the supporting oil cylinder (5) is extended until the pressure in the rodless cavity of the supporting oil cylinder (5) is equal to the pressure in the gas cavity of the piston type energy accumulator (85), when the oil-supplementing pressure sensor (80) monitors that the oil-way pressure is lower than an oil-supplementing threshold value, the oil-supplementing pressure sensor (80) sends a signal to drive the oil-supplementing pump (81) to start working, and the oil-supplementing pump (81) drives the hydraulic oil to sequentially enter the liquid cavity of the piston type energy accumulator (85) through a first one-way valve (82) and a second two-position two-way electromagnetic reversing valve (83) until the oil-way pressure sensor (80) reaches the pressure-monitored oil-way installation pressure, and the third step is completed.

10. A transportation mechanism for heavy-duty mining vehicles based on a flexible supporting device according to any one of claims 1 to 9, characterized in that:

the transportation mechanism comprises a rigid beam (6) and at least two supporting devices, wherein the at least two supporting devices are arranged at the bottom of the rigid beam (6), supporting legs (1) in the at least two supporting devices are placed on the ground, the tops of supporting oil cylinder hinged supports (4) in the at least two supporting devices are fixedly connected with the bottom of the rigid beam (6), and the tops of swing oil cylinder hinged supports (3) in the at least two supporting devices are hinged with the bottom of the rigid beam (6).