CN209780931U - Redundant-driven three-degree-of-freedom parallel hydraulic support - Google Patents
Redundant-driven three-degree-of-freedom parallel hydraulic support Download PDFInfo
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- CN209780931U CN209780931U CN201920298600.9U CN201920298600U CN209780931U CN 209780931 U CN209780931 U CN 209780931U CN 201920298600 U CN201920298600 U CN 201920298600U CN 209780931 U CN209780931 U CN 209780931U
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Abstract
The utility model discloses a redundant three degree of freedom hydraulic support that drives that connects in parallel, including base, the parallelly connected supporting mechanism of owner, back shield device, the parallelly connected supporting mechanism of back shield, back timber and front-axle beam. The main parallel supporting mechanism of the redundant drive is connected between the base and the top beam, and the configuration of the main parallel supporting mechanism is 2-RPS/2-RPC; the rear shield device is positioned at the rear end of the main parallel support mechanism, is connected with the top beam through a hinge, and is connected with the base through a 2-RPC/2-SPS rear shield parallel support mechanism; the side guard plates are arranged on the two sides of the rear shield device and the top beam, and the front part of the top beam is provided with a front beam. The utility model discloses can overcome traditional hydraulic support's technical defect, the position appearance state of adjustable back timber in the three degree of freedom direction in space to improve hydraulic support to the adaptability of country rock, and can effectively avoid phenomenons such as frame falling and spare part damage, and compare in the parallelly connected hydraulic support that has disclosed have advantages such as the accompanying motion is simple, stable in structure, control is easy.
Description
Technical Field
The utility model relates to a mining machinery technical field, concretely relates to redundant driven three degree of freedom hydraulic support that connects in parallel.
background
The hydraulic support is support equipment of a fully mechanized coal mining face, and the hydraulic support as main equipment of comprehensive mechanized coal mining work accounts for more than 70% of the total capital of the fully mechanized coal mining equipment, and is a key for realizing safe and efficient production of the fully mechanized coal mining face. The hydraulic support mainly bears the mine pressure from the top and bottom coal seams, adapts to the complex environment under mines, provides a safe operation space for mining, and can also provide an effective power source for mining and transportation equipment along with the propelling movement of a stope face. Therefore, the hydraulic support is an important component in the mining machinery equipment, and also determines the working efficiency and the safety and reliability of the fully mechanized mining face.
The hydraulic support is dispersedly arranged on the whole coal face during fully mechanized mining operation to realize the procedures of supporting, top cutting, self-moving, pushing sliding and the like, and forms comprehensive mechanized equipment of the coal face with a high-power coal mining machine and a large-capacity flexible scraper conveyor. The hydraulic support not only has a supporting function in the fully mechanized mining operation, but also is suitable for different types of coal beds, geological characteristics and other complex underground environments to make different designs. The hydraulic support widely used at present is developed from the basis of the traditional four-bar hydraulic support. However, due to the reasons of coal seam thickness, coal seam inclination angle, geological conditions and the like, the pressure borne by the top beam of the hydraulic support is necessarily from multiple directions and is complicated and variable, and the pressure, especially the lateral force, in all directions cannot be effectively overcome by the existing four-bar linkage type hydraulic support, because the traditional four-bar linkage mechanism is composed of two parallel plane four-bar linkage mechanisms, the traditional four-bar linkage type hydraulic support belongs to a statically indeterminate mechanism, and the structural stability is poor. Therefore, the traditional hydraulic support has the defects of low degree of freedom, poor supporting stability, poor surrounding rock contact adaptability, poor lateral force bearing capacity and the like, while the geological structure of the coal mine in China is complex, the traditional hydraulic support is damaged, and most of safety accidents caused by frame falling are caused by the fact that the top beam is subjected to large lateral load.
The defects of the traditional hydraulic support are emphasized by scholars at home and abroad, so that the design of the hydraulic support which has the advantages of stable structure, high rigidity, strong bearing space multidirectional force, easiness in control and good adaptability to surrounding rocks becomes a research hotspot. The parallel mechanism has the advantages of stable structure, strong bearing capacity, small inertia, fast dynamic response, high precision and the like, so the parallel mechanism can be an optimum supporting mechanism of the mining hydraulic support, the high stability and the control adjustment of the degree of freedom of the parallel mechanism provide principle support for the support work of the support, and the safe reliability and the adaptability to surrounding rocks of the support are directly improved due to the strong bearing capacity and the fast response. Therefore, the novel hydraulic support based on the parallel mechanism is designed to effectively solve the problems caused by the defects of the traditional hydraulic support, related patent publications (such as CN103899343A, CN107143362A, CN106968697A and CN104213930A) exist in the design and research of the parallel hydraulic support in the early stage, but the problems of relatively low rigidity, relatively weak bearing capacity, relatively poor isotropy and the like exist, and the problems can be effectively overcome by using the redundancy characteristic in a redundancy driving mode.
Therefore, the redundant-drive three-degree-of-freedom parallel hydraulic support has three degrees of freedom including two-degree-of-translation and one-degree-of-rotation in space, can bear vertical pressure applied to the support by a top plate and a bottom plate, can bear lateral component forces from other directions, can effectively bear loads relative to a common parallel hydraulic support, and is high in rigidity, stable in structure and relatively easy to control.
disclosure of Invention
The utility model aims at providing a can bear the parallelly connected hydraulic support of three degrees of freedom of multi-direction power and rigidity height, the redundant drive that bearing capacity is strong to traditional hydraulic support and the not enough of the parallelly connected hydraulic support technique that has now disclosed. The utility model discloses the technical problem that will solve adopts following technical scheme to realize.
A redundantly-driven three-degree-of-freedom parallel hydraulic support comprises a base, a main parallel supporting mechanism, a rear shield device, a rear shield parallel supporting mechanism, a top beam and a front beam. The middle position of the front end of the base is provided with a push rod for pushing the hydraulic support and a scraper conveyor matched with the hydraulic support to work, the periphery of the base is provided with a protection plate for preventing coal cinder dust, and underground water is immersed into the base; the main parallel supporting mechanism is used for bearing the vertical load and other lateral loads of the surrounding rock acting between the base and the top beam, and the configuration of the main parallel supporting mechanism is 2-RPS/2-RPC; the main parallel supporting mechanism is connected between the base and the top beam in parallel, the lower end of the main parallel supporting mechanism is arranged on the base, and the top end of the main parallel supporting mechanism is arranged on the top beam; the rear shield device is mainly used for bearing the horizontal force of the hydraulic support and the pressure of caving roof rocks, and preventing the waste rocks falling from the goaf from entering the lower part of the hydraulic support so as to ensure the safety of personnel and equipment below the hydraulic support; the rear shield device is positioned at the rear end of the main parallel support mechanism, the lower end of the rear shield device is connected with the base through the rear shield parallel support mechanism, the upper end of the rear shield device is connected with the top beam through a hinge, and shield side guard plates are arranged on two sides of the rear shield device; the rear shield parallel supporting mechanism is connected between the base and the rear shield device; the two sides of the top beam are provided with top beam side guard plates for waste rock blocking and reverse adjustment prevention, the front part of the top beam is provided with a front beam for extending the working space of the hydraulic support, and the top beam is connected with the front beam through a front beam jack and a hinge; the head of the front beam is provided with a side protection plate which is used for propping against the coal wall in front of the hydraulic support to prevent the coal wall from side stripping.
The rear shield device consists of a pin shaft, a shield beam, a bottom protection jack, a shield side guard plate and a shield bottom plate; the rear shield parallel supporting mechanism consists of three branched chains, wherein two branched chains at the lower side are connected with the base and the shield beam through spherical hinges, and one complex branched chain at the upper side consists of two same branched chains in parallel, is connected with the base through a hinge and is connected with the shield beam through a pin shaft; the pin shaft penetrates through a positioning hole in the reinforcing rib plate of the shield beam and is connected with the upper ends of two simple branched chains in the complex branched chains on the upper side of the rear shield parallel supporting mechanism through hinges; the top end of the shield beam is connected with the top beam through a hinge, and a long waist-shaped hole is formed in a reinforcing rib plate arranged in the shield beam and used for guiding a sliding optical axis; the upper end of the bottom protection jack is connected with the shield beam through a hinge, the lower end of the bottom protection jack is provided with a sliding optical axis, the middle and two ends of the sliding optical axis are arranged in the long waist-shaped hole of the shield beam, and the bottom protection plate is connected with the sliding optical axis through a hinge; the shield side panels are located on both sides of the shield beam.
The main parallel supporting mechanism consists of a fixed bottom plate, a movable top plate, two RPS supporting chains and two RPC supporting chains, wherein the two RPS supporting chains and the two RPC supporting chains are connected between the fixed bottom plate and the movable top plate; the movable top plate is fixedly connected with the top beam; the RPS supporting chain consists of a lower hinged lug seat, a hydraulic cylinder, a piston rod and an upper spherical hinge; the RPC support chain consists of a lower hinged lug seat, a hydraulic cylinder, a piston rod and an upper cylindrical auxiliary hinged lug seat; the lower hinged lug seats of the four support chains are all arranged on the fixed bottom plate, the lower ends of the hydraulic cylinders of the four support chains are all connected with the lower hinged lug seats, and the hydraulic cylinders and the piston rods are matched and arranged to be adjusted according to the supporting work requirement of the support; the upper end of a piston rod of the RPS branched chain is connected to the movable top plate through an upper spherical hinge, and the upper end of a piston rod of the RPC branched chain is connected to the movable top plate through an upper cylindrical auxiliary hinge lug seat.
The lower hinge lug seats of the two RPS branched chains and the two RPC branched chains in the main parallel supporting mechanism are symmetrically arranged two by two on the fixed bottom plate, the axes of hinge holes are parallel to each other, hinge central points are uniformly distributed around the fixed bottom plate and are equally distributed at 90 degrees; the last ball pivot of two RPS branched chains and the vice articulated ear seat of last cylinder of two RPC branched chains also are two bisymmetry arrangements on the activity roof, and articulated central point encircles the activity roof equipartition and is 90 equalling arrangements each other, wherein goes up the vice hinge hole axis of cylinder and is parallel to each other.
the rear shield parallel supporting mechanism consists of two SPS branched chains and a complex branched chain; the SPS branched chain consists of a lower spherical hinge, a hydraulic cylinder, a piston rod and an upper spherical hinge, wherein the lower end of the hydraulic cylinder is connected with the base through the lower spherical hinge, the hydraulic cylinder and the piston rod are installed in a matched mode, and the upper end of the piston rod is connected with the shield beam through the upper spherical hinge; the complex branched chain is formed by compositely connecting the tail ends of two identical RPR branched chains through a pin shaft, each branched chain is formed by a lower hinge, a hydraulic cylinder, a piston rod and an upper hinge, the lower end of the hydraulic cylinder is connected with the base through the lower hinge, the hydraulic cylinder and the piston rod are installed in a matched mode, the upper end of the piston rod is connected with the pin shaft through the upper hinge, and the pin shaft is installed on a positioning hole in a reinforcing rib plate of the shield beam; and the use of the hydraulic cylinder and the piston rod can be adjusted according to the working requirements of the shield beam.
The connecting line of the two SPS branched chains in the rear shielding parallel supporting mechanism and the hinge central point of the base and the connecting line of the SPS branched chains and the hinge central point of the shielding beam are parallel to the axis of the sliding optical axis; two RPR branched chains in the complex branched chains are collinear with the axis of the hinge hole of the base and collinear with the axis of the hinge hole of the pin shaft, and the connecting line of the RPR branched chains and the hinge central point of the base and the connecting line of the RPR branched chains and the hinge central point of the pin shaft are parallel to the axis of the sliding optical axis.
When the redundancy-driven three-degree-of-freedom parallel hydraulic support is used, the telescopic lengths of piston rods in the hydraulic cylinders of the four support chains of the main parallel support mechanism are adjusted according to the actual requirement of a supporting working surface, so that a top beam is lifted to prop against top surrounding rocks, a front beam jack is adjusted to extend a front beam, the working space of the hydraulic support is extended, and then a top beam side guard plate and a side guard plate are adjusted to be respectively unfolded; then adjusting the rear shielding parallel supporting mechanism to enable the rear shielding device to expand backwards to prop against the rear surrounding rock, expanding the shielding side guard plate, further adjusting the telescopic length of the bottom protecting jack to enable the sliding optical axis to move downwards, realizing the translation of the shielding bottom plate, and extending the working space of the rear shielding device; the shield beam can realize two-translation-one-rotation three-freedom-degree motion by matching with the top beam through the adjusted shield parallel supporting mechanism so as to better adapt to surrounding rocks; and finally, under the working state, the push rod of the base extends out, so that the function of pushing and sliding the scraper conveyor is realized.
When the hydraulic support needs to be moved, the telescopic lengths of piston rods of the four branched chains in the main parallel supporting mechanism in the hydraulic cylinder, the telescopic lengths of piston rods of the front beam and the three branched chains in the rear shielding parallel supporting mechanism in the hydraulic cylinder and the bottom protecting jack are adjusted to enable the top beam to descend, the front beam to retract, the rear shielding device to retract, the bottom protecting plate to retract, then the top beam side protecting plate, the side protecting plate and the shielding side protecting plate are retracted, and finally the push rod of the base retracts to achieve the support moving function.
The utility model has the advantages that: compared with the traditional hydraulic support technology and the parallel hydraulic support technology which is disclosed at present, the utility model discloses a redundant driven three degree of freedom parallel mechanism is 2-RPS 2-RPC parallel mechanism as hydraulic support's main part supporting mechanism, enable hydraulic support have the bearing capacity of three degree of freedom directions, except bearing the top, the bottom plate can also bear the side direction component that other directions produced to the vertical pressure that hydraulic support applyed, and bearing capacity is strong, rigidity is high, good stability, thereby general parallel hydraulic support's shortcoming has been overcome, the support performance and the fail safe nature of support have been improved, guarantee is provided for mining operation.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the rear shield apparatus of the present invention;
fig. 3 is a schematic structural view of the front beam device of the present invention;
FIG. 4 is a schematic structural view of the main parallel supporting mechanism of the present invention;
FIG. 5 is a schematic view of the mechanism of the support chain in the main parallel support mechanism;
fig. 6 is a schematic diagram of the arrangement of kinematic pairs on the fixed bottom plate and the movable top plate in the main parallel supporting mechanism.
FIG. 7 is a schematic structural view of a rear shield parallel support mechanism of the present invention;
FIG. 8 is a schematic mechanism diagram of a support chain in the rear shield parallel support mechanism;
Fig. 9 is a schematic diagram of the arrangement of the kinematic pairs of the rear shield parallel support mechanism on the shield beam and the base.
Detailed Description
in order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention will be further described below with reference to the following embodiments and drawings.
As shown in fig. 1 and 3, a redundant-drive three-degree-of-freedom parallel hydraulic support comprises a base 1, a main parallel support mechanism 2, a rear shield device 3, a rear shield parallel support mechanism 4, a top beam 5 and a front beam 6. A push rod 101 is arranged in the middle of the front end of the base and used for pushing the hydraulic support and a scraper conveyor matched with the hydraulic support to work, and protection plates 102 are arranged on the periphery of the base and used for preventing coal cinder dust and underground water from entering the base; the main parallel supporting mechanism 2 is used for bearing loads in the vertical direction and lateral loads in other directions between the base 1 and the top beam 5 under the action of surrounding rocks, and the configuration of the main parallel supporting mechanism is 2-RPS/2-RPC; the main parallel supporting mechanism 2 is connected between the base 1 and the top beam 5 in parallel, the lower end of the main parallel supporting mechanism is arranged on the base 1, and the top end of the main parallel supporting mechanism is arranged on the top beam 5; the rear shield device 3 is mainly used for bearing the horizontal force of the hydraulic support and the pressure of caving roof rocks, and preventing the waste rocks falling from the goaf from entering the lower part of the hydraulic support so as to ensure the safety of personnel and equipment below the hydraulic support; the rear shield device 3 is positioned at the rear end of the main parallel support mechanism 2, the lower end of the rear shield device 3 is connected with the base 1 through the rear shield parallel support mechanism 4, the upper end of the rear shield device is connected with the top beam 5 through a hinge, and shield side guard plates 304 are arranged on two sides of the rear shield device 3; the rear shield parallel supporting mechanism 4 is connected between the base 1 and the rear shield device 3; the two sides of the top beam 5 are provided with top beam side guard plates 501 for waste rock blocking and reverse adjustment prevention, the front part of the top beam 5 is provided with a front beam 6 for extending the working space of the hydraulic support, and the top beam 5 is connected with the front beam 6 through a front beam jack 601 and a hinge; the head of the front beam 6 is provided with a side protection plate 602 which is used for supporting the coal wall in front of the hydraulic support to prevent the coal wall from forming a side.
As shown in fig. 2, the rear shield device 3 is composed of a pin 301, a shield beam 302, a bottom protection jack 303, a shield skirt 304 and a shield base plate 305; the rear shield parallel supporting mechanism 4 consists of three branched chains, wherein two branched chains at the lower side are connected with the base 1 and the shield beam 302 through spherical hinges, and one complex branched chain at the upper side consists of two same branched chains in parallel, is connected with the base 1 through a hinge and is connected with the shield beam 302 through a pin shaft 301; the pin shaft 301 penetrates through a positioning hole in a reinforcing rib plate of the shield beam 302 and is connected with the upper ends of two simple branched chains in the complex branched chains on the upper side of the rear shield parallel supporting mechanism 4 through hinges; the top end of the shield beam 302 is connected with the top beam 5 through a hinge, and a long waist-shaped hole 3021 for guiding the sliding optical axis 3031 is arranged on a reinforcing rib plate arranged in the shield beam; the upper end of the bottom protection jack 303 is connected with the shield beam 302 through a hinge, the lower end of the bottom protection jack is provided with a sliding optical axis 3031, the middle and two ends of the sliding optical axis 3031 are arranged in the long waist-shaped hole 3021 of the shield beam 302, and the bottom protection plate 305 is connected with the sliding optical axis 3031 through a hinge; shield skirt 304 is positioned on both sides of the shield beam 302.
As shown in fig. 4 and 5, the main parallel supporting mechanism 2 is composed of a fixed bottom plate 201, a movable top plate 202, and two RPS supporting chains 203 and two RPC supporting chains 204 connected between the fixed bottom plate 201 and the movable top plate 202, wherein the fixed bottom plate 201 is fixedly connected with the base 1; the movable top plate 202 is fixedly connected with the top beam 5; the RPS support chain 203 comprises a lower hinge lug 2031, a hydraulic cylinder 2032, a piston rod 2033 and an upper spherical hinge 2034; the RPC support chain 204 is composed of a lower hinge lug seat 2041, a hydraulic cylinder 2042, a piston rod 2043 and an upper cylindrical auxiliary hinge lug seat 2044; the lower hinged lug seats 2031 and 2041 of the four support chains are all arranged on the fixed bottom plate 201, the lower ends of the hydraulic cylinders 2032 and 2042 of the four support chains are all connected with the lower hinged lug seats 2031 and 2041, and the hydraulic cylinders 2032 and 2042 and the piston rods 2033 and 2043 are matched and arranged to be adjusted according to the support working requirement of the support; the upper end of a piston rod 2033 of the RPS branched chain 203 is connected to the movable top plate 202 through an upper spherical hinge 2034, and the upper end of a piston rod 2043 of the RPC branched chain 204 is connected to the movable top plate 202 through an upper cylindrical auxiliary hinge ear seat 2044.
As shown in fig. 6, in the main parallel supporting mechanism, the lower hinge lug seats 2031 and 2041 of the two RPS branch chains 203 and the two RPC branch chains 204 are symmetrically arranged two by two on the fixed base plate 201, the axes of the hinge holes are parallel to each other, the hinge center points are uniformly distributed around the fixed base plate, and the hinge center points are equally distributed at 90 degrees; the upper spherical hinges 2034 of the two RPS branched chains 203 and the upper cylindrical auxiliary hinge ear seats 2044 of the two RPC branched chains 204 are also arranged symmetrically in pairs on the movable top plate 202, and hinge center points are uniformly distributed around the movable top plate and are arranged in equal intervals of 90 degrees mutually, wherein the axes of the upper cylindrical auxiliary hinge holes are parallel to each other.
As shown in fig. 7 and 8, the rear shield parallel support mechanism 4 is composed of two SPS branches 401 and a complex branch 402; the SPS branched chain consists of a lower spherical hinge 4011, a hydraulic cylinder 4012, a piston rod 4013 and an upper spherical hinge 4014, the lower end of the hydraulic cylinder 4012 is connected with the base 1 through the lower spherical hinge 4011, the hydraulic cylinder 4012 and the piston rod 4013 are installed in a matched mode, and the upper end of the piston rod 4013 is connected with the shield beam 302 through the upper spherical hinge 4014; the complex branched chain 402 is formed by compositely connecting the tail ends of two identical RPR branched chains through a pin shaft 301, each branched chain is formed by a lower hinge 4021, a hydraulic cylinder 4022, a piston rod 4023 and an upper hinge 4024, the lower end of the hydraulic cylinder 4022 is connected with the base 1 through the lower hinge 4021, the hydraulic cylinder 4022 and the piston rod 4023 are installed in a matched mode, the upper end of the piston rod 4023 is connected with the pin shaft 301 through the upper hinge 4024, and the pin shaft 301 is installed on a positioning hole in a reinforcing rib plate of the shield beam 302; and the use of the hydraulic cylinders 4012, 4022 and the piston rods 4013, 4023 can be adjusted according to the working requirements of the shield beam.
as shown in fig. 9, a connecting line of the two SPS branched chains 401 and the hinge center point of the base 1 and a connecting line of the SPS branched chains 401 and the hinge center point of the shield beam 302 in the rear shield parallel support mechanism 4 are both parallel to the axis of the sliding optical axis 3031; two RPR branched chains in the complex branched chain 402 are collinear with the axis of the hinge hole of the base 1 and collinear with the axis of the hinge hole of the pin shaft 301, and the connecting line of the two RPR branched chains with the hinge central point of the base 1 and the connecting line of the two RPR branched chains with the hinge central point of the pin shaft 301 are both parallel to the axis of the sliding optical axis 3031.
When the redundant-drive three-degree-of-freedom parallel hydraulic support is used, the telescopic lengths of piston rods 2033 and 2043 in hydraulic cylinders 2032 and 2042 in four support chains 203 and 204 of a main parallel support mechanism 2 are adjusted according to the actual requirement of a support working surface, so that a top beam 5 is lifted to prop against top surrounding rocks, a front beam jack 601 is adjusted, a front beam 6 extends out to extend the working space of the hydraulic support, and then a top beam side guard plate 501 and a side guard plate 602 are adjusted to be respectively unfolded; then adjusting the rear shielding parallel supporting mechanism 4 to enable the rear shielding device 3 to expand backwards to support the rear surrounding rock, expanding the shielding side guard plate 304, further adjusting the telescopic length of the bottom protecting jack 303 to enable the sliding optical axis 3031 to move downwards, realizing the translation of the shielding bottom plate 305 and extending the working space of the rear shielding device 3; the shield beam 302 can realize three-degree-of-freedom movement of two translation and one rotation by matching with the top beam 5 through adjusting the shield parallel supporting mechanism 4 so as to better adapt to surrounding rocks; finally, in this operating state, the pusher 101 of the base 1 is extended to realize the function of pushing the scraper conveyor.
When the hydraulic support needs to be moved, the telescopic lengths of piston rods 2033, 2043 in the four branched chains 203, 204 in the main parallel supporting mechanism 2 in the hydraulic cylinders 2032, 2042, the telescopic lengths of the front beam jack 601 in the hydraulic cylinders 4012, 4023 in the hydraulic cylinders 4012, 4022 in the three branched chains 401, 402 in the rear shield parallel supporting mechanism 4 and the bottom protection jack 303 in the hydraulic cylinders 4012, 4023 are adjusted, so that the top beam 5 descends, the front beam 6 retracts, the rear shield device 3 retracts, the bottom protection plate 305 retracts, the top beam side protection plate 501, the side protection plate 602, the shield side protection plate 304 are retracted, and finally the push rod 101 of the base 1 retracts, thereby realizing the support moving function.
The embodiment has described the main features of the present invention and achieved the object process, but the present invention is not limited to the above embodiment, and the improvement and optimization do not fall into the protection scope of the present invention without departing from the related technical means and mechanism principle of the present invention.
Claims (5)
1. The utility model provides a redundant parallelly connected hydraulic support of three degrees of freedom of drive, includes base, main parallel support mechanism, back shield device, back shield parallel support mechanism, back timber and front-axle beam, its characterized in that: a push rod is arranged in the middle of the front end of the base, and protection plates are arranged on the periphery of the base; the lower end of the main parallel supporting mechanism is arranged on the base, and the upper end of the main parallel supporting mechanism is connected with the top beam; the rear shield device is positioned at the rear end of the main parallel support mechanism, the lower end of the rear shield device is connected with the rear shield parallel support mechanism, the upper end of the rear shield device is connected with the top beam through a hinge, and shield side guard plates are arranged on two sides of the rear shield device; the rear shield parallel supporting mechanism is connected between the base and the rear shield device; the two sides of the top beam are provided with top beam side guard plates, the front part of the top beam is provided with a front beam, and the top beam is connected with the front beam through a front beam jack and a hinge; the head of the front beam is provided with a side protection plate;
The rear shield device consists of a pin shaft, a shield beam, a bottom protection jack, a shield side guard plate and a shield bottom plate; the rear shield parallel supporting mechanism consists of three branched chains, wherein two branched chains at the lower side are connected with the base and the shield beam through spherical hinges, and one complex branched chain at the upper side consists of two same branched chains in parallel, is connected with the base through a hinge and is connected with the shield beam through a pin shaft; the pin shaft penetrates through a positioning hole in the reinforcing rib plate of the shield beam and is connected with the upper ends of two simple branched chains in the complex branched chains on the upper side of the rear shield parallel supporting mechanism through hinges; the top end of the shield beam is connected with the top beam through a hinge, and a long waist-shaped hole is formed in a reinforcing rib plate arranged in the shield beam; the upper end of the bottom protection jack is connected with the shield beam through a hinge, the lower end of the bottom protection jack is provided with a sliding optical axis, the middle and two ends of the sliding optical axis are arranged in the long waist-shaped hole of the shield beam, and the bottom protection plate is connected with the sliding optical axis through a hinge; the shield side panels are located on both sides of the shield beam.
2. The redundantly driven three-degree-of-freedom parallel hydraulic support of claim 1, wherein: the main parallel supporting mechanism consists of a fixed bottom plate, a movable top plate, two RPS supporting chains and two RPC supporting chains, wherein the two RPS supporting chains and the two RPC supporting chains are connected between the fixed bottom plate and the movable top plate; the movable top plate is fixedly connected with the top beam; the RPS supporting chain consists of a lower hinged lug seat, a hydraulic cylinder, a piston rod and an upper spherical hinge; the RPC support chain consists of a lower hinged lug seat, a hydraulic cylinder, a piston rod and an upper cylindrical auxiliary hinged lug seat; the lower hinge lug seats of the four support chains are all arranged on the fixed bottom plate, the lower ends of the four support chain hydraulic cylinders are all connected with the lower hinge lug seats, and the hydraulic cylinders and the piston rods are arranged in a matched manner; the upper end of a piston rod of the RPS branched chain is connected to the movable top plate through a spherical hinge, and the upper end of a piston rod of the RPC branched chain is connected to the movable top plate through an upper cylindrical auxiliary hinge lug seat.
3. The redundantly driven three-degree-of-freedom parallel hydraulic support of claim 2, wherein: the lower hinge lug seats of the two RPS branched chains and the two RPC branched chains in the main parallel supporting mechanism are symmetrically arranged two by two on the fixed bottom plate, the axes of hinge holes are parallel to each other, hinge central points are uniformly distributed around the fixed bottom plate and are equally distributed at 90 degrees; the last ball pivot of two RPS branched chains and the vice articulated ear seat of last cylinder of two RPC branched chains also are two bisymmetry arrangements on the activity roof, and articulated central point encircles the activity roof equipartition and is 90 equalling arrangements each other, wherein goes up the vice hinge hole axis of cylinder and is parallel to each other.
4. The redundantly driven three-degree-of-freedom parallel hydraulic support of claim 1, wherein: the rear shield parallel supporting mechanism consists of two SPS branched chains and a complex branched chain; the SPS branched chain consists of a lower spherical hinge, a hydraulic cylinder, a piston rod and an upper spherical hinge, wherein the lower end of the hydraulic cylinder is connected with the base through the lower spherical hinge, the hydraulic cylinder and the piston rod are installed in a matched mode, and the upper end of the piston rod is connected with the shield beam through the upper spherical hinge; the complex branched chain is formed by compositely connecting the tail ends of two identical RPR branched chains through a pin shaft, each branched chain is formed by a lower hinge, a hydraulic cylinder, a piston rod and an upper hinge, the lower end of the hydraulic cylinder is connected with the base through the lower hinge, the hydraulic cylinder and the piston rod are installed in a matched mode, the upper end of the piston rod is connected with the pin shaft through the upper hinge, and the pin shaft is installed on a positioning hole in a reinforcing rib plate of the shield beam.
5. The redundantly driven three-degree-of-freedom parallel hydraulic support of claim 4, wherein: the connecting line of the two SPS branched chains in the rear shielding parallel supporting mechanism and the hinge central point of the base and the connecting line of the SPS branched chains and the hinge central point of the shielding beam are parallel to the axis of the sliding optical axis; two RPR branched chains in the complex branched chains are collinear with the axis of the hinge hole of the base and collinear with the axis of the hinge hole of the pin shaft, and the connecting line of the RPR branched chains and the hinge central point of the base and the connecting line of the RPR branched chains and the hinge central point of the pin shaft are parallel to the axis of the sliding optical axis.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920298600.9U CN209780931U (en) | 2019-03-08 | 2019-03-08 | Redundant-driven three-degree-of-freedom parallel hydraulic support |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920298600.9U CN209780931U (en) | 2019-03-08 | 2019-03-08 | Redundant-driven three-degree-of-freedom parallel hydraulic support |
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| CN209780931U true CN209780931U (en) | 2019-12-13 |
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| CN201920298600.9U Expired - Fee Related CN209780931U (en) | 2019-03-08 | 2019-03-08 | Redundant-driven three-degree-of-freedom parallel hydraulic support |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109812287A (en) * | 2019-03-08 | 2019-05-28 | 安徽理工大学 | A kind of freedom degree parallel connection hydraulic support of redundant drive |
| CN114718611A (en) * | 2022-04-06 | 2022-07-08 | 江苏华复轨道交通科技有限公司 | Side protection plate and forming method thereof |
-
2019
- 2019-03-08 CN CN201920298600.9U patent/CN209780931U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109812287A (en) * | 2019-03-08 | 2019-05-28 | 安徽理工大学 | A kind of freedom degree parallel connection hydraulic support of redundant drive |
| CN114718611A (en) * | 2022-04-06 | 2022-07-08 | 江苏华复轨道交通科技有限公司 | Side protection plate and forming method thereof |
| CN114718611B (en) * | 2022-04-06 | 2022-09-20 | 江苏华复轨道交通科技有限公司 | Side protection plate and forming method thereof |
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