Fully-mechanized caving hydraulic support withdrawal system

Abstract

The present invention discloses a fully-mechanized coal mining hydraulic support withdrawal system. The withdrawal system includes a traction device, a plurality of shielding supports, and a triangular area support frame. The traction device is used to pull the hydraulic support out of the support along a preset path. The shielding support has a state of raising the support and a state of lowering the support. The shielding support has a flat push rod that can be telescoped in the roadway direction, and the flat push rod is connected to the traction device. The triangular area support frame includes two support columns that can be telescoped in the vertical direction, and the support columns can rotate around the other support column to take steps forward. The fully-mechanized coal mining hydraulic support withdrawal system of the present invention greatly improves the shielding safety and the withdrawal efficiency of the hydraulic support, reduces the personnel configuration at the hydraulic support withdrawal working face, enhances the safety of the hydraulic support withdrawal work, realizes the effect of reducing personnel, increasing efficiency, and strengthening safety, and has extremely high economic value and social value.

Description

Technical Field

[0001] The present invention relates to the technical field of support and protection for mines, roadways, mining and excavation working faces, tunnels, etc., and in particular to a fully-mechanized mining hydraulic support withdrawal system. Background Art

[0002] Currently, in the withdrawal work of fully-mechanized mining hydraulic supports in coal mines, generally, methods such as building wooden cribs and supporting round logs are used for triangular area protection, and the traction work of hydraulic supports mainly uses winches to traction through steel wires. This brings the following problems:

[0003] First, when using methods such as building wooden cribs and supporting round logs for support and protection, the consumption of wood is large, the cost is very high, it is time-consuming and laborious, and it is also a great waste of resources and the environment. Moreover, building wooden cribs requires workers to work in a very dangerous environment, and accidents occur frequently; the support effect is poor, and problems such as hydraulic supports and other equipment being buried by roof falls and collapses often occur, resulting in low efficiency of the hydraulic support withdrawal work, and being full of danger and uncertainty.

[0004] Second, when using a winch to traction a hydraulic support, the traction direction often does not match the direction required for the hydraulic support to be taken out or moved. It is necessary to change the traction direction of the steel wire through a pulley. Also, because the hydraulic support is relatively heavy, dozens of tons or even 100 tons, very high requirements are put forward for the fixed point of the pulley. There are few pulley fixed points that can be used for anchoring in the coal mine underground, making the traction force direction relatively single and fixed, and difficult to adjust. Moreover, due to the elastic flash draw of the steel wire, the traction hydraulic support often collides and rubs against the protection support, roadway wall, etc., with sparks flying everywhere, increasing the probability of equipment damage and dangerous situations; it requires multiple operators to manually drag, coil, and connect the steel wire, and the process is very difficult, resulting in the gathering of personnel at the withdrawal working face, posing a safety hazard; in addition, due to the harsh working conditions of the winch, the steel wire used often causes abnormal wear, and broken wire accidents occur frequently. Due to the large traction force, the elastic back draw of the broken steel wire is extremely dangerous, and personal injury accidents occur frequently.

[0005] With the increasing mining height of coal mines, for the withdrawal work of hydraulic supports in large mining height working faces, whether from the perspective of support and protection or from the perspective of taking out and adjusting the support, the hydraulic support withdrawal devices in the related technologies can no longer meet the requirements. Therefore, there is an urgent need for a brand-new withdrawal system to achieve less manpower, increased efficiency, and enhanced safety in coal mines. Summary of the Invention

[0006] The present invention is made based on the inventor's discovery and understanding of the following facts and problems:

[0007] The ideal route of the out-of-frame traction route (taking out the frame means that the hydraulic support is individually tractioned out from a row of hydraulic supports where it is located and completes the orientation adjustment along the roadway direction, not referring to the entire withdrawal traction route) when withdrawing the hydraulic support is roughly composed of three sections:

[0008] The first section is a straight line section with a length approximately equal to the length of the base of the hydraulic support, generally between 2.0 meters and 4.0 meters. The traction force required for this section is the largest, generally equivalent to the weight of the hydraulic support, generally between 20 tons and 100 tons. The second section is the steering section, which is a large arc section at an angle of approximately 30 degrees to the first section. The hydraulic support gradually steers in this section, and its tail must not be deflected to collide with the shield support. The third section is a near straight line section that is nearly perpendicular to the first straight line section, enabling the hydraulic support to complete the steering.

[0009] However, it is very difficult for the traction device in the related art to fit this ideal route during the traction process, resulting in difficulties in extracting the hydraulic support. The towed hydraulic support often collides and rubs against the coal wall, shield support, and other hydraulic supports, causing equipment damage and safety problems.

[0010] The present invention aims to solve at least one of the technical problems in the related art to some extent. For this purpose, an embodiment of the present invention provides a fully-mechanized coal mining hydraulic support withdrawal system.

[0011] The fully-mechanized coal mining hydraulic support withdrawal system according to the embodiment of the present invention includes:

[0012] A traction device, which is arranged in the roadway and is used to tow the hydraulic support out of the support along a preset path. The traction device includes a base, a large arm, a small arm, a traction head, a large arm driving device, and a small arm driving device. The small arm is a telescopic small arm. The large arm is movably arranged on the base. The large arm driving device is arranged on the base and is connected to the large arm. The large arm driving device is used to push and pull the large arm along a first horizontal direction to make it move. The first end of the small arm is hinged to the first end of the large arm. The small arm driving device is arranged on the large arm and is connected to the small arm. The small arm driving device is used to push and pull the small arm to make the small arm swing relative to the large arm. The traction head is arranged at the second end of the small arm and is used to connect to the hydraulic support;

[0013] A plurality of shield supports, which are arranged in the roadway in sequence along the first horizontal direction. Each shield support has a flat push rod that can be telescoped along the roadway direction. The end of the flat push rod is connected to the traction device. The shield support has a state of raising the support and a state of lowering the support. In the supporting state, the top of the shield support abuts against the roadway roof. In the retracted state, the shield support retracts to disengage from the roof;

[0014] Triangular area support frame, the triangular area support frame is arranged in the triangular area on one side of the roadway. The triangular area support frame includes a first support column, a second support column and a connecting structure. The first support column and the second support column are both vertically arranged and are telescopically arranged in the vertical direction. The connecting structure is connected between the first support column and the second support column and is used to drive one of them in a contracted state to rotate around the other in a supporting state, so as to achieve walking forward.

[0015] The fully-mechanized caving hydraulic support withdrawal device proposed by the present invention greatly reduces the manual processes and a large amount of heavy physical labor in the traditional withdrawal system, realizes the high safety, high reliability, high efficiency and high benefit of the hydraulic support withdrawal work, solves many unsolved pain points in the hydraulic support withdrawal, realizes the automatic transformation of the hydraulic support withdrawal in the coal mine roadway, significantly improves the operation efficiency and safety of the hydraulic support withdrawal, and can generate great economic and social benefits.

[0016] In some embodiments, the boom driving device is a boom telescopic cylinder. The first end of the boom telescopic cylinder is hinged to the base and the second end is hinged to the boom. The boom telescopic cylinder extends and retracts along the first horizontal direction to push and pull the boom; and / or, the forearm driving device is a forearm telescopic cylinder. The first end of the forearm telescopic cylinder is hinged to the boom and the second end is hinged to the forearm. The forearm telescopic cylinder extends and retracts to push and pull the forearm.

[0017] In some embodiments, the forearm includes a forearm inner sleeve, a forearm outer sleeve and an internal telescopic cylinder. The forearm outer sleeve sleeved on the forearm inner sleeve and the two are slidably arranged. The internal telescopic cylinder is located inside the forearm outer sleeve and is connected to the forearm inner sleeve to push and pull the forearm inner sleeve. The first end of the boom is hinged to the forearm outer sleeve, and the towing head is hinged to the forearm inner sleeve.

[0018] In some embodiments, the towing device further includes at least one connecting rod. The first end of the connecting rod is hinged to the base, and the second end of the connecting rod is hinged to the boom. And the hinged position of the connecting rod and the boom is located on the side away from the first end of the boom of the connecting position between the boom driving device and the boom.

[0019] In some embodiments, the shielding support includes a hydraulic support rod and a top shielding beam. The hydraulic support rod is supported at the bottom of the top shielding beam, and the hydraulic support rod is telescopically arranged to raise or lower the top shielding beam; at least one side shielding beam is provided on the side of the shielding support close to the triangular area facing the triangular area. The side shielding beam is connected to the top shielding beam of the shielding support and is rotatably arranged. The side shielding beam has a deployed state and a retracted state. In the deployed state, the side shielding beam is parallel to the top shielding beam to play a supporting role. In the retracted state, the side shielding beam droops.

[0020] In some embodiments, there are three of the shielding supports, including a first shielding support, a second shielding support, and a third shielding support arranged in sequence in the first horizontal direction. The first shielding support includes a first horizontal push rod, the second shielding support includes a second horizontal push rod, and the third shielding support includes a third horizontal push rod. The three connection points of the first horizontal push rod, the second horizontal push rod, and the third horizontal push rod with the traction device form an acute triangle.

[0021] In some embodiments, the triangular support frame includes a sleeve assembly. The sleeve assembly is sleeved on the support column one by one and is fixedly connected to the support column in the circumferential direction. The sleeve assembly is located between the top support part and the bottom support part. The sleeve assembly is fixedly connected to the connection structure in the axial direction and is rotatably arranged relative to each other in the circumferential direction.

[0022] In some embodiments, the sleeve assembly is slidably arranged relative to the support column in the axial direction. The shielding support further includes a plurality of cables. The top of the cable is connected to the top support part, and the bottom of the cable is connected to the connection structure or the sleeve assembly. When the support column is in the support state, the cable is tensioned. Under the tension of the cable, the connection structure is located at a certain distance above the bottom end of the support column in the support state.

[0023] In some embodiments, the support column includes an inner cylinder and an outer cylinder sleeved on the inner cylinder. The inner cylinder and the outer cylinder are slidably arranged relative to each other in the axial direction. The driving mechanism is located inside the inner cylinder. The inner cylinder is connected to one of the bottom of the top support part and the top of the bottom support part, and the outer cylinder is connected to the other of the bottom of the top support part and the top of the bottom support part. The sleeve assembly is sleeved on the outer cylinder and is slidably arranged relative to the outer cylinder in the axial direction.

[0024] In some embodiments, the connection structure includes a first driving gear and a second driving gear. The first support column includes a first driven gear meshing with the first driving gear, and the second support column includes a second driven gear meshing with the second driving gear. Driving the first driving gear to rotate around the first driven gear can drive the second support column to rotate around the central axis of the first support column, and driving the second driving gear to rotate around the second driven gear can drive the first support column to rotate around the central axis of the second support column. Description of the Drawings

[0025] Figure 1 Schematic structural diagram of the system withdrawal system in an embodiment of the present invention.

[0026] Figure 2 Schematic structural diagram of the traction device provided by an embodiment of the present invention.

[0027] Figure 3 Process diagram of the out-of-frame traction of the traction device provided by an embodiment of the present invention.

[0028] Figure 4 Schematic structural diagram of the first shield support provided by an embodiment of the present invention.

[0029] Figure 5 Schematic structural diagram of the second shield support provided by an embodiment of the present invention.

[0030] Figure 6 Schematic structural diagram of the third shield support provided by an embodiment of the present invention.

[0031] Figure 7 Schematic structural diagram of the triangular area support frame provided by an embodiment of the present invention.

[0032] Figure 8 Partial schematic diagram of the triangular area support frame provided by an embodiment of the present invention.

[0033] Figure 9 Cross-sectional view of the triangular area support frame provided by an embodiment of the present invention.

[0034] Figure 10 A-A cross-sectional view of the triangular area support frame provided by an embodiment of the present invention.

[0035] Figure 11 Application diagram of the triangular area support frame provided by an embodiment of the present invention.

[0036] Figure 12 Schematic diagram of the out-of-frame traction process of the hydraulic support by the traction device in an embodiment of the present invention.

[0037] Figure 13It is the process and the working face layout diagram in the preparation stage S1 of the embodiment of the present invention for withdrawal.

[0038] Figure 14 It is the process and the working face layout diagram in the withdrawal stage S2 of the embodiment of the present invention.

[0039] Figure 15 It is the process and the working face layout diagram in the final stage S3 of the withdrawal of the embodiment of the present invention.

[0040] Figures 16 to 20 It is the process and the layout schematic diagram of the processes from S204 to S206 of the present invention.

[0041] Figure 21 It is the schematic diagram of the process of the triangular area support frame S106 in the embodiment of the present invention.

[0042] Figure 22 It is the schematic diagram of the process of the triangular area support frame S203 in the embodiment of the present invention.

[0043] Reference numerals:

[0044] Traction device 100, base 101, boom 102, forearm 103, traction head 104, boom telescopic oil cylinder 105, forearm telescopic oil cylinder 106, first connecting rod 107, second connecting rod 108, inner forearm sleeve 109, outer forearm sleeve 110, chain 111,

[0045] First shield support 200, first horizontal push rod 201, first hydraulic support rod 202, first top shield beam 203, shield curtain 204, seat 205, lighting lamp 206, connecting ear 207,

[0046] Second shield support 300, second horizontal push rod 301, second hydraulic support rod 302, second top shield beam 303, electro-hydraulic control system 304,

[0047] Third shield support 400, third horizontal push rod 401, third hydraulic support rod 402, third top shield beam 403, first side shield beam 404, second side shield beam 405, base side shield plate 406,

[0048] Hydraulic support to be withdrawn 500, hydraulic support 501,

[0049] Triangular area support frame 600, first support column 601a, second support column 601b, top support part 611, bottom support part 612, drive mechanism 613, inner cylinder 614, outer cylinder 615, limit projection 616, first driven gear 617, second driven gear 618, connection structure 602, first driving gear 621, second driving gear 622, connection box body 623, box body cover 6231, first rotary motor 624, second rotary motor 625, cable 603, sleeve assembly 604, first sleeve assembly 604a, second sleeve assembly 604b, upper flange 641, sleeve 642, lower flange 643, limit groove 644, first bearing 651, second bearing 652, top plate 661, bottom plate 662, electronic control assembly 607. Detailed implementation manners

[0050] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and should not be construed as a limitation to the present invention.

[0051] The following is based on Figures 1 - 22 Describe the fully-mechanized caving hydraulic support withdrawal system provided by the embodiments of the present invention. This withdrawal system is used for withdrawing the hydraulic support. The withdrawal system includes a traction device 100, a plurality of shielding supports, and a triangular area support frame 600.

[0052] The traction device 100 is arranged in the roadway and is used for pulling the hydraulic support 501 out of the support along a preset path. As Figure 2 and Figure 3 shown, the traction device 100 includes a base 101, a large arm 102, a small arm 103, a traction head 104, a large arm drive device, and a small arm drive device. The small arm 103 is a telescopic small arm, and the large arm 102 is movably arranged on the base 101. The large arm 102 has a first end and a second end opposite to each other in its extending direction. The small arm 103 has a first end and a second end opposite to each other in its extending direction. The first end of the small arm 103 is hinged to the first end of the large arm 102. The movement of the large arm 102 can drive the movement of the small arm 103, and the small arm 103 can swing relative to the large arm 102 with the hinge point as the rotation center. The large arm drive device is arranged on the base 101 and is connected to the large arm 102. The large arm drive device is used for pushing and pulling the large arm 102 to move it along the first horizontal direction. The small arm drive device is arranged on the large arm 102 and is connected to the small arm 103. The small arm drive device is used for pushing and pulling the small arm 103 to make the small arm 103 swing relative to the large arm 102. The traction head 104 is arranged at the second end of the small arm 102, and the traction head 104 is used for connecting to the hydraulic support 501.

[0053] A number of shield supports are arranged in the roadway in sequence along the first horizontal direction. Each shield support has a flat push rod that can be telescoped along the roadway direction. The end of the flat push rod is connected to the traction device 100. The shield support has a raised state and a lowered state. In the supported state, the top of the shield support abuts against the roadway roof. In the retracted state, the shield support retracts to disengage from the roof.

[0054] As Figure 7 shown, the triangular area support frame 600 is arranged in the triangular area on one side of the roadway. The triangular area support frame 600 includes a first support column 601a, a second support column 601b and a connecting structure 602. The first support column 601a and the second support column 601b are both vertically arranged and are telescopically arranged in the vertical direction. The connecting structure 602 is connected between the first support column 601a and the second support column 601b and is used to drive one of them in the retracted state to rotate around the other in the supported state, so as to achieve advancing in a stepping manner. That is to say, the extended support column can support between the roof and the floor to play a supporting role. After the support column contracts, it can rotate a certain angle around another support column in the supported state. By setting the rotation direction and angle, stepping in any direction can be achieved.

[0055] The traction device 100, a number of shield supports and the triangular area support frame 600 cooperate with each other to complete the out-racking, orientation adjustment, withdrawal and protection of the hydraulic support 501.

[0056] As Figure 12 shown, during the out-racking traction process, the traction device 100 pulls out one hydraulic support 501 in the hydraulic support 500 to be withdrawn along the first horizontal direction and finally realizes the orientation adjustment of the hydraulic support 501. As Figure 3 and Figure 12 shown, the out-racking traction process of the traction device 100 for the hydraulic support 501 to complete out-racking and orientation adjustment is as follows:

[0057] Step 1: As Figure 3 shown in A, connect the hydraulic support 501 to be withdrawn to the traction head 104 through a chain. The small arm 103 is in the extended state, and the extending direction of the small arm 103 is along the first horizontal direction. At this time, the telescopic direction of the small arm 103 is along the first horizontal direction;

[0058] Step 2: As Figure 3 shown in B and 3C, the large arm driving device drives the large arm 102 to move along the first horizontal direction and drives the small arm 103 to move along the first horizontal direction. At the same time, the small arm 103 contracts, so that the traction device 100 pulls out the hydraulic support 501 from the hydraulic support 500 to be withdrawn along the first horizontal direction, and completes the first straight section in the out-racking traction route;

[0059] Step 3: As Figure 3As shown in D, the forearm driving device drives the forearm 103 to swing relative to the big arm 102, moving the towing head 104 away from the big arm 102. At the same time, the forearm 103 gradually extends, so that the towing device 100 towes the hydraulic support 501 to gradually adjust the direction, completing the second direction adjustment section in the out-of-frame towing route.

[0060] Step 4: As Figure 3 shown in E, the forearm 103 continues to extend, and at the same time, the forearm driving device drives the forearm 103 to continue to swing, so that the towing support 100 towes the hydraulic support 501 to move along the roadway direction, completing the third nearly straight section in the out-of-frame towing route.

[0061] The towing device 100 of the embodiment of the present invention realizes the fitting with the ideal out-of-frame towing route to the greatest extent. Specifically, the movement of the big arm 102 cooperates with the contraction of the forearm 103 to complete the first towing work in the out-of-frame towing route. After that, while the forearm 103 swings forward, the forearm 103 is controlled to extend moderately, so that the towing head 104 approximately advances along the direction of the second towing path. Finally, by extending the forearm 103 and adjusting the swing angle of the forearm 103, the towing head 104 advances along the third towing route.

[0062] It should be noted that in the above step 2, when the big arm driving device drives the big arm 102 to move along the first horizontal direction, it should at least ensure that the first end of the big arm 102 (the end connected to the forearm 103) basically moves along the first horizontal direction, so that the big arm 102 drives the forearm 103 to move along the first horizontal direction, so that after the towing device 100 completes this step, the hydraulic support 501 can be accurately pulled out.

[0063] During the out-of-frame towing process using the towing device 100 provided by the embodiment of the present invention, by controlling each driving device to adjust the towing direction at any time, it is possible to better realize the out-of-frame and direction adjustment of the hydraulic support 501, avoid various collisions and rubbings, and avoid equipment damage and dangerous situations. It can completely avoid many problems and potential safety hazards in the traditional winch towing method, greatly improve the working efficiency of the hydraulic support withdrawal, and greatly reduce the number of staff required for the withdrawal working face, achieving the effect of reducing personnel, increasing efficiency and enhancing safety, and having extremely high economic value and social value.

[0064] As Figures 16 - 20 shown, a number of shielding supports arranged in the roadway in sequence along the first horizontal direction play a role in pushing the towing device 100 to step forward. Specifically, after the towing device 100 completes the towing work of a hydraulic support 501, the flat push rods of a number of shielding supports simultaneously extend to push the towing device 100 forward by a step distance to reach the towing position of the next hydraulic support 501 waiting to be pulled out. Then, a number of shielding supports sequentially complete the steps of lowering the support, contracting and moving forward the flat push rod, and raising the support to support, thus completing an out-of-frame cycle.

[0065] Among them, the processes of lowering the shielding support, retracting and moving forward the flat push rod, and raising and supporting the shielding support are specifically as follows: the shielding support is lowered to disengage from the roof of the roadway, and then the flat push rod of the shielding support retracts to drag the shielding support to move forward a step distance in the direction close to the traction device 100. After reaching the position, the shielding support is raised and supported again.

[0066] The withdrawal system provided by the embodiment of the present invention uses multiple shielding supports for alternating shielding. The flat push rods of the shielding supports push and pull in sequence to realize the stepping self-movement of multiple shielding supports, abandoning the use of a winch to pull the shielding support forward in a general withdrawal system, saving the withdrawal time and improving the withdrawal efficiency of the hydraulic support. Making the shielding supports step independently can ensure that at least one shielding support can be in the raised state to play a role in shielding and supporting, enhancing the safety of the roadway. When there is roof fall or collapse and pressure on the support in the withdrawal working face, it can effectively prevent the shielding support from being crushed, making its forward movement smoother and more efficient.

[0067] As Figures 7 - 11 shown, the triangular support frame 600 provided by the embodiment of the present invention includes support columns and a connection structure 602. The support columns include a first support column 601a and a second support column 601b that are vertically arranged. Both the first support column 601a and the second support column 601b include a top support portion 611, a bottom support portion 612, and a driving mechanism 613. The driving mechanism 613 is connected between the corresponding top support portion 611 and bottom support portion 612, and the driving mechanism 613 is used to drive the connected top support portion 611 and bottom support portion 612 to approach or move away from each other along the axial direction (i.e., the vertical direction). The support column has a support state and a contracted state, and the support column in the support state plays a supporting role.

[0068] Specifically, the driving mechanism 613 drives the top support portion 611 and the bottom support portion 612 to move relatively away from each other along the vertical direction until the support column is in the support state. The top and bottom ends of the support column in the support state are both in contact with the stressed object, playing a role in supporting and shielding. The driving mechanism 613 drives the top support portion 611 and the bottom support portion 612 to move relatively closer to each other along the vertical direction until the support column reaches the contracted state. At least one of the top and bottom ends of the support column in the contracted state is separated from the stressed object and no longer plays a role in supporting and shielding. The length of the support column in the support state in the vertical direction is greater than the length of the support column in the contracted state in the vertical direction.

[0069] The connecting structure 602 is connected between the first support column 601a and the second support column 601b, and can drive one of them in the contracted state to rotate around the other in the supported state. In other words, the connecting structure 602 can drive one of them in the contracted state to rotate with the central axis of the other in the supported state as the rotation center line. When rotating, the connecting structure 602 and the support column in the contracted state are located between the top and bottom ends of the support column in the supported state in the vertical direction.

[0070] Specifically, when the first support column 601a is in the supported state and the second support column 601b is in the contracted state, the first support column 601a is supported between the top plate 661 and the bottom plate 662 of the stressed object. The top and bottom ends of the second support column 601b and the connecting mechanism 2 are both located between the top and bottom ends of the first support column 601a in the vertical direction, that is, between the top plate 661 and the bottom plate 662 of the stressed object, and have a certain interval from the top and bottom plates of the stressed object. The connecting structure 602 drives the second support column 601b to rotate with the central axis of the first support column 601a as the rotation center line.

[0071] When the second support column 601b is in the supported state and the first support column 601a is in the contracted state, the second support column 601b is supported between the top plate 661 and the bottom plate 662 of the stressed object. The top and bottom ends of the first support column 601a and the connecting mechanism 2 are both located between the top and bottom ends of the second support group 102 in the vertical direction, that is, between the top plate 661 and the bottom plate 662 of the stressed object, and have a certain interval from the top and bottom plates of the stressed object. The connecting structure 602 drives the first support column 601a to rotate with the central axis of the second support column 601b as the rotation center line.

[0072] Of course, the first support column 601a and the second support column 601b can be in the supported state at the same time, that is, they support between the top plate 661 and the bottom plate 662 of the stressed object at the same time.

[0073] The stepping process of the triangular area support frame 600 is as follows:

[0074] Place the triangular area support frame 600 between the top plate 661 and the bottom plate 662 of the stressed object;

[0075] Under the action of the driving mechanism 613, the first support column 601a is in the supported state and the second support column 601b is in the contracted state. The first support column 601a is supported between the top plate 661 and the bottom plate 662. There is a certain interval between the connecting structure 602 and the second support column 601b and the top plate 661 and the bottom plate 662;

[0076] The connecting structure 602 drives the second support column 601b to rotate by an angle α around the first support column 601a;

[0077] Driven by the driving mechanism 613, the second support column 601b is in a supporting state, and the first support column 601a is in a contracted state. The second support column 601b is supported between the top plate 661 and the bottom plate 662, and there is a certain gap between the connecting structure 602 and the first support column 601a and the top plate 661 and the bottom plate 662;

[0078] The connecting structure 602 drives the first support column 601a to rotate by an angle β around the second support column 601b;

[0079] Repeat the above steps to make the triangular area support frame 600 step forward. And the rotation direction and angle can be set as needed to complete different forward moving modes.

[0080] In the embodiment of the present invention, the withdrawal system uses the triangular area support frame 600 for triangular area support, eliminating the process of building a wooden crib with sleepers in the related technology withdrawal process. It has high support strength, fast support speed, can provide good support and cover, avoid roof collapse, and ensure the safety of the covered personnel and equipment. Moreover, the two support columns of the triangular area support frame 600 can alternately support and move forward by rotating and stepping, and the rotation angle can be adjusted as needed, moving forward in any direction and arbitrarily adjusting the support position. Therefore, it can greatly simplify the preparation process of the hydraulic support in the early stage and the finishing process in the later stage of the hydraulic support withdrawal, and provide good cover for the withdrawal of the hydraulic support and the shield support.

[0081] In addition, the rotation and stepping method of the triangular area support frame 600 can realize non-repeated support for the top and bottom plates, reduce the damage to the top and bottom plates, and further reduce the risk of roof fragmentation and collapse. And its rotation and stepping method can always make the support column in the non-support state move between the support column in the support state and the cover area between the hydraulic support to be withdrawn or the shield support, effectively avoiding the risk of hydraulic support pressing caused by the roof losing support and pressing down.

[0082] Therefore, the fully-mechanized coal mining hydraulic support withdrawal system proposed in the embodiment of the present invention greatly improves the cover safety and the hydraulic support withdrawal efficiency, reduces the personnel configuration in the hydraulic support withdrawal working face, enhances the safety of the hydraulic support withdrawal work, realizes the effect of reducing personnel, increasing efficiency and enhancing safety, and has extremely high economic value and social value.

[0083] Next, according to Figure 2 and Figure 3 Describe the traction device 100 in some specific embodiments of the present invention in detail.

[0084] In some embodiments, the boom driving device is a boom telescopic oil cylinder 105, such as Figure 2As shown, the first end of the boom telescopic cylinder 105 is hinged to the base 101, and the second end is hinged to the boom 102. The boom telescopic cylinder 105 expands and contracts along the first horizontal direction to push and pull the boom 102, causing the boom 102 to move along the first horizontal direction. When the boom telescopic cylinder 105 extends, it pushes the boom 102; when the boom telescopic cylinder 105 contracts, it pulls the boom 102.

[0085] In some alternative embodiments, as Figure 2 shown, the boom telescopic cylinder 105 is arranged on the side of the boom 102 close to the hydraulic support 501. The boom telescopic cylinder 105 extends to push the boom 102. In some other alternative embodiments, the boom telescopic cylinder 105 can be arranged on the side of the boom 102 away from the hydraulic support 501, and in step 2, the boom telescopic cylinder 105 contracts to pull the boom 102.

[0086] In some embodiments, as Figure 2 shown, the forearm driving device is a forearm telescopic cylinder 106. The first end of the forearm telescopic cylinder 106 is hinged to the boom 102, and the second end is hinged to the forearm 103. The forearm telescopic cylinder 106 expands and contracts to push and pull the forearm 103. When the forearm telescopic cylinder 106 extends, the forearm 103 swings and its second end moves away from the boom 102; when the forearm telescopic cylinder 106 contracts, the forearm 103 swings in the opposite direction and its second end moves closer to the boom.

[0087] In some alternative embodiments, when the forearm telescopic cylinder 106 extends, the angle between the forearm 103 and the boom 102 becomes larger; when the forearm telescopic cylinder 106 contracts, the angle between the forearm 103 and the boom 102 becomes smaller.

[0088] Using telescopic cylinders to provide power for the movement of the boom 102 and the swing of the forearm 103, the telescopic cylinders can provide a large traction force, effectively avoiding jamming phenomena and making the outrigger traction process operate smoothly.

[0089] In some embodiments, as Figure 2 shown, the second end of the boom 102 is hinged to the base 101. In order to ensure that when the boom 102 moves driven by the boom driving device, its first end can move along the first horizontal direction as much as possible. The traction device 100 further includes at least one connecting rod. The first end of the connecting rod is hinged to the base 101, and the second end of the connecting rod is hinged to the boom 102. And the hinged position of the connecting rod and the boom 102 is located on the side away from the first end of the boom 102 of the connection position between the boom driving device and the boom 102. The arrangement of the connecting rod forms a connecting rod structure. When the boom driving device drives the boom to move, the boom 102 drives the connecting rod to swing, which can make the first end of the boom 102 maintain a nearly linear motion during the swing.

[0090] In some alternative embodiments, the boom 102 can be integrally translated along the first horizontal direction under the drive of the boom driving device. For example, the boom driving device is a boom telescopic oil cylinder 105. A slide rail extending along the first horizontal direction is provided on the base 101. The boom 102 has at least one support point supported on the slide rail and is slidably arranged along the slide rail. The boom telescopic oil cylinder 105 pushes the boom 105 to slide along the slide rail, so that it is integrally translated along the first horizontal direction, and thus its first end can maintain a movement along the first horizontal direction.

[0091] The following takes Figure 2 , 3 , as shown in Fig. 12, as an example to describe the traction device 100 in a specific embodiment of the present invention and the outrigger traction method using such a traction device 100.

[0092] As Figure 2 shown, the traction device 100 includes a base 101, a boom 102, a forearm 103, a traction head 104, a boom telescopic oil cylinder 105, a forearm telescopic oil cylinder 106, a first connecting rod 107 and a second connecting rod 108.

[0093] For the convenience of description, the first horizontal direction is defined as the left-right direction. The hydraulic support 500 to be withdrawn is located on the left side of the traction device 100. The traction device 100 pulls out a certain hydraulic support 501 in the hydraulic support 500 to be withdrawn to the right direction and sends the hydraulic support 501 forward through orientation adjustment. The first end of the boom 102 is its front end, and the second end is its rear end. The left-right direction and the front-rear direction are as Figure 12 shown by the arrows in the figure.

[0094] The extending directions of the first connecting rod 107 and the second connecting rod 108 are parallel. The first ends of the first connecting rod 107 and the second connecting rod 108 are both hinged to the base 101, and the second ends are both hinged to the boom 102. And the first connecting rod 107 is located in front of the second connecting rod 108. The hinged point of the first connecting rod 107 and the boom 102 is located in front of the hinged point of the second connecting rod 108 and the boom 102, and is closer to the first end of the boom 102. As Figure 2 shown, the second connecting rod 108 is hinged to the rear end of the boom 102, that is, the second end.

[0095] As Figure 3 and Figure 12 shown, the boom telescopic oil cylinder 105 is located on the left side of the boom 102. Its first end (left end) is hinged to the base 101, and the second end (right end) is hinged to a position in front of the middle of the boom 102. And the hinged point of the boom telescopic oil cylinder 105 and the boom 102 is located in front of the hinged point of the first connecting rod 107 and the boom 102, and is closer to the first end of the boom 102. As Figure 3As shown, the telescopic direction of the boom telescopic cylinder 105 remains basically unchanged. When the boom telescopic cylinder 105 extends, it pushes the boom 102 to move to the right, and when the boom telescopic cylinder 105 contracts, it pulls the boom 102 to move to the left.

[0096] The boom 102, the boom telescopic cylinder 105, the first connecting rod 107 and the second connecting rod 108 form a four-bar linkage mechanism. As Figure 3 shown in FIGS. A - C in the middle figure, when the boom telescopic cylinder 105 extends, while it pushes the boom 102 to move to the right, the boom telescopic cylinder 105 and the boom 102 swing relative to each other around the connecting pin shaft, and the first connecting rod 107 and the second connecting rod 108 swing under the action of the boom 102, so that the front end of the boom 102 moves nearly linearly to the right when swinging the boom.

[0097] Before the traction work starts, as Figure 2 、 3 shown in FIG. A, the extending direction of the forearm 103 is generally along the first horizontal direction, that is, the left - right direction. At this time, the first end (right end) of the forearm 103 is hinged to the front end of the boom 102, the second end (left end) of the forearm 104 faces the hydraulic support 501, and the traction head 104 is hinged to the second end of the forearm 104.

[0098] The forearm telescopic cylinder 106 is connected between the boom 102 and the forearm 103. The first end of the forearm telescopic cylinder 106 is hinged to a position in front of the middle part of the boom 102, and the second end is hinged to the middle part of the forearm 103. And, in this embodiment, as Figure 2 and Figure 3 shown, the hinged position of the forearm telescopic cylinder 106 and the boom 102 is in front of the hinged position of the boom telescopic cylinder 105 and the boom 102. When the forearm telescopic cylinder 106 extends, it pushes the forearm 103 to swing clockwise relative to the boom 102, and when the forearm telescopic cylinder 106 contracts, it pulls the forearm 103 to swing counterclockwise relative to the boom 102.

[0099] Furthermore, in order to achieve the telescopic performance of the forearm 103, in this embodiment, the forearm 103 includes a forearm inner sleeve 109, a forearm outer sleeve 110 and a built - in telescopic cylinder (not shown in the figure). The forearm outer sleeve 110 sleeves the forearm inner sleeve 109 and the two are slidably arranged relative to each other, that is, the forearm inner sleeve 109 and the forearm outer sleeve 110 are sleeved and slidably connected. The built - in telescopic cylinder is located inside the forearm outer sleeve 110 and is connected to the forearm inner sleeve 109 for pushing and pulling the forearm inner sleeve 109. The first end of the boom 102 is hinged to the forearm outer sleeve 110, and the traction head 104 is hinged to the forearm inner sleeve 109. When the built - in telescopic cylinder extends, it pushes the forearm inner sleeve 109 to slide out of the forearm outer sleeve 110, and the forearm 103 extends; when the built - in telescopic cylinder contracts, it pulls the forearm inner sleeve 109 to slide into the forearm outer sleeve 110, and the forearm 103 shortens.

[0100] As Figure 2 shown, the towing head 104 is connected to the hydraulic support 501 being taken out of the rack through a chain 111. It can be understood that the extension or contraction of the forearm 103 drives the movement of the towing head 104, and further drives the hydraulic support 501 connected by the chain 111 by the towing head 104 to move.

[0101] The boom telescopic cylinder 105 drives the movement of the boom 102, the forearm telescopic cylinder 106 drives the swing of the forearm 103, and the built-in telescopic cylinder drives the extension and contraction of the forearm 103. The above movement modes cooperate with each other, and the traction device 100 pulls the hydraulic support 501 along the ideal out-of-rack traction route and completes the orientation adjustment.

[0102] Next, according to Figure 2 、 3 、12, the out-of-rack traction process of the traction device 100 in the above embodiment will be specifically described. The layout position of the traction device 100 in the fully-mechanized coal mining hydraulic support withdrawal working face and the out-of-rack traction route map of the hydraulic support are shown in Figure 12 , and the schematic diagram of the state conversion process of the traction device 100 during the out-of-rack traction process is shown in Figures A - E in Figure 3 . The out-of-rack traction method specifically includes the following steps:

[0103] Step 1: As Figure 12 、 Figure 3 shown in A, the traction device 100 reaches the working position. At this time, the extension direction of the forearm 103 is along the left - right direction (the first horizontal direction), and the telescopic direction of the forearm 103 is also along the first horizontal direction. The towing head 104 is connected to the left end of the forearm 103 and is located directly to the right of the hydraulic support 501 to be taken out of the rack. The built-in telescopic cylinder of the forearm 103 drives the forearm to be in an extended state. The boom telescopic cylinder 105 is in a contracted state, so that the boom 102 is located in a left - leaning position. The forearm telescopic cylinder 106 is in a contracted state, and the hydraulic support 501 to be taken out of the rack is connected to the towing head 104 by a chain 111;

[0104] Step 2: As Figure 12 、 Figure 3 shown in B, the built-in telescopic cylinder contracts, and the inner sleeve 109 of the forearm gradually retracts into the outer sleeve 110 of the forearm, and the forearm 103 shortens. At the same time, as Figure 3 shown in C, the boom telescopic cylinder 105 extends, pushing the boom 102 to move to the right. The rightward movement of the boom 102 drives the first link 107 and the second link 108 to swing counterclockwise. The front end of the boom 102 moves nearly linearly to the right, driving the forearm 103 to move to the right. The towing head 104 pulls the hydraulic support 501 to move to the right until the hydraulic support 501 is pulled out from a row of hydraulic supports 500 to be withdrawn, completing the first straight - line segment in the out-of-rack traction route;

[0105] Step 3: As shown in Figure 12 , Figure 3 D, the telescopic cylinder 106 of the forearm extends, driving the forearm 103 to swing clockwise relative to the big arm 102. At the same time, the built-in telescopic cylinder drives the forearm 103 to gradually extend, so that the towing head 104 towes the hydraulic support 501 to gradually adjust the direction, completing the second steering section in the out-of-frame towing route;

[0106] Step 4: As shown in Figure 12 , Figure 3 E, the built-in telescopic oil controls the forearm 103 to continue to extend. At the same time, the telescopic cylinder 106 of the forearm drives the forearm 103 to continue to swing clockwise, or appropriately contracts to drive the forearm 103 to swing counterclockwise, so that the towing head 104 towes the hydraulic support 501 to move forward, completing the third nearly straight section in the out-of-frame towing route, and towing the hydraulic support 501 into the roadway.

[0107] By using the towing device provided by the embodiment of the present invention and according to the above out-of-frame towing method, the out-of-frame towing of the hydraulic support can be completed as much as possible along the ideal towing route. By controlling each telescopic cylinder, the towing direction can be adjusted at any time, so that the out-of-frame and phase adjustment processes of the hydraulic support can be well realized, avoiding the occurrence of various collisions and rubbing accidents, greatly improving the efficiency of the hydraulic support withdrawal work, reducing the number of staff required for the withdrawal working face, saving labor costs, protecting the equipment, and enhancing the safety factor of the withdrawal process, with extremely high economic value and social value.

[0108] In some embodiments, the shielding support includes a first shielding support 200, a second shielding support 300, and a third shielding support 400 arranged in sequence along the first horizontal direction.

[0109] Next, the first shielding support 200, the second shielding support 300, and the third shielding support 400 in the specific embodiments of the present invention will be described according to Figures 4 - 6 the following.

[0110] The first shielding support 200 includes a first flat push rod 201, the second shielding support 300 includes a second flat push rod 301, and the third shielding support 400 includes a third flat push rod 401. The third shielding support 400 is located on the side close to the hydraulic support 500 to be withdrawn, that is, the first shielding support 200, the second shielding support 300, and the third shielding support 400 are arranged from right to left in sequence.

[0111] The three connection points of the first horizontal push rod 201, the second horizontal push rod 301, and the third horizontal push rod 401 with the traction device 100 form an acute triangle on the horizontal plane, and the connection point of the second horizontal push rod 301 is located behind the connection points of the first horizontal push rod 201 and the third horizontal push rod 401. The three connection points forming an acute triangle create a stable fixed point in the shape of a triangle between the stepping device and the traction device 100, serving the function of stable positioning.

[0112] As an example, as Figure 12 shown, the first horizontal push rod 201, the second horizontal push rod 301, and the third horizontal push rod 401 all extend in the front-rear direction. The front ends of the first horizontal push rod 201, the second horizontal push rod 301, and the third horizontal push rod 401 are respectively hinged to three hinge points on the base 101 of the traction device 100. Among them, the front end of the second horizontal push rod 301 is located behind the front ends of the first horizontal push rod 201 and the third horizontal push rod 401, and the front ends of the first horizontal push rod 201 and the third horizontal push rod 401 are basically flush in the front-rear direction, and the front ends of the three horizontal push rods form an acute triangle.

[0113] When the stepping device pushes the traction device 100 to step forward, the first horizontal push rod 201, the second horizontal push rod 301, and the third horizontal push rod 401 extend forward synchronously, pushing the traction device 100 forward by one step distance. When the stepping device body steps forward, the first shielding support 200, the second shielding support 300, and the third shielding support 400 step forward in sequence under the action of the first horizontal push rod 201, the second horizontal push rod 301, and the third horizontal push rod 401 respectively.

[0114] Furthermore, as Figures 4 - 6 shown, the first shielding support 200, the second shielding support 300, and the third shielding support 400 all include hydraulic support rods and top shielding beams. The hydraulic support rods support at the bottom of the top shielding beams, and the hydraulic support rods are telescopically arranged to raise or lower the top shielding beams. When the shielding support is in the raised state, its top shielding beam rises, and when the shielding support is in the lowered state, its top shielding beam descends.

[0115] Before the shielding support steps forward, the hydraulic support rods contract to lower the top shielding beam to make it in the lowered state. After the stepping is completed, the hydraulic support rods extend to raise the top shielding beam to make it in the raised state. The first shielding support 200, the second shielding support 300, and the third shielding support 400 can realize their individual forward movement by lowering the frame and contracting the push rods respectively. When moving to the appropriate position, they raise the frame and fix it. Rotating in sequence can achieve the forward movement of all three shielding supports, and in this way, the forward movement of the traction device 100 and the three shielding supports can be realized.

[0116] Specifically, as Figure 4As shown in the figure, the first shielding support 200 includes a base, a first horizontal push rod 201, a first hydraulic support rod 202, and a first top shielding beam 203. The first horizontal push rod 201 is arranged on the base, and a connecting ear 207 is provided at its front end for connecting with the base 101. The top end of the first hydraulic support rod 202 is supported on the bottom of the first top shielding beam 203, and the bottom end is supported on the base. Moreover, one end of the first top shielding beam 203 is hinged to the base, so that it is arranged to be rotatable relative to the base. When the first hydraulic support rod 202 contracts, the first top shielding beam 203 flips downward to reduce the height of the first shielding support 200 for forward stepping. When the first hydraulic support rod 202 extends, the first top shielding beam 203 flips upward to increase the height of the first shielding support 200. The first shielding support 200 is supported on the roof of the roadway to play a role of support and shielding.

[0117] Furthermore, the first shielding support 200 further includes a shielding curtain 204, a seat 205, and a lighting lamp 206. The shielding curtain 204 can preferably use several circular chain links, with one end fixedly connected to the first top shielding beam 203 and the other end freely hanging, isolating a safe area for the operator to prevent flying injuries such as the breakage of steel ropes and chains, and being able to provide a better view for the operator to more clearly and conveniently observe the positions and states of the traction device, hydraulic support, and shielding support, having good ergonomics. The seat 205 is fixed to the base of the first shielding support 200 to provide rest for the operator. The lighting lamp 206 is fixed to the bottom of the first top shielding beam 203 to provide lighting, solving the problem of difficult lighting in the triangular area of the coal mine underground, enabling the operator to more conveniently and clearly observe the positions and operating states of various equipment, and further improving safety.

[0118] As Figure 4 shown in the figure, the first horizontal push rod 201 of the first shielding support 200 is an extended horizontal push rod. The first shielding support 200 is equipped with a horizontal push rod that is longer than that of ordinary existing shielding supports. The purpose of this design is: a) The hinge point with the above-mentioned traction device 100 can be extended forward, and finally the hinge points of the three shielding supports fall within an acute triangle on a plane, so that the above-mentioned heavy-duty traction device can be more firmly positioned; b) The top support area of the horizontal push rod can be postponed, forming a stepped shielding with the second shielding support 300, the third shielding support 400, and the triangular area support frame 600, making the overall shielding area a triangular area, reducing the shielding pressure on the second shielding support 300, the third shielding support 400, and the triangular area support frame 600, and forming a better shielding effect on the roof; c) The extended horizontal push rod leaves a certain space in front of the support, providing a safe operation area for the operator, having a better view and a more comfortable space, improving the ergonomics of the whole set of equipment, and thus improving the operation efficiency and safety.

[0119] AsFigure 5 As shown in the figure, the second shielding support 300 includes a base, a second flat push rod 301, a second hydraulic support rod 302, and a second top shielding beam 303. The second flat push rod 301 is arranged on the base, and a connecting ear is provided at its front end for connecting with the base 101. The top end of the second hydraulic support rod 302 is supported on the bottom of the second top shielding beam 303, and the bottom end is supported on the base. Moreover, one end of the second top shielding beam 303 is hinged to the base, so that it is arranged to be rotatable relative to the base. The rotation mode can refer to the first shielding support 200.

[0120] Furthermore, an electro-hydraulic control system 304 is also provided on the second shielding support 300. The electro-hydraulic control system 304 is fixed on the base of the second shielding support 300 and is located below the second top shielding beam 303. The electro-hydraulic control system 304 is responsible for the electro-hydraulic control of the whole system and supplies power to the lighting lamp 206. The traction system provided by the embodiment of the present invention can also adopt intelligent detection remote control. The intelligent detection function of the electro-hydraulic control system 304 can timely detect the cylinders and pressure conditions, so as to timely display the changes of the roof pressure and the traction force, and enable the operator to timely adjust the operation strategy according to the corresponding situation, making the support moving and withdrawing operations safer and more reliable. The traction system adopts remote control, avoiding the close operation of the equipment and staying away from the moving equipment, and being able to timely observe the running positions and states of the traction device 100 and the hydraulic support 501 from a more comprehensive perspective, making the whole operation process safer.

[0121] As Figure 6 shown in the figure, the third shielding support 400 includes a base, a third flat push rod 401, a third hydraulic support rod 402, and a third top shielding beam 403. The third flat push rod 401 is arranged on the base, and a connecting ear is provided at its front end for connecting with the base 101. The top end of the third hydraulic support rod 402 is supported on the bottom of the third top shielding beam 403, and the bottom end is supported on the base. Moreover, one end of the third top shielding beam 403 is hinged to the base, so that it is arranged to be rotatable relative to the base. The rotation mode can refer to the first shielding support 200.

[0122] In some embodiments, at least one side shielding beam is provided on one side of the shielding support closest to the hydraulic support 500 to be withdrawn and close to the triangular area support frame 600. The side shielding beam is connected to the top shielding beam of the shielding support and is arranged to be rotatable. The side shielding beam has a deployed state and a retracted state. In the deployed state, the side shielding beam is parallel to the top shielding beam to play a supporting role. In the retracted state, the side shielding beam droops.

[0123] In Figure 10 and 12In the illustrated embodiment, the shield support closest to the hydraulic support 500 to be withdrawn is the third shield support 400. At least one side shield beam is provided on the side of the third shield support 400 away from the second shield support 300. The side shield beam is connected to the third top shield beam 403 and is rotatably arranged. The side shield beam has a deployed state and a retracted state. In the deployed state, the side shield beam is parallel to the third top shield beam 403 to play a supporting role. In the retracted state, the side shield beam droops to shield the interior of the third shield support 400 to play a shielding role.

[0124] Specifically, as Figure 10 shown, the side shield beam includes a first side shield beam 404 and a second side shield beam 405. As Figure 10 shown, both the first side shield beam 404 and the second side shield beam 405 are hingedly connected to the side of the extended ultra-thin third top shield beam 403 away from the second shield support 300, and are respectively connected with swing cylinders, so that the first side shield beam 404 and the second side shield beam 405 can be folded. The first side shield beam 404 and the second side shield beam 405 can be timely deployed to be parallel to the upper plane of the third top shield beam 403 to support the roof together.

[0125] The third shield support 400 further includes a base side shield plate 406. The base side shield plate 406 is fixed on the base, and the base side shield plate 406 is used to prevent caved coal blocks and stones from invading the interior of the shield support.

[0126] When the first side shield beam 404 and the second side shield beam 405 are retracted, they droop and are in a vertical state, and together with the base side shield plate 406, they prevent crushed stones and coal blocks in the collapse area from invading the inner side of the shield support. Among them, the extended ultra-thin third top shield beam 403 can better provide protection for the hydraulic support to be withdrawn and can leave enough passage space for it.

[0127] Next, according to Figures 7 - 11 describe the triangular area support frame 600 in some specific embodiments of the present invention. As Figures 7 - 11 , the triangular area support frame 600 includes two support columns and a connection structure 602. The support columns include a first support column 601a and a second support column 601b that are vertically arranged.

[0128] The connection structure 602 of the triangular support frame 600 can rotate around each of the first support column 601a and the second support column 601b. When one support column is in the supporting state, for the convenience of slewing, the other support column is contracted and its bottom end is lifted away from the bottom plate 662, and its top end retracts away from the top plate 661. This support column is supported by the connection structure 602 until it reaches the contracted state. At this time, the connection structure 602 needs to bear the overall weight of the support column in the contracted state, and there should also be a gap between the connection structure 602 itself and the top plate 661 and the bottom plate 662.

[0129] In some embodiments, as Figures 7 - 9 shown, the triangular support frame 600 includes a sleeve assembly 604. The sleeve assembly 604 is sleeved on the support columns one by one and is fixedly connected to the support columns in the circumferential direction, that is, the sleeve assembly 604 cannot rotate relative to the support column it is sleeved on. The sleeve assembly 604 is located between the top support portion 611 and the bottom support portion 612, and the sleeve assembly 604 is fixedly connected to the connection structure 602 in the axial direction and is rotatably arranged relative to each other in the circumferential direction.

[0130] In order to achieve the axial fixation and circumferential relative rotation between the sleeve assembly 604 and the connection structure 602, in some embodiments, as Figure 9 shown, at least one bearing can be arranged between the connection structure 602 and the sleeve assembly 604. The outer ring of the bearing is connected to the connection structure 602, and the inner ring of the bearing is connected to the sleeve assembly 604.

[0131] In other alternative embodiments, the axial fixation and circumferential relative rotation between the connection structure 602 and the sleeve assembly 604 can be realized through the cooperation of an annular card slot and a slider. For example, the connection structure 602 is provided with a slider, and the outer peripheral surface of the sleeve assembly 604 is provided with an annular card slot. The slider is fitted in the annular card slot and can slide along the card slot. The slider abuts against the wall surface of the annular card slot to realize the axial limit.

[0132] Furthermore, in some embodiments, the sleeve assembly 604 and the support column are slidably arranged relative to each other in the axial direction. In order to lift the connection structure 602 to a certain height when it rotates, the triangular support frame 600 includes a plurality of cables 603. As Figure 8 shown, the top of the cable 603 is connected to the top support portion 611, and the bottom of the cable 603 is connected to the sleeve assembly 604. Since the connection structure 602 and the sleeve assembly 604 are axially fixed, the cable can achieve the purpose of lifting the connection structure 602. A part of the plurality of cables 603 is arranged on the first support column 601a, and the other part is arranged on the second support column 601b. As Figure 8 shown, a plurality of cables 603 surround the first support column 601a, and a plurality of cables 603 surround the second support column 601b. AsFigure 9 As shown, when the support column is in the supporting state, the cable 603 connected to the support column is tightened. Under the action of the cable 603, the bottom end of the connecting structure 602 is located above the bottom end of the support column in the supporting state. That is to say, the tension of the cable 603 on the support column in the supporting state lifts the connecting structure 602 to a certain height, so that there is a certain interval between its bottom end and the bottom plate 662, so as to facilitate the rotation of the connecting structure 602. The first support column 601a and the second support column 601b alternately contract and extend, and the cables 603 of the first support column 601a and the second support column 601b alternately lift the connecting structure 602, so that there is always a certain interval between the bottom end of the connecting structure 602 and the bottom plate 662.

[0133] In addition, by adjusting the length of the cable 603, the supporting height of the support column and the height distance between the bottom end of the connecting structure 602 and the bottom end of the support column can also be adjusted within a certain range. That is, in the above embodiment, the supporting height of the support column and the height distance between the bottom end of the connecting structure 602 and the bottom end of the support column are related to the length of the cable 603.

[0134] Furthermore, as Figure 8 and Figure 9 shown, the support column includes an inner cylinder 614 and an outer cylinder 615 sleeving the inner cylinder 614. The inner cylinder 614 and the outer cylinder 615 are axially slidably arranged relative to each other. The driving mechanism 613 is located inside the inner cylinder 614. The sleeve assembly 604 sleeves the outer cylinder 615 and is axially slidably arranged relative to the outer cylinder 615.

[0135] In Figure 8 and Figure 9 the shown embodiment, the inner cylinder 614 is connected to the bottom of the top support portion 611 and extends downward, and the outer cylinder 615 is connected to the bottom of the bottom support portion 612 and extends upward. The outer peripheral surface of the inner cylinder 614 is in contact with the inner peripheral surface of the outer cylinder 615 and is axially slidably arranged. The inner peripheral surface of the sleeve assembly 604 is in contact with the outer peripheral surface of the outer cylinder 14 and is axially slidably arranged.

[0136] In other alternative embodiments, the inner cylinder 614 is connected to the bottom of the bottom support portion 612 and extends upward, and the outer cylinder 615 is connected to the bottom of the top support portion 611 and extends downward.

[0137] The driving mechanism 613 is a large-tonnage column oil cylinder. The column oil cylinder is vertically arranged inside the inner cylinder 614. The driving mechanism 613 has a first hinge point and a second hinge point. The top support part 611 is connected to the first hinge point, and the bottom support part 612 is connected to the second hinge point. The driving of the column oil cylinder can drive the top support part 611 and the bottom support part 612 to move up and down. The large-tonnage column oil cylinder can provide a supporting force far exceeding that of ordinary timber cribs and single hydraulic props, and its supporting force can even exceed that of ordinary hydraulic supports.

[0138] As Figure 8 and Figure 9 shown, when the driving mechanism 613 drives the second support column 601b to convert from the supporting state to the retracting state, the top support part 611 of the support column moves downward. When the top support part 611 abuts against the top end of the upper flange 641, a limit is generated. The bottom support part 612 moves upward under the pulling of the driving mechanism 613. The inner cylinder 614 and the outer cylinder 615 slide towards each other, that is, the inner cylinder 614 moves vertically downward, and the outer cylinder 615 moves vertically upward. And the sleeve assembly 604 is relatively fixed in the vertical direction under the pulling force of the cable 603 of the first support column 601a, and the outer cylinder 615 slides upward relative to the sleeve assembly 604.

[0139] In order to achieve the circumferential fixation between the sleeve assembly 604 and the outer cylinder 615 and prevent the sleeve assembly 604 from being driven to rotate by the connecting structure 602 when the connecting structure 602 rotates. Further, as Figure 9 shown, the sleeve assembly 604 is provided with a limit groove 644, and the outer cylinder 615 is provided with a limit protrusion 616. The limit groove 644 extends along the axial direction of the support column, and the limit protrusion 616 is fitted in the limit groove 644 and is slidably arranged along the limit groove 644. Alternatively, the limit groove 644 can also be arranged on the outer cylinder 14, and the limit protrusion 616 is arranged on the sleeve assembly 604.

[0140] Specifically, as Figure 8 and Figure 9As shown, the sleeve assembly 604 includes a first sleeve assembly 604a and a second sleeve assembly 604b. The first sleeve assembly 604a sleeves the first support column 601a, and the second sleeve assembly 604b sleeves the second support column 601b. Each sleeve assembly 604 includes an upper flange 641, a sleeve 642, and a lower flange 643 that are connected in sequence from top to bottom. A first bearing 651 and a second bearing 652 are provided between the connection structure 602 and each sleeve assembly 604. The first bearing 651 is fitted between the upper flange 641 and the connection structure 602, and the second bearing 652 is fitted between the lower flange 643 and the connection structure 602, enabling the connection structure 602 to rotate around each of the first sleeve assembly 604a and the second sleeve assembly 604b and being axially fixed to both. A limiting groove 644 is provided on the lower flange 643, and a limiting protrusion 616 is provided on the outer peripheral surface of the outer cylinder 615. The lower end of the cable 603 is connected to the connection ear on the outer peripheral surface of the upper flange 641. When the support column is in the contracted state, the top support portion 611 abuts against the top end of the upper flange 641 to generate a limit.

[0141] In some embodiments, as Figure 8 and Figure 9 shown, the connection structure 602 includes a first driving gear 621 and a second driving gear 622. The first support column 601a includes a first driven gear 617. The first driven gear 617 sleeves the sleeve 642 of the first support column 601a and is connected thereto. The first driven gear 617 meshes with the first driving gear 621. The second support column 601b includes a second driven gear 618. The second driven gear 618 sleeves the sleeve 642 of the second support column 601b and is connected thereto. The second driven gear 618 meshes with the second driving gear 622.

[0142] The connection structure 602 includes a driving device. As Figure 8 shown, the driving device includes a first rotating motor 624 for driving the first driving gear 621 to rotate, and a second rotating motor 625 for driving the second driving gear 622 to rotate. The first rotating motor 624 drives the first driving gear 621 to rotate around the first driven gear 617 to enable the connection structure 602 to drive the second support column 601b to rotate around the central axis of the first support column 601a. The second rotating motor 625 drives the second driving gear 622 to rotate around the second driven gear 618 to enable the connection structure 602 to drive the first support column 601a to rotate around the central axis of the second support column 601b.

[0143] As Figure 7 and Figure 9As shown, the connection structure 602 includes a connection box body 623. The connection box body 623 sleeves each of the first support column 601a and the second support column 601b. The top support portions 611 and the bottom support portions 612 of the first support column 601a and the second support column 601b respectively extend from the upper and lower ends of the connection box body 623. The first driving gear 621, the second driving gear 622, the first rotating motor 624, and the second rotating motor 625 are all located inside the connection box body 623. The connection box body 623 further includes two box covers 6231. The two box covers 6231 respectively sleeve the two support columns, and the first bearing 651 is fitted between the upper flange 641 and the box cover 6231.

[0144] As Figure 18 shown, the connection structure 602 further includes an electric control component 607. The electric control component 607 is used to control the operation of the first rotating motor 624 and the second rotating motor 625, and further drive the rotation of the first driving gear 621 and the second driving gear 622.

[0145] When the first support column 601a rotates around the second support column 601b: the driving mechanism 613 of the first support column 601a operates and contracts to make the first support column 601a in a contracted state. The second support column 601b is supported between the top plate 661 and the bottom plate 662. The second rotating motor 625 of the connection structure 602 operates, and the second driving gear 622 rotates around the second driven gear 618. The connection structure drives the first support column 601a to rotate around the second support column 601b.

[0146] When the second support column 601b rotates around the first support column 601a: the driving mechanism 613 of the second support column 601b operates and contracts to make it in a contracted state. The first support column 601a is supported between the top plate 661 and the bottom plate 662. The first rotating motor 624 of the connection structure 602 operates, and the first driving gear 621 rotates around the first driven gear 617. The connection structure 602 drives the second support column 601b to rotate around the first support column 601a.

[0147] The two support columns of the triangular area support frame 600 provided by the embodiment of the present invention can support simultaneously or alternately, lift the unsupported support column off the ground, and rotate around the supported support column, so as to alternately support and rotate and displace, thereby realizing the function of shifting and transposing, and further realizing stepping forward, so as to be able to keep up with the forward movement of the retreating working face and provide a good covering function for the hydraulic support to be withdrawn.

[0148] Next, according to Figures 13 - 15 the description, the retreating process steps of the fully-mechanized coal mining hydraulic support retreating system provided by the embodiment of the present invention are described.

[0149] The retreating process includes the following steps:

[0150] S1: As shown in Figure 13 , in the retraction preparation stage, a retraction system is installed at the retraction working face. A number of shielding supports are arranged in sequence and lifted to support in the first horizontal direction perpendicular to the roadway direction. The triangular support frame 600 is located in the triangular area beside the shielding support close to the hydraulic support 500 to be retracted, and both of its two support columns are extended to support. The traction device 100 reaches the traction position and is connected to a number of horizontal push rods of a number of shielding supports. At this time, the horizontal push rods are in a contracted state;

[0151] S2: As shown in Figure 14 , in the retraction stage, the traction device 100 pulls out the hydraulic support 501 from a row of hydraulic supports 500 to be retracted and adjusts its direction along the roadway direction. The pulled-out hydraulic support 501 in the roadway is withdrawn using the support removal equipment. The triangular support frame 600 takes a step forward (steps in the direction close to the next hydraulic support 501) and re-supports. The horizontal push rods of a number of shielding supports are simultaneously extended to push the traction device 100 forward by one step distance to reach the traction position of the next hydraulic support 501 to be pulled out. Then, a number of shielding supports sequentially complete the steps of lowering the support, contracting and moving forward the horizontal push rod, and lifting and supporting, thereby completing one support removal cycle. Repeat this step;

[0152] S3: As shown in Figure 15 , in the retraction finishing stage, the traction device is withdrawn, and the shielding support and the triangular support frame are withdrawn in sequence.

[0153] In step S2, the steps of lowering the support, contracting and moving forward the horizontal push rod, and lifting and supporting of the shielding support are specifically as follows: the shielding support lowers the support to disengage from the roof of the roadway, and then the horizontal push rod of this shielding support contracts to drag the shielding support to move forward by one step distance in the direction close to the traction device 100. After reaching the position, this shielding support lifts and supports again. A number of shielding supports sequentially complete the above steps, so that when one shielding support is in the lowered state, the remaining shielding supports are all lifted and supported to play a shielding role.

[0154] In step S2, the support removal equipment can be selected as a winch, a forklift or other equipment.

[0155] After the fully-mechanized coal mining hydraulic support retraction process uses the traction device to pull out the hydraulic support, and then uses the support removal equipment such as a winch to withdraw the hydraulic support along the roadway, replacing the process of directly using a winch and a movable pulley to pull the hydraulic support in the traditional retraction process. The traction route of the traction device is flexible and adjustable, which can better complete the support removal and direction adjustment of the hydraulic support, avoid the phenomena of collision, rubbing, and spark splashing caused by using a winch to pull the hydraulic support, greatly improve the support removal efficiency, and reduce the personnel allocation at the retraction working face of the hydraulic support, avoiding potential safety hazards caused by personnel gathering.

[0156] Multiple shielding supports are used alternately for shielding. The flat push rods of the shielding supports push and pull in sequence to realize the stepping self - movement of multiple shielding supports, eliminating the step of using a winch to pull the shielding support forward in the general withdrawal process. In step S2, the working step of the withdrawal equipment to pull the hydraulic support out of the roadway can be carried out synchronously with the step of the shielding support stepping forward, saving the withdrawal time and improving the withdrawal efficiency of the hydraulic support. Making the shielding supports step forward independently in sequence can ensure that at least one shielding support can be in the state of lifting the support to play a role in shielding and support, enhancing the safety of the roadway. When there is roof fall or collapse and pressure on the support in the withdrawal working face, it can effectively prevent the shielding support from being crushed, making its forward movement smoother and more efficient.

[0157] The triangular area support frame is used for supporting the triangular area, eliminating the process of building a wooden crib with sleepers in the withdrawal process of related technologies. It has high support strength, fast support speed, can provide good support and shielding, avoid roof collapse, and ensure the safety of the personnel and equipment being shielded. Moreover, the two support columns of the triangular area support frame can alternately support and move forward by slewing and stepping, and can adjust the slewing angle as needed, step forward in any direction, and adjust the support position at will. Therefore, it can greatly simplify the preparatory process in the early stage of the hydraulic support and the finishing process in the later stage of the hydraulic support withdrawal, providing good shielding for the withdrawal of the hydraulic support and the shielding support.

[0158] In addition, the slewing and stepping method of the triangular area support frame can realize non - repeated support for the roof and floor, reducing the damage to the roof and floor, and further reducing the risk of roof fragmentation and collapse. And its slewing and stepping method can always make the support column in the non - support state move between the support column in the support state and the shielding area between the hydraulic support to be withdrawn or the shielding support, effectively avoiding the risk of support crushing caused by the roof pressing down due to the loss of support.

[0159] Next, according to Figures 13 - 22 Describe the withdrawal process in detail.

[0160] As Figure 13 shown, the arrangement direction of the hydraulic support 501 in the hydraulic support 500 to be withdrawn is along the roadway direction, and the roadway direction extends along the front - back direction. The hydraulic support 500 to be withdrawn is numbered ①… in sequence from the back to the front along the roadway direction. The withdrawal sequence is generally from the back to the front, that is, first withdraw the hydraulic support 501 with a smaller number. In order to provide space for the installation of the withdrawal system, in the withdrawal preparation process of step S1, it is necessary to first withdraw some hydraulic supports 501 from the middle of the support, and then gradually move forward.

[0161] As an example, step S1 specifically includes:

[0162] S101, withdraw the fourth and fifth hydraulic supports 501 in the withdrawal working face,

[0163] S102. Install the triangular support frame 100 at the positions vacated by the two hydraulic supports 501 withdrawn in step S101, and extend and support both support columns of the triangular support frame 100.

[0164] S103. Install multiple shield supports in place in sequence along the first horizontal direction and raise and support them. The first horizontal direction is perpendicular to the roadway extension direction. In the Figure 13 illustrated embodiment, the roadway is on the right side of the hydraulic support 500 to be withdrawn, and the shield supports are installed in the roadway, that is, the shield supports are on the right side of the hydraulic support 500 to be withdrawn.

[0165] S104. Withdraw the 3rd and 6th hydraulic supports at the withdrawal working face.

[0166] S105. Install the traction device 100 at the traction position corresponding to the 7th hydraulic support, that is, on the right side of the 7th hydraulic support, and connect the traction device 100 to the horizontal push rods of several shield supports, and the horizontal push rods are all in the retracted state.

[0167] S106. As Figure 13 illustrated, move the triangular support frame 600 forward in the direction of the 7th hydraulic support, and then extend and support both of its support columns.

[0168] S107. Shield and tow the remaining 2nd and 1st hydraulic supports behind the shield supports to the roadway entrance in sequence. The withdrawal sequence is the 2nd hydraulic support - the 1st hydraulic support.

[0169] In steps S101, S104, and S107, a winch, a forklift, or other equipment can be used to withdraw the 1st - 6th hydraulic supports.

[0170] As Figure 14 illustrated, step S2 specifically includes:

[0171] S201. Connect the hydraulic support 501 waiting to be withdrawn (in sequence from the 7th hydraulic support backward) to the traction device 100, and control the traction device 100 to tow out and turn the hydraulic support 501.

[0172] S202. The support withdrawal equipment withdraws the hydraulic support towed out in step S201.

[0173] S203. The triangular support frame 100 takes a step forward and re - supports.

[0174] S204. Control the horizontal push rods of several shield supports to extend simultaneously, and push the traction device 100 forward by a step distance, and the step distance is the width of the hydraulic support to be withdrawn, so that the traction device 100 reaches the tow - out position of the next hydraulic support 501 waiting to be withdrawn.

[0175] S205, control the shield support closest to the hydraulic support to lower its support (in the embodiment shown in Figure 14 , the shield support closest to the hydraulic support is the leftmost shield support), then control the retraction of the flat push rod of the shield support to complete the forward movement of the shield support, and then raise the shield support again to support;

[0176] S206, in the direction from close to far from the hydraulic support (from left to right), move the remaining shield supports forward in sequence to complete one out-of-frame cycle;

[0177] S207, repeat steps S201 to S206 until after the penultimate hydraulic support 501 in the entire working face is withdrawn, enter the S3 withdrawal and finishing stage.

[0178] As shown in Figure 15 , step S3 specifically includes:

[0179] S301, disassemble and withdraw the traction device 100, and withdraw the shield support closest to the triangular area support frame 600;

[0180] S302, contract the support column of the triangular area support frame 600 close to the gob, make it move forward around another support column, and make the triangular area support frame 600 face the roadway;

[0181] S303, cover and withdraw the penultimate hydraulic support 501 on the withdrawal working face, then in the direction from close to far from the hydraulic support (from left to right), withdraw the shield supports in sequence, then withdraw the last hydraulic support 501, and finally withdraw the triangular area support frame 600.

[0182] It should be noted that in step S207, the remaining two hydraulic supports 501 in the working face are not withdrawn because the traction device 100 cannot perform the pulling-out work due to the limitation of the roadway length. In actual work, according to the actual situation of the roadway and the working space required by the traction device 100, as many hydraulic supports as possible can be withdrawn, not limited to the situation of "until after the penultimate hydraulic support 501 in the entire working face is withdrawn, enter the S3 withdrawal and finishing stage" in the above step S207.

[0183] Figure 16 is the initial position of the traction device 100 after completing the out-of-frame traction of a hydraulic support 501,

[0184] Step S204 specifically includes: As shown in Figure 16 and Figure 17As shown in the figure, after the traction device 100 completes the out-of-frame traction, control the first horizontal push rod 201, the second horizontal push rod 301, and the third horizontal push rod 401 to extend forward simultaneously, push the traction device 100 forward by one step distance, and the traction device 100 reaches the next out-of-frame position, facing the next hydraulic support 501.

[0185] Step S205 specifically includes: As Figure 18 shown in the figure, the third hydraulic support rod 402 of the third cover support 400 contracts to drive the third top cover beam 403 to lower the frame, control the third horizontal push rod 401 to contract, pull the body of the third cover support 400 forward by one step distance, and the third hydraulic support rod 402 extends to drive the third top cover beam 403 to rise and support and fix.

[0186] Step S206 specifically includes:

[0187] As Figure 19 shown in the figure, the second hydraulic support rod 302 of the second cover support 300 contracts to drive the second top cover beam 303 to lower the frame, control the second horizontal push rod 301 to contract, pull the body of the second cover support 300 forward by one step distance, and the second hydraulic support rod 302 extends to drive the second top cover beam 303 to rise and support and fix;

[0188] As Figure 20 shown in the figure, the first hydraulic support rod 202 of the first cover support 200 contracts to drive the first top cover beam 203 to lower the frame, control the first horizontal push rod 201 to contract, pull the body of the first cover support 200 forward by one step distance, and the first hydraulic support rod 202 extends to drive the first top cover beam 203 to rise and support and fix.

[0189] By using the traction device 100 provided in the embodiment of the present invention and according to the above out-of-frame traction method, it is possible to perform large-tonnage traction on a nearly horizontal plane, and its traction path can be adapted to the ideal path required for the withdrawal of hydraulic supports, and the traction direction can also be adjusted in a timely manner according to the traction requirements. Moreover, since it uses an oil cylinder and a heavy-duty robotic arm for power output, it can provide a traction force far exceeding that of ordinary winches, and can better adapt to the out-of-frame and orientation adjustment of large-tonnage hydraulic supports.

[0190] The traction device 100 is hingedly connected to the flat push rods of the first shield support 200, the second shield support 300, and the third shield support 400 respectively. By controlling the three shield supports to alternate in covering, the flat push rods push or pull in sequence to achieve the stepping self-shifting of the heavy-duty traction device and the three shield supports, eliminating the previous process of using equipment such as winches to tow the shield support forward. The stepping forward process can be coordinated with processes such as winching the support out of the roadway and loading, saving more time. Moreover, the method of driving the traction device 100 to step forward with a flat push rod has higher moving accuracy, effectively preventing excessive forward movement. The flat push rod works under the push of the oil cylinder and can provide a greater support pulling force. The way that the shield supports step forward in sequence can effectively prevent the shield supports from being crushed when there is roof fall or collapse and pressure on the support in the retreating working face, making its forward movement smoother and more efficient.

[0191] Based on the traction device 100 and the first shield support 200, the second shield support 300, and the third shield support 400 in the above embodiments, in step S301, the third shield support 400 is withdrawn. In step S303, the remaining equipment in the retreating working face is: the penultimate hydraulic support, the antepenultimate hydraulic support, the triangular area support frame 600, the second shield support 300, and the first shield support 200.

[0192] Step S303 specifically includes: using a winch or other traction device to alternately cover and move these five pieces of equipment, gradually moving them towards the retreating crossheading, and adjusting the direction and attitude to form a fan-shaped support area. Withdraw them one by one. When one piece of equipment is withdrawn, the fan-shaped covering area is reduced by one circle. Generally, the preferred withdrawal order is: the antepenultimate hydraulic support → the second shield support 300 → the first shield support 200 (with other equipment withdrawn together) → the penultimate hydraulic support → the triangular area support frame 600. Thus, the entire withdrawal work of the hydraulic support is completed.

[0193] As Figure 14 and Figure 21 shown, in step S102, the support column of the triangular area support frame 600 close to the shield support is defined as the first support column 601a, and the support column close to the goaf is defined as the second support column 601b. In step S106, the two support columns move forward three times in total to achieve forward movement towards the seven hydraulic supports. Step S106 includes:

[0194] S10601, the first support column 601a contracts, causing it to rotate around the second support column 601b by a certain angle to make it move forward. After reaching the position, the first support column 601a extends to support;

[0195] S10602, the second support column 601b contracts, causing it to rotate around the second support column 601b by a certain angle to make it move forward. After reaching the position, the second support column 601b extends to support;

[0196] S10603, the first support column 601a contracts, causing it to rotate around the second support column 601b by a certain angle to move forward. After reaching the position, the first support column 601a extends to support. At this time, the first support column 601a is close to the shield support, and the second support column 601b is close to the gob area.

[0197] Specifically, as Figure 21 shown, in step S102, the first support column 601a is located on the right side of the second support column 601b. In S10601, the first support column 601a rotates counterclockwise ( Figure 21 the rotation direction -1 in Figure 21 ) by 45° to move forward a certain distance; in S10602, the second support column 601b rotates clockwise ( Figure 21 the rotation direction -2 in

[0198] such as Figure 14 and Figure 22 ) by 90° to move forward a certain distance; in S10603, the first support column 601a rotates counterclockwise (

[0199] the rotation direction -3 in

[0200] ) by 45° to reach the position directly to the right of the second support column 601b again.

[0201] Specifically, as Figure 22 shown, in step S202, the first support column 601a is located on the right side of the second support column 601b. In S20301, the first support column 601a rotates counterclockwise ( Figure 22 the rotation direction -1 in Figure 22 ) by 90°, and in S20302, the second support column 601b rotates counterclockwise (

[0202] As Figure 15 shown, in step S302, the support columns of the triangular support frame 600 close to the goaf are contracted, and it rotates 90 degrees clockwise around another support column to move forward, so that the triangular support frame 600 faces the roadway.

[0203] It can be understood that the stepping method of the triangular support frame 600 is not limited to this, and the rotary movement mode can be flexibly selected according to different working conditions.

[0204] In addition, the withdrawal process further includes:

[0205] When the triangular support frame 600 takes a step, the side cover beam of the third shield support 400 is flipped to the unfolded state.

[0206] As an example, in steps S106 and S203, the side cover beam can support and cover according to the situation to cover and protect the forward movement of the triangular support frame 600.

[0207] In summary, the fully-mechanized caving hydraulic support withdrawal device and its withdrawal process proposed by the present invention greatly reduce the manual processes and a large amount of heavy physical labor in the traditional withdrawal system, realize the high safety, high reliability, high efficiency and high benefit of the hydraulic support withdrawal work, solve many unsolved pain points in the hydraulic support withdrawal, realize the automatic transformation of the hydraulic support withdrawal in the coal mine roadway, significantly improve the operation efficiency and safety of the hydraulic support withdrawal, and can generate great economic and social benefits.

[0208] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation of the present invention.

[0209] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0210] In the present invention, unless otherwise clearly defined or limited, terms such as "installed", "connected", "linked", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0211] In the present invention, unless otherwise clearly defined or limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0212] In the present invention, terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0213] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A fully-mechanized caving hydraulic support withdrawal system, characterized in that, Including: A traction device, which is arranged in the roadway and used to pull out the hydraulic support along a preset path. The traction device includes a base, a large arm, a small arm, a traction head, a large arm driving device and a small arm driving device. The small arm is a telescopic small arm. The large arm is movably arranged on the base. The large arm driving device is arranged on the base and connected to the large arm. The large arm driving device is used to push and pull the large arm along the first horizontal direction to make it move. The first end of the small arm is hinged to the first end of the large arm. The small arm driving device is arranged on the large arm and connected to the small arm. The small arm driving device is used to push and pull the small arm to make the small arm swing relative to the large arm. The traction head is arranged at the second end of the small arm and used to connect to the hydraulic support; A number of shielding supports, which are arranged in the roadway along the first horizontal direction in sequence. Each shielding support has a flat push rod that can be telescoped along the roadway direction. The end of the flat push rod is connected to the traction device. The shielding support has a state of lifting the support and a state of lowering the support. In the supporting state, the top of the shielding support abuts against the roof of the roadway. In the retracted state, the shielding support retracts to disengage from the roof; A triangular area support frame, which is arranged in the triangular area on one side of the roadway. The triangular area support frame includes a first support column, a second support column and a connecting structure. The first support column and the second support column are both vertically arranged and are telescopically arranged in the vertical direction. The connecting structure is connected between the first support column and the second support column and is used to drive one of them in the retracted state to rotate around the other in the supporting state to achieve stepping forward. The first support column and the second support column both include a top support part, a bottom support part and a driving mechanism; The triangular area support frame includes a sleeve assembly, and the sleeve assembly is sleeved on the support column one by one and is fixedly connected to the support column in the circumferential direction. The sleeve assembly is located between the top support part and the bottom support part. The sleeve assembly is fixedly connected to the connecting structure in the axial direction and is rotatable relative to each other in the circumferential direction; The sleeve assembly is slidably arranged relative to the support column in the axial direction. The shielding support further includes a number of cables. The top of the cable is connected to the top support part, and the bottom of the cable is connected to the connecting structure or the sleeve assembly. When the support column is in the supporting state, the cable is tensioned. Under the pulling force of the cable, the connecting structure is located at a certain distance above the bottom end of the support column in the supporting state.

2. The fully-mechanized mining hydraulic support withdrawal system according to claim 1, wherein The large arm driving device is a large arm telescopic oil cylinder. The first end of the large arm telescopic oil cylinder is hinged to the base and the second end is hinged to the large arm. The large arm telescopic oil cylinder expands and contracts along the first horizontal direction to push and pull the large arm; And / or, the small arm driving device is a small arm telescopic oil cylinder. The first end of the small arm telescopic oil cylinder is hinged to the large arm, and the second end is hinged to the small arm. The small arm telescopic oil cylinder expands and contracts to push and pull the small arm.

3. The fully-mechanized caving hydraulic support withdrawal system according to claim 2, wherein, The forearm includes an inner forearm sleeve, an outer forearm sleeve, and a built-in telescopic oil cylinder. The outer forearm sleeve is sleeved on the inner forearm sleeve and the two are slidably arranged. The built-in telescopic oil cylinder is located inside the outer forearm sleeve and is connected to the inner forearm sleeve for pushing and pulling the inner forearm sleeve. The first end of the big arm is hinged to the outer forearm sleeve, and the towing head is hinged to the inner forearm sleeve.

4. The fully-mechanized mining hydraulic support withdrawal system according to any one of claims 1 to 3, characterized in that, The towing device further includes at least one connecting rod. The first end of the connecting rod is hinged to the base, and the second end of the connecting rod is hinged to the big arm. And the hinged position of the connecting rod and the big arm is located on the side away from the first end of the big arm of the connecting position of the big arm driving device and the big arm.

5. The fully-mechanized caving hydraulic support withdrawal system according to claim 1, wherein The shielding support includes a hydraulic support rod and a top shielding beam. The hydraulic support rod supports at the bottom of the top shielding beam. The hydraulic support rod is telescopically arranged to raise or lower the top shielding beam. On the side of the shielding support close to the triangular area and facing the triangular area, there are at least one side shielding beam. The side shielding beam is connected to the top shielding beam of the shielding support and is rotatably arranged. The side shielding beam has a deployed state and a retracted state. In the deployed state, the side shielding beam is parallel to the top shielding beam to play a supporting role. In the retracted state, the side shielding beam droops.

6. The fully-mechanized mining hydraulic support withdrawal system according to claim 1 or 5, characterized in that, There are three shielding supports, including a first shielding support, a second shielding support, and a third shielding support arranged in sequence in the first horizontal direction. The first shielding support includes a first flat push rod, the second shielding support includes a second flat push rod, the third shielding support includes a third flat push rod. The three connection points of the first flat push rod, the second flat push rod, and the third flat push rod with the towing device form an acute triangle.

7. The fully-mechanized coal mining hydraulic support withdrawal system according to claim 1, wherein The support column includes an inner cylinder and an outer cylinder sleeved on the inner cylinder. The inner cylinder and the outer cylinder are axially slidable relative to each other. The driving mechanism is located inside the inner cylinder. The inner cylinder is connected to one of the bottom of the top support part and the top of the bottom support part. The outer cylinder is connected to the other of the bottom of the top support part and the top of the bottom support part. The sleeve assembly is sleeved on the outer cylinder and is axially slidable relative to the outer cylinder.

8. The fully-mechanized caving hydraulic support withdrawal system according to claim 1, wherein, The connection structure includes a first driving gear and a second driving gear. The first support column includes a first driven gear meshing with the first driving gear. The second support column includes a second driven gear meshing with the second driving gear. Driving the first driving gear to rotate around the first driven gear to drive the second support column to rotate around the central axis of the first support column. Driving the second driving gear to rotate around the second driven gear to drive the first support column to rotate around the central axis of the second support column.

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