CN204691808U - Integral top beam plate type hydraulic support - Google Patents
Integral top beam plate type hydraulic support Download PDFInfo
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Abstract
本实用新型涉及整体顶梁板式液压支架,包括顶梁、底座、液压立柱、插柱、插槽、伸缩梁、液压控制阀组件、阀组支架、过桥、尾梁、连板、抬高架、抬底装置和推移装置;液压立柱设置四根,对称布置在顶梁和底座之间,液压立柱的上端与顶梁连接,下端与底座连接;插柱上端与顶梁铰接,下端与插槽滑动配合连接,插槽下端与底座固接;顶梁前端连接有伸缩梁,后端依次铰接尾梁和连板,连板底端与抬高架铰接;推移装置分别与底座和刮板输送机铰接;液压控制阀组件安装在阀组支架上,过桥上连接有抬底装置。该支架顶梁上、下运动轨迹为一条直线,可模块化设计,系列化标准化生产,集成化装配,结构工艺简单,稳定性好,安全可靠,具有广泛的实用性。
The utility model relates to an integral roof beam plate type hydraulic support, including a roof beam, a base, a hydraulic column, a column insertion, a slot, a telescopic beam, a hydraulic control valve assembly, a valve group support, a bridge, a tail beam, a connecting plate, an elevated frame, Bottom lifting device and pushing device; four hydraulic columns are arranged symmetrically between the top beam and the base, the upper end of the hydraulic column is connected with the top beam, and the lower end is connected with the base; the upper end of the post is hinged with the top beam, and the lower end slides with the slot Cooperate connection, the lower end of the slot is fixedly connected with the base; the front end of the top beam is connected with a telescopic beam, the rear end is hinged with the tail beam and the connecting plate in turn, and the bottom end of the connecting plate is hinged with the lifting frame; the pushing device is respectively hinged with the base and the scraper conveyor; hydraulic control The valve assembly is installed on the valve group bracket, and the bottom lifting device is connected to the bridge. The upper and lower motion tracks of the support top beam are a straight line, and can be designed in a modular manner, serialized and standardized in production, integrated in assembly, simple in structure and process, good in stability, safe and reliable, and have wide practicability.
Description
技术领域 technical field
本实用新型涉及一种整体顶梁板式液压支架,尤其适用于煤矿井下采煤工作面的顶板支护,也适用于其它需要支护的场合。 The utility model relates to an integral roof beam plate type hydraulic support, which is especially suitable for the roof support of coal mining working faces in coal mines, and is also suitable for other occasions requiring support.
背景技术 Background technique
矿山支护设备是煤矿井下必不可少的设备之一。煤矿中使用的支护设备主要有四连杆机构的液压支架,也称四连杆液压支架,四连杆液压支架顶梁上、下的运动轨迹为一条双纽线,具体见煤炭工业出版社于1993年出版的《煤矿支护手册》第五篇第三章第三节内容和中国矿业大学出版社于2010年出版的“十一五”高等学校国家规划教材《矿山机械》一书中关于支护设备内容。四连杆液压支架起始于上世纪50年代,60年代技术进入成熟阶段,70年代末开始引入我国煤矿行业。四连杆液压支架存在的问题:一:由于其顶梁为一双纽线运动轨迹,每次使用时要进行一对一重新设计,并进行样架的试制和性能检测,通过检测合格后,才能取得安标证书,最后才能进行液压支架的生产制造,这样一个循环过程,少则半年,多则一年以上才能把设备交给煤矿使用,效率相当低下;二:由于四连杆液压支架的结构特点,其无法实现模块化设计,只能进行一对一单套设计和生产,设计工作量繁重,生产周期长,劳动强度大,生产成本高,中间环节的附加成本更高,严重影响了我国液压支架的推广速度和推广使用面。三:由于四连杆液压支架必须进行一对一单套设计和生产制造,给模块化、标准化、系列化、集成化生产带来很大的困难,无法进行零部件的规模化生产,更不可能进行集成化装配。因此,基于现有四连杆液压支架的问题,改变现有液压支架的技术原理和技术结构,具有重要的现实意义和历史意义。 Mine support equipment is one of the essential equipment in coal mines. The support equipment used in coal mines mainly includes four-bar linkage hydraulic supports, also known as four-link hydraulic supports. The upper and lower movement tracks of the top beam of four-link hydraulic supports are a double-button line. For details, see Coal Industry Press The content of the third chapter of the fifth chapter of the "Coal Mine Support Manual" published in 1993 and the "Eleventh Five-Year" national planning textbook "Mining Machinery" published by China University of Mining and Technology Press in 2010 are about Support device content. The four-link hydraulic support started in the 1950s, the technology entered a mature stage in the 1960s, and was introduced into my country's coal mining industry in the late 1970s. Problems existing in the four-link hydraulic support: 1: Since the top beam is a double-wire movement track, it needs to be redesigned one-to-one every time it is used, and the trial production and performance testing of the sample frame are carried out. After passing the test, it can be used After obtaining the safety standard certificate, the production and manufacture of the hydraulic support can be carried out at last. Such a cycle process can take as little as half a year and as long as more than a year before the equipment can be handed over to the coal mine for use. The efficiency is quite low; two: due to the structure of the four-link hydraulic support The characteristic is that it cannot realize modular design, and can only carry out one-to-one single-set design and production. The design workload is heavy, the production cycle is long, the labor intensity is high, the production cost is high, and the additional cost of the intermediate link is higher, which seriously affects my country's The promotion speed and application area of hydraulic supports. Three: Since the four-link hydraulic support must be designed and manufactured one-to-one, it brings great difficulties to modularization, standardization, serialization, and integrated production, and it is impossible to carry out large-scale production of parts, let alone Integrated assembly possible. Therefore, based on the problems of the existing four-link hydraulic support, changing the technical principle and technical structure of the existing hydraulic support has important practical and historical significance.
实用新型内容 Utility model content
技术问题:本实用新型的目的是针对已有技术中存在的问题,提供一种结构紧凑、减轻矿工劳动强度、提高矿工安全性、降低生产成本、易于推广、支撑效果好的整体顶梁板式液压支架。 Technical problem: The purpose of this utility model is to solve the problems existing in the prior art, to provide a compact structure, reduce the labor intensity of miners, improve the safety of miners, reduce production costs, easy to popularize, and have a good supporting effect. stand.
技术方案:整体顶梁板式液压支架,其特征在于:主要包括顶梁、底座、液压立柱、插柱、插槽、伸缩梁、液压控制阀组件、阀组支架、过桥、尾梁、连板、抬高架、抬底装置、推移装置;所述的液压立柱设置四根,对称布置在顶梁和底座之间,液压立柱的上端与顶梁连接,下端与底座连接;所述的插柱上端通过销轴与顶梁铰接,插柱下端置于插槽内,插柱与插槽滑动配合连接,插槽下端与底座固接;所述的顶梁前端连接有伸缩梁;所述顶梁后端依次铰接尾梁和连板,连板的底端与固连在底座上的抬高架铰接;所述推移装置设于底座内,其两端分别与底座和采煤工作面内的刮板输送机铰接;所述液压控制阀组件安装在阀组支架上,并通过过桥支承于底座前部,过桥上还连接有抬底装置。 Technical solution: integral top beam plate hydraulic support, characterized in that it mainly includes top beam, base, hydraulic column, inserting column, slot, telescopic beam, hydraulic control valve assembly, valve group bracket, bridge, tail beam, connecting plate , lifting frame, bottom lifting device, and pushing device; the hydraulic column is provided with four, symmetrically arranged between the roof beam and the base, the upper end of the hydraulic column is connected with the roof beam, and the lower end is connected with the base; the upper end of the inserted column The pin is hinged with the top beam, the lower end of the post is placed in the slot, the post and the slot are slidably connected, and the lower end of the slot is fixedly connected to the base; the front end of the top beam is connected with a telescopic beam; the rear end of the top beam is in turn The tail beam and the connecting plate are hinged, and the bottom end of the connecting plate is hinged with the lifting frame fixed on the base; the moving device is arranged in the base, and its two ends are respectively hinged with the base and the scraper conveyor in the coal mining face; The above-mentioned hydraulic control valve assembly is installed on the valve group bracket, and is supported on the front part of the base through a bridge, and a bottom lifting device is also connected to the bridge.
所述伸缩梁设有能够控制其伸缩的伸缩梁千斤顶,伸缩梁千斤顶的缸体和活动杆分别与顶梁、伸缩梁铰接。 The telescopic beam is provided with a telescopic beam jack capable of controlling its expansion and contraction, and the cylinder body and the movable rod of the telescopic beam jack are respectively hinged with the top beam and the telescopic beam.
所述伸缩梁的前端设有能够上下摆动的护帮板。 The front end of the telescopic beam is provided with a side guard capable of swinging up and down.
所述护帮板与伸缩梁的前端铰接,所述护帮板设有能够控制上下摆动的护帮板千斤顶,护帮板千斤顶的缸体和活动杆分别与伸缩梁、护帮板铰接。 The side guard is hinged with the front end of the telescopic beam, and the side guard is provided with a side guard jack capable of controlling up and down swing, and the cylinder body and the movable rod of the side guard jack are respectively hinged with the telescopic beam and the side guard.
所述护帮板可以为一级护帮板、二级护帮板或多级护帮板。 The skirting board can be a primary skirting board, a secondary skirting board or a multi-stage skirting board.
所述插柱和插槽构成插板机构,设置于支架的后部,且位于支架宽度的中心。 The posts and the slots form a plate-inserting mechanism, which is arranged at the rear of the bracket and is located at the center of the width of the bracket.
所述的液压控制阀组件由一组动操作阀或电液远程控制阀、单向阀、安全阀、管件及密封件组成。 The hydraulic control valve assembly is composed of a group of dynamic operation valves or electro-hydraulic remote control valves, one-way valves, safety valves, pipe fittings and seals.
有益效果:本实用新型整体顶梁板式液压支架,由于插板结构的设置,顶梁上、下的运动轨迹为一条直线,可实现模块化设计,系列化、标准化生产,集成化装配,模块内最大高度液压支架可以覆盖较小高度的液压支架,减少了中间环节,提高了生产效率,降低了生产成本,可实现液压支架的快速推广。根据煤矿顶板压力和高度设置若干模块,每一个模块设计若干相同工作阻力但高度不同的液压支架规格,而且高度规格符合系列化标准,以最高支架覆盖较低高度支架的原则,对最大高度规格样架试制、样架检测、安标取证工作,较小规格支架被覆盖,减少了中间生产环节,缩短了生产周期。主要优点: Beneficial effects: the overall roof beam plate type hydraulic support of the utility model, due to the setting of the inserting plate structure, the upper and lower motion tracks of the roof beam are a straight line, which can realize modular design, serialization, standardized production, integrated assembly, and The hydraulic support with the maximum height can cover the hydraulic support with a smaller height, which reduces the intermediate links, improves the production efficiency, reduces the production cost, and can realize the rapid promotion of the hydraulic support. Several modules are set according to the pressure and height of the roof of the coal mine, and each module is designed with a number of hydraulic support specifications with the same working resistance but different heights, and the height specifications meet the serialization standards. Frame trial production, sample frame testing, safety standards and evidence collection work, smaller size brackets are covered, reducing intermediate production links and shortening the production cycle. The main advantage:
(1)本实用新型整体顶梁板式液压支架可实现系列化、标准化生产,把零部件制成标准件,根据煤层情况可组成标准系列的不同高度规格的支架,煤矿需要哪一种规格就选哪一种规格,选中后进行集成化装配生产,提高了生产效率; (1) The utility model's overall roof beam plate type hydraulic support can realize serialization and standardized production, and the parts can be made into standard parts. According to the coal seam conditions, a standard series of supports with different height specifications can be formed. Whichever specification is needed by the coal mine can be selected. Which specification, after selection, the integrated assembly production is carried out, which improves the production efficiency;
(2)本实用新型整体顶梁板式液压支架可实现规模化生产,各零部件可形成生产线,以实现大规模快速、有效地生产,达到满足煤矿大规模推广液压支架的目的; (2) The utility model's overall roof beam plate hydraulic support can realize large-scale production, and each component can form a production line to realize large-scale, rapid and effective production, and to meet the purpose of large-scale promotion of hydraulic supports in coal mines;
(3)本实用新型整体顶梁板式液压支架可应用于综采工作面,也可使用于炮采工作面,其结构简单,稳定性好,使用方便可靠,具有广泛的实用性。 (3) The integral top beam plate hydraulic support of the utility model can be applied to the fully mechanized mining face, and can also be used in the blast mining face. It has a simple structure, good stability, convenient and reliable use, and has wide practicability.
附图说明 Description of drawings
图1是本实用新型的结构示意图。 Fig. 1 is a structural representation of the utility model.
图中,1.底座,2.抬高架,3.连板,4.插槽,5.尾梁,6.插柱,7.顶梁,8.销轴,9.液压立柱,10.伸缩梁千斤顶,11.伸缩梁,12.护帮板千斤顶,13.护帮板,14.液压控制阀组件,15.阀组支架,16.过桥,17.抬底装置,18.推移装置。 In the figure, 1. Base, 2. Lifting frame, 3. Connecting plate, 4. Slot, 5. Tail beam, 6. Inserting column, 7. Top beam, 8. Pin shaft, 9. Hydraulic column, 10. Telescopic Beam Jack, 11. Telescopic Beam, 12. Side Guard Jack, 13. Side Guard, 14. Hydraulic Control Valve Assembly, 15. Valve Group Bracket, 16. Cross Bridge, 17. Bottom Lifting Device, 18. Pushing Device.
具体实施方式 Detailed ways
下面结合附图对本实用新型的一个实施例作进一步的描述: An embodiment of the present utility model is further described below in conjunction with accompanying drawing:
如图1所示,本实用新型的整体顶梁板式液压支架,主要由底座1,抬高架2,连板3,插槽4,尾梁5,插柱6,顶梁7,液压立柱9,伸缩梁千斤顶10,伸缩梁11,护帮板千斤顶12,护帮板13,液压控制阀组件14,阀组支架15,过桥16,抬底装置17,推移装置18组成。所述的顶梁7、伸缩梁11、护帮板13、插柱6、尾梁5、插槽4、连板3、抬高架2、底座1、阀组支架15、过桥16由钢板或型钢焊接而成。所述的液压控制阀组件14由一组手动操作阀或电液远程控制阀、单向阀、安全阀、管件及密封件组成,液压控制阀组件14是支架各动作的操控中心,可手动操作或电液远程控制。所述的四根液压立柱9对称布置在顶梁7和底座1之间,液压立柱9的上端与顶梁7连接,下端与底座1连接;所述的插柱6上端通过销轴8与顶梁7铰接,插柱6下端置于插槽4内,插槽4下端与底座1固接;顶梁7内设有伸缩梁11,顶梁7下设有与伸缩梁9相连的伸缩梁千斤顶10,伸缩梁11随伸缩梁千斤顶10的伸缩而伸缩,伸缩梁千斤顶10两端分别与伸缩梁11和顶梁7铰接;伸缩梁11下设有护帮板13,所述的护帮板13为一级护帮板、二级护帮板或多级护帮板,对于较低型号支架可不设护帮板13。护帮板13上设有使其摆动的护帮板千斤顶12,护帮板千斤顶12分别与护帮板13和伸缩梁11铰接;所述的尾梁5上端与顶梁7铰接,下端与连板3的上端铰接,连板3下端与抬高架2的上端铰接,抬高架2下端与底座1固接。所述的底座1上焊接有一个过桥16,过桥16上一侧安装阀组支架15,在阀组支架15上安装液压控制阀组件14,过桥16上另一侧安装抬底装置17;所述推移装置18设在底座1内,其两端分别与底座1和采煤工作面内的刮板输送机铰接。液压立柱9上、下伸缩时,顶梁7、插柱6、尾梁5等随之升降,使尾梁5围绕与顶梁7的铰接轴摆动,连板3随之围绕与抬高架2上的铰接轴摆动,尾梁5也围绕与连板3的铰接轴相对摆动;在顶梁7内设有伸缩梁11,伸缩梁千斤顶10的两端分别与顶梁7和伸缩梁11铰接,伸缩梁11随伸缩梁千斤顶10的伸缩而进出;推移装置18是用于推移刮板输送机和移动液压支架本身的部件,其分别与底座1和刮板输送机铰接;液压控制阀组件14是操纵和控制高压液体的操控中心,支架上的液压立柱9、伸缩梁千斤顶10、护帮板千斤顶12、抬底装置17,推移装置18及顶梁7和尾梁5上的侧护板千斤顶等均由液压控制阀组件14来操纵控制,液压控制阀组件14安装于阀组支架15上,阀组支架15连接在过桥16上,过桥16与底座1焊接为一体,整体构成了整体顶梁板式液压支架结构。 As shown in Figure 1, the overall top beam plate hydraulic support of the present invention mainly consists of a base 1, an elevated frame 2, a connecting plate 3, a slot 4, a tail beam 5, a post 6, a top beam 7, a hydraulic column 9, Telescopic beam jack 10, telescopic beam 11, side panel jack 12, side panel 13, hydraulic control valve assembly 14, valve group bracket 15, bridge bridge 16, bottom lifting device 17, and pushing device 18 are formed. The top beam 7, the telescopic beam 11, the side guard 13, the post 6, the tail beam 5, the slot 4, the connecting plate 3, the elevating frame 2, the base 1, the valve group bracket 15, and the bridge 16 are made of steel plates or Steel welded. The hydraulic control valve assembly 14 is composed of a group of manual operation valves or electro-hydraulic remote control valves, one-way valves, safety valves, pipe fittings and seals. The hydraulic control valve assembly 14 is the control center of each action of the bracket and can be manually operated. Or electro-hydraulic remote control. The four hydraulic columns 9 are symmetrically arranged between the top beam 7 and the base 1, the upper end of the hydraulic column 9 is connected to the top beam 7, and the lower end is connected to the base 1; The beam 7 is hinged, the lower end of the post 6 is placed in the slot 4, and the lower end of the slot 4 is fixed to the base 1; a telescopic beam 11 is arranged in the top beam 7, and a telescopic beam jack connected to the telescopic beam 9 is provided under the top beam 7 10. The telescopic beam 11 expands and contracts with the expansion and contraction of the telescopic beam jack 10, and the two ends of the telescopic beam jack 10 are respectively hinged with the telescopic beam 11 and the top beam 7; It is a first-level side guard, a second-level side guard or a multi-level side guard, and the side guard 13 may not be provided for the lower model bracket. The side guard 13 is provided with a side guard jack 12 to make it swing, and the side guard jack 12 is hinged with the side guard 13 and the telescopic beam 11 respectively; The upper end of the plate 3 is hinged, the lower end of the connecting plate 3 is hinged with the upper end of the elevating frame 2, and the lower end of the elevating frame 2 is fixedly connected with the base 1. A bridge 16 is welded on the base 1, a valve group support 15 is installed on one side of the bridge 16, a hydraulic control valve assembly 14 is installed on the valve group support 15, and a bottom lifting device 17 is installed on the other side of the bridge 16 ; The moving device 18 is located in the base 1, and its two ends are respectively hinged with the base 1 and the scraper conveyor in the coal mining face. When the hydraulic column 9 stretches up and down, the top beam 7, the insertion column 6, the tail beam 5, etc. rise and fall accordingly, so that the tail beam 5 swings around the hinge axis with the top beam 7, and the connecting plate 3 surrounds and lifts the frame 2 accordingly. The hinge axis of the tail beam 5 also swings around the hinge axis of the connecting plate 3; a telescopic beam 11 is arranged in the top beam 7, and the two ends of the telescopic beam jack 10 are respectively hinged with the top beam 7 and the telescopic beam 11, and the telescopic The beam 11 moves in and out with the expansion and contraction of the telescopic beam jack 10; the pushing device 18 is used to push the scraper conveyor and move the parts of the hydraulic support itself, which are respectively hinged with the base 1 and the scraper conveyor; the hydraulic control valve assembly 14 is the control And the control center for controlling the high-pressure liquid, the hydraulic column 9 on the support, the telescopic beam jack 10, the side guard plate jack 12, the bottom lifting device 17, the side guard plate jack on the pushing device 18, the top beam 7 and the tail beam 5, etc. Controlled by the hydraulic control valve assembly 14, the hydraulic control valve assembly 14 is installed on the valve group bracket 15, the valve group bracket 15 is connected to the bridge 16, and the bridge 16 is welded with the base 1 as a whole, forming an integral roof beam as a whole Plate hydraulic support structure.
工作过程: work process:
支架升架时,通过操作液压控制阀组件14,高压液体进入四根液压立柱9的大腔,顶梁7、插柱6、尾梁5上升,伸缩梁11、伸缩梁千斤顶10、护帮板13、护帮板千斤顶12随之上升,插柱6沿着插槽4内壁垂直上升,尾梁5围绕与顶梁7的铰接轴转动,同时尾梁5围绕与连板3的铰接轴相对摆动,连板3围绕与抬高架2上的铰接轴摆动上升。 When the support is raised, the hydraulic control valve assembly 14 is operated, and the high-pressure liquid enters the large cavity of the four hydraulic columns 9, the top beam 7, the insertion column 6, and the tail beam 5 rise, and the telescopic beam 11, the telescopic beam jack 10, and the side guard 13. The side guard jack 12 rises accordingly, the post 6 rises vertically along the inner wall of the slot 4, the tail beam 5 rotates around the hinge axis with the top beam 7, and at the same time the tail beam 5 swings relatively around the hinge axis with the connecting plate 3 , the connecting plate 3 swings around the hinged shaft on the elevating frame 2 and rises.
支架降架时,通过操作液压控制阀组件14,高压液体进入四根液压立柱9的小腔、顶梁7、插柱6、尾梁5下降,伸缩梁11、伸缩梁千斤顶10、护帮板13、护帮板千斤顶12随之下降,插柱6沿着插槽4内壁垂直下降,尾梁5围绕与顶梁7的铰接轴转动,同时尾梁5围绕与连板3的铰接轴相对摆动,连板3围绕与抬高架2上的铰接轴摆动下降。 When the bracket is lowered, by operating the hydraulic control valve assembly 14, the high-pressure liquid enters the small cavity of the four hydraulic columns 9, the top beam 7, the insertion column 6, and the tail beam 5 are lowered, and the telescopic beam 11, the telescopic beam jack 10, and the side guard 13. The side guard jack 12 descends accordingly, the post 6 descends vertically along the inner wall of the slot 4, the tail beam 5 rotates around the hinge axis with the top beam 7, and at the same time the tail beam 5 swings relatively around the hinge axis with the connecting plate 3 , the connecting plate 3 swings and descends around the hinged shaft on the elevating frame 2.
支架推溜时,通过操作液压控制阀组件14,高压液体进入推移装置18内千斤顶的大腔,推移刮板输送机。 When the support pushes, by operating the hydraulic control valve assembly 14, the high-pressure liquid enters the large chamber of the jack in the pushing device 18 to push the scraper conveyor.
支架移架时,刮板输送机固定,通过操作液压控制阀组件14,高压液体进入推移装置18内千斤顶的小腔,推移液压支架。 When the support is moved, the scraper conveyor is fixed, and by operating the hydraulic control valve assembly 14, the high-pressure liquid enters the small chamber of the jack in the pushing device 18 to push the hydraulic support.
支架四个动作的完成均是通过操作液压控制阀组件14来完成的,支架的动作顺序是根据工作面现场情况确定,支架每完成四个动作一次,支架便完成一个工作循环。 The completion of the four actions of the support is accomplished by operating the hydraulic control valve assembly 14. The action sequence of the support is determined according to the site conditions of the working face. Every time the support completes four actions, the support completes a working cycle.
Claims (7)
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| CN201520345128.1U CN204691808U (en) | 2015-05-26 | 2015-05-26 | Integral top beam plate type hydraulic support |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104847391A (en) * | 2015-05-26 | 2015-08-19 | 徐州神安矿山机械科技有限公司 | Plate type hydraulic support with integral top beam |
| WO2017071001A1 (en) * | 2015-10-29 | 2017-05-04 | 中国矿业大学 | Four-column suspension hydraulic support |
| WO2018086328A1 (en) * | 2016-11-09 | 2018-05-17 | 安徽理工大学 | Shield support device fully enclosing soil-like coal working face |
-
2015
- 2015-05-26 CN CN201520345128.1U patent/CN204691808U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104847391A (en) * | 2015-05-26 | 2015-08-19 | 徐州神安矿山机械科技有限公司 | Plate type hydraulic support with integral top beam |
| WO2017071001A1 (en) * | 2015-10-29 | 2017-05-04 | 中国矿业大学 | Four-column suspension hydraulic support |
| WO2018086328A1 (en) * | 2016-11-09 | 2018-05-17 | 安徽理工大学 | Shield support device fully enclosing soil-like coal working face |
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