A special equipment for disassembling the pin shaft of hydraulic support

Abstract

The present application discloses a special equipment for disassembling the pin shaft of a hydraulic support, including a vibration device for loosening the pin shaft; a pin pulling device for pulling out the pin shaft; a vibration positioning device connected to the vibration device for lifting or rotating the vibration device; a pin pulling positioning device connected to the pin pulling device for lifting or rotating the pin pulling device; and a walking and rotating device respectively connected to the vibration positioning device and the pin pulling positioning device for driving the two to move. By using this equipment, since the vibration device and the pin pulling device can not only realize the integration and rapidity of vibration and disassembly, but also loosen and disassemble the pin shafts at different positions at the same time, the overall working time is shortened and the working efficiency is improved; it can also help to realize automation, get rid of manual loosening or disassembly of the pin shaft, reduce labor intensity, and further improve disassembly efficiency. Therefore, the disassembly efficiency of the pin shaft of the hydraulic support can be effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of mining equipment, and in particular to special equipment for disassembling a pin shaft of a hydraulic support. Background Art

[0002] As one of the important equipment for coal mining, hydraulic support usually includes top beam, shield beam, connecting rod and base. Generally, hydraulic support is a four-bar linkage mechanism that realizes roof support by lifting and lowering, and naturally each structural component can be connected as a whole through a number of pins. However, with the increase of hydraulic support tonnage and mining height, the specifications and models of the pins connecting the various structural components also increase, and the difficulty of disassembly continues to increase. Therefore, it is particularly necessary to improve the method of disassembling the hydraulic support pins.

[0003] Normally, hydraulic supports operate in mines for a long time in a harsh working environment, which causes the pins of the hydraulic supports to be severely rusted or even severely deformed, making the removal of the pins more difficult.

[0004] At present, for the pins of some small hydraulic supports, during the maintenance process, traditional methods such as manual hammering or gas cutting are usually used to disassemble the pins of the hydraulic supports. The work intensity is high, the disassembly time is long, and the work efficiency is extremely low.

[0005] In addition, for the pins of some large and medium-sized hydraulic supports, hydraulic pin pullers and other pulling tools are usually used to replace the traditional disassembly method. However, during the disassembly process, due to the severe rust and deformation of the pins, manual loosening is still required before disassembly. Moreover, most hydraulic pin pullers cannot be separated from manual operation, the labor intensity is still high, the disassembly time has not been effectively shortened, and the disassembly efficiency is still low.

[0006] Therefore, how to effectively improve the disassembly efficiency of the hydraulic support pin shaft is a technical problem that needs to be solved urgently by technicians in this field. Summary of the invention

[0007] In view of this, an object of the present invention is to provide a special equipment for disassembling the pin shaft of the hydraulic support, which can improve the disassembly efficiency of the pin shaft.

[0008] The specific plan is as follows:

[0009] The present invention provides a special equipment for disassembling a hydraulic support pin, comprising:

[0010] Vibration device for loosening pins;

[0011] A pin pulling device for pulling out the pin shaft;

[0012] A vibration positioning device connected to the vibration device and used for lifting or rotating the vibration device;

[0013] A pin pulling and positioning device connected to the pin pulling device and used for lifting or rotating the pin pulling device;

[0014] A walking and rotating device is respectively connected with the vibration positioning device and the pin pulling positioning device and is used for driving the two to move.

[0015] Preferably, the vibration device comprises:

[0016] a vibrating pick to access and loosen the pin;

[0017] A vibration driving device connected to the vibration pick and used for driving the vibration pick to move.

[0018] Preferably, the vibration positioning device comprises:

[0019] A first vibration lifting arm connected to the vibration pick and used for driving the vibration pick to rise and fall;

[0020] A second vibration lifting arm connected to the travel rotary device and used for driving the vibration pick and the first vibration lifting arm to rise and fall;

[0021] A vibration rotary arm is arranged between the first vibration lifting arm and the second vibration lifting arm and is used for driving the vibration pick to rotate.

[0022] Preferably, the vibration positioning device further comprises:

[0023] A first vibration lifting drive device connected between the first vibration lifting arm and the vibration rotary arm and used for driving the first vibration lifting arm to achieve lifting;

[0024] A second vibration lifting drive device connected between the second vibration lifting arm and the walking rotary device and used for driving the second vibration lifting arm to achieve lifting;

[0025] A vibration rotation driving device is arranged in the vibration rotation arm and is used for driving the vibration rotation arm to rotate.

[0026] Preferably, the pin pulling device comprises:

[0027] A pin puller for contacting and extracting the pin;

[0028] A pin pulling drive device connected to the pin puller and used for driving the pin puller to move.

[0029] Preferably, the pin pulling and positioning device comprises:

[0030] A first pin pulling and lifting arm connected to the pin puller and used for driving the pin puller to lift and lower;

[0031] A second pin pulling lifting arm connected to the travel rotary device and used for driving the pin pulling device and the first pin pulling lifting arm to rise and fall;

[0032] A pin pulling rotating arm is arranged between the first pin pulling lifting arm and the second pin pulling lifting arm and is used for driving the pin pulling device to rotate.

[0033] Preferably, the pin pulling and positioning device further comprises:

[0034] A first pin pulling and lifting driving device connected between the first pin pulling and lifting arm and the pin pulling and rotating arm, and used for driving the first pin pulling and lifting arm to achieve lifting;

[0035] A second pin pulling and lifting driving device connected between the second pin pulling and lifting arm and the travel rotary device, and used for driving the second pin pulling and lifting arm to achieve lifting;

[0036] A pin pulling rotation driving device is arranged in the pin pulling rotation arm and is used for driving the pin pulling rotation arm to rotate.

[0037] Preferably, it also includes:

[0038] A vibration hydraulic circuit connected to the vibration drive device, the first vibration lifting drive device, the second vibration lifting drive device and the vibration rotary drive device respectively, and used to drive the four devices to act in sequence;

[0039] A pin pulling hydraulic circuit is respectively connected to the pin pulling drive device, the first pin pulling lifting drive device, the second pin pulling lifting drive device and the vibration rotary drive device, and is used to drive the four to act in sequence.

[0040] Preferably, the walking and rotating device comprises:

[0041] A swivel device connected to the second vibration lifting arm and the second pin pulling lifting arm respectively, and used to drive the two to rotate;

[0042] A walking device connected to the rotating device and used for driving the rotating device to move.

[0043] Preferably, it also includes:

[0044] An image recognition device installed on the travel rotary device and used to identify the position of the pin;

[0045] A control device is respectively connected to the image recognition device, the vibration hydraulic circuit and the pin pulling hydraulic circuit, and is used to control the operation of the vibration hydraulic circuit and the pin pulling hydraulic circuit according to information sent by the image recognition device.

[0046] Compared with the background technology, the special equipment for disassembling the pin shaft of the hydraulic support provided by the present invention includes a vibration device for loosening the pin shaft; a pin pulling device for pulling out the pin shaft; a vibration positioning device connected to the vibration device and used to lift or rotate the vibration device; a pin pulling positioning device connected to the pin pulling device and used to lift or rotate the pin pulling device; and a walking and rotating device respectively connected to the vibration positioning device and the pin pulling positioning device and used to drive the two to move.

[0047] The addition of the vibration device makes it possible to use the vibration device to loosen the hydraulic support pin before pulling out the pin, thereby reducing the difficulty of pulling out the hydraulic support pin due to rust or deformation, and avoiding manual loosening of the pin, thereby reducing labor intensity and improving the loosening efficiency of the pin.

[0048] The addition of the pin pulling device allows the loosened pin to be pulled out by the pin pulling device, and cooperates with the vibration device to effectively shorten the pin pulling time and improve the pin pulling efficiency.

[0049] Due to the integrated arrangement of the pin pulling device and the pin pulling positioning device, manual disassembly can be completely avoided during the process of disassembling the pin shaft, thereby reducing the labor intensity.

[0050] The vibration positioning device drives the vibration device to facilitate automatic vibration positioning, and the pin pulling positioning device drives the pin pulling device to facilitate automatic pin pulling positioning, avoiding manual positioning, with low labor intensity and high positioning efficiency. At the same time, because the vibration positioning device and the pin pulling positioning device can respectively enable the vibration device and the pin pulling device to loosen and remove pins at different positions and heights at the same time, the overall removal time of all pins of the hydraulic support is shortened, and the removal efficiency is high.

[0051] Furthermore, since the vibration device and the pin pulling device are respectively installed on the travel rotating device, the vibration device and the pin pulling device can be close to or away from the pin shaft of the hydraulic support, so as to rely on the travel rotating device to approach or move away from the pin shaft at different positions, completely getting rid of manual handling of the vibration device or the pin pulling device, significantly reducing labor intensity and improving moving efficiency.

[0052] Therefore, the special equipment for disassembling the pin shaft of the hydraulic support provided by the present invention can effectively improve the disassembly efficiency of the pin shaft of the hydraulic support. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0054] Figure 1 A schematic diagram of the main structure of a special device for disassembling a pin shaft of a hydraulic support provided in a specific embodiment of the present invention;

[0055] Figure 2 for Figure 1 Another view of .

[0056] The reference numerals are as follows:

[0057] Vibration device 1, pin pulling device 2, vibration positioning device 3, pin pulling positioning device 4, travel and rotation device 5, control device 6, oil tank 7, hydraulic pump 8, pump motor 9 and power supply 10;

[0058] A vibrating pick 11 and a vibrating driving device 12;

[0059] A first vibration lifting arm 31, a second vibration lifting arm 32 and a vibration rotating arm 33;

[0060] A first vibration lifting drive device 34, a second vibration lifting drive device 35 and a vibration rotary drive device 36;

[0061] A pin puller 21 and a pin puller driving device 22;

[0062] A first pin pulling lifting arm 41, a second pin pulling lifting arm 42 and a pin pulling rotating arm 43;

[0063] A first pin pulling lifting drive device 44, a second pin pulling lifting drive device 45 and a pin pulling rotary drive device 46;

[0064] A rotating device 51 and a traveling device 52. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0067] Please refer to Figure 1 and Figure 2 , Figure 1 A schematic diagram of the main structure of a special device for disassembling a pin shaft of a hydraulic support provided in a specific embodiment of the present invention; Figure 2 for Figure 1 Another view of .

[0068] The embodiment of the present invention discloses a special equipment for disassembling a pin shaft of a hydraulic support, comprising a vibration device 1, a pin pulling device 2, a vibration positioning device 3, a pin pulling positioning device 4 and a travel rotating device 5.

[0069] The vibration device 1 is mainly used to loosen the pin of the hydraulic support. In this specific embodiment, the vibration device 1 includes a vibration pick 11 and a vibration drive device 12.

[0070] The vibration pick 11 includes a vibration connection part and a cylindrical pick head. The cross section of the vibration connection part is roughly triangular, and a cylindrical pick head is provided at one vertex. The two vertex angles on the opposite sides of the vertex are respectively connected to the vibration driving device 12 and the vibration positioning device 3. The end of the cylindrical pick head is roughly conical, which is convenient for breaking the local rust of the pin shaft. Of course, the structure of the vibration pick 11 is not limited to this.

[0071] The vibration driving device 12 is preferably a piston-type vibration hydraulic cylinder, the cylinder body of which is connected to a hinge support fixed on the vibration positioning device 3, and the piston rod of which is connected to the vibration connection part of the vibration pick 11. When the pressure of the vibration hydraulic cylinder reaches a certain value, the piston rod extends outward, which, on the one hand, drives the vibration pick 11 to rotate around the vibration positioning device 3 to increase the vibration range of the vibration pick 11; on the other hand, drives the vibration pick 11 to have a certain load so as to loosen the rusted or deformed pin shaft.

[0072] The vibration positioning device 3 is connected to the vibration device 1 , and comprises a first vibration lifting arm 31 , a second vibration lifting arm 32 and a vibration rotating arm 33 , and is mainly used for lifting or rotating the vibration device 1 .

[0073] The first vibration lifting arm 31, also known as the small vibration arm, is usually connected to the vibration pick 11, and is mainly used to drive the vibration pick 11 to lift and lower in a small range. The first vibration lifting arm 31 is a V-shaped metal frame with an approximately obtuse angle. One end of the V-shaped metal frame is hinged to the vibration rotating arm 33 through a hinge support, and the other end is directly hinged to the vibration connection part of the vibration pick 11. The second vibration lifting arm 32, also known as the large vibration arm, is usually installed on the walking and rotating device 5, and is mainly used to drive the vibration pick 11 to achieve a large range of lifting and lowering. The second vibration lifting arm 32 is also a V-shaped metal frame with an approximately obtuse angle, but the size of the second vibration lifting arm 32 is significantly larger than that of the first vibration lifting arm 31. One end of the large V-shaped metal frame is hinged to the walking and rotating device 5 through a hinge support, and the other end is directly connected to the vibration rotating arm 33. The vibration rotary arm 33 is disposed between the first vibration lifting arm 31 and the second vibration lifting arm 32, and is mainly used to drive the first vibration lifting arm 31 to rotate relative to the second vibration lifting arm 32, so that the vibration pick 11 rotates relative to the travel rotary device 5. The vibration rotary arm 33 is specifically a rotary hydraulic cylinder to increase the working range of the vibration pick 11.

[0074] The vibration positioning device 3 further includes a first vibration lifting drive device 34 , a second vibration lifting drive device 35 and a vibration rotation drive device 36 .

[0075] The first vibration lifting drive device 34 is connected between the first vibration lifting arm 31 and the vibration rotating arm 33, and is mainly used to drive the first vibration lifting arm 31 to lift and lower. Specifically, it is a piston hydraulic cylinder, one end of which is hinged to the middle of the first vibration lifting arm 31 through a hinge support, and the other end is hinged to the end of the vibration rotating arm 33 through a hinge support, so that the first vibration lifting arm 31 can achieve a small lifting action as the piston rod extends or contracts. The second vibration lifting drive device 35 is connected between the second vibration lifting arm 32 and the travel rotating device 5, and is also specifically a piston hydraulic cylinder, one end of which is hinged to the middle of the second vibration lifting arm 32 through a hinge support, and the other end is hinged to the top of the travel rotating device 5 through a hinge support, so that the second vibration lifting arm 32 can achieve a large lifting and lowering as the piston rod extends or contracts. The vibration rotating drive device 36 is arranged in the vibration rotating arm 33, and is mainly used to drive the vibration rotating arm 33 to drive the first vibration lifting arm 31 to rotate relative to the second vibration lifting arm 32. Of course, the above three driving devices can also be driven by air pressure, which does not affect the purpose of the present invention.

[0076] Of course, the structures of the vibration device 1 and the vibration positioning device 3 are not limited thereto, and other similar solutions may also be adopted without affecting the purpose of the present invention.

[0077] The pin pulling device 2 is mainly used for pulling out the loosened pin shaft. In this specific embodiment, the pin pulling device 2 specifically comprises a pin pulling device 21 and a pin pulling driving device 22.

[0078] The center of the pin puller 21 is provided with a central cavity for clamping the pin shaft, and the size of the central cavity can be various so as to adapt to the pin shafts of different outer diameters on a hydraulic support. The pin pulling drive device 22 is preferably a piston hydraulic cylinder, the cylinder body is connected to the pin pulling positioning device 4 through a hinge support, and the piston is directly connected to the pin puller 21. Since the two sides of the end of the pin puller 21 are respectively connected to the pin pulling drive device 22 and the pin pulling positioning device 4, the piston of the pin pulling drive device 22 can not only provide a certain load to the pin puller 21, but also increase the working range of the pin puller 21.

[0079] One end of the pin pulling and positioning device 4 is connected to the pin pulling device 2, and the other end is connected to the walking and rotating device 5. It includes a first pin pulling and lifting arm 41, a second pin pulling and lifting arm 42 and a pin pulling and rotating arm 43, and also includes a first pin pulling and lifting drive device 44, a second pin pulling and lifting drive device 45 and a pin pulling and rotating drive device 46, which are mainly used to lift or rotate the pin pulling device 2.

[0080] In this specific embodiment, the pin pulling and positioning device 4 has the same structure as the vibration positioning device 3, which will not be described in detail. Of course, the structure of the pin pulling and positioning device 4 is not limited to this, and other similar solutions can be used instead without affecting the purpose of the present invention.

[0081] In view of the fact that the driving devices of the vibration device 1, the pin pulling device 2, the vibration positioning device 3 and the pin pulling positioning device 4 are all piston hydraulic cylinders, the special equipment for disassembling the pin shaft of the hydraulic support provided by the present invention naturally also includes a vibration hydraulic circuit and a pin pulling hydraulic circuit. Among them, the vibration hydraulic circuit is respectively connected to the vibration driving device 12, the first vibration lifting driving device 34, the second vibration lifting driving device 35 and the vibration rotary driving device 36, and is used to drive the four to act in sequence. Similarly, the pin pulling hydraulic circuit is respectively connected to the pin pulling driving device 22, the first pin pulling lifting driving device 44, the second pin pulling lifting driving device 45 and the pin pulling rotary driving device 46, and is used to drive the four to act in sequence.

[0082] The travel rotary device 5 is connected to the vibration positioning device 3 and the pin pulling positioning device 4 respectively, and is mainly used to drive the two to move. In this specific embodiment, the travel rotary device 5 includes a rotary device 51 and a travel device 52.

[0083] The slewing device 51 is connected to the second vibration lifting arm 32 and the second pin pulling lifting arm 42 respectively, and is specifically a slewing platform supported on the walking device 52 by a slewing bearing so as to drive the second vibration lifting arm 32 and the second pin pulling lifting arm 42 to rotate.

[0084] The traveling device 52 is installed below the slewing device 51, and is specifically a crawler trolley. The crawler trolley preferably adopts a four-wheel one-belt design, and uses a hydraulic motor to drive the traveling sprocket.

[0085] The present application also includes an image recognition device and a control device 6. The image recognition device is installed on the travel and rotation device 5, and can be an infrared probe, a camera or other image acquisition device, so as to identify the pins at different positions of the hydraulic support. The control device 6 is respectively connected to the image recognition device, the vibration hydraulic circuit and the pin pulling hydraulic circuit, and is mainly used to receive the pin position information sent back by the image recognition device, so as to control the vibration hydraulic circuit and the pin pulling hydraulic circuit to work according to the pin position information.

[0086] In addition, the present application also includes an oil tank 7, a hydraulic pump 8, a pump motor 9 and a power supply 10 installed on the rotary device 51. Among them, the oil tank 7 contains 68# hydraulic oil, which is mainly used to supply oil to the vibration hydraulic circuit and the pin pulling hydraulic circuit. The hydraulic pump 8 is mainly used to provide hydraulic power for the vibration hydraulic circuit and the pin pulling hydraulic circuit. In this specific embodiment, the hydraulic pump 8 is specifically a combined variable pump. The pump motor 9 is mainly used to drive the hydraulic pump 8 to rotate. The power supply 10 is mainly used to supply power to the pump motor 9. In this specific embodiment, the power supply 10 is specifically a high-capacity cleaning battery pack.

[0087] The working process of the special equipment for disassembling the pin shaft of the hydraulic support provided in this application is as follows:

[0088] The power supply 10 is started, and the image recognition device is started;

[0089] The pump motor 9 starts to work, the hydraulic pump 8 starts to work, and the oil tank 7 starts to supply oil;

[0090] The control device 6 receives the information of the pin position, starts the walking device 52, and the whole machine approaches the pin to be disassembled; then the rotating device 51 is rotated; the hydraulic pump 8 supplies oil to the vibration hydraulic circuit, and sequentially supplies oil to the second vibration lifting drive device 35, the vibration rotating drive device 36 and the first vibration lifting drive device 34, and the second vibration lifting arm 32, the vibration rotating arm 33 and the first vibration lifting arm 31 are sequentially moved to complete the vibration positioning;

[0091] Then, the control device 6 controls the hydraulic pump 8 to supply oil to the vibration drive device 12, and the vibration pick 11 is actuated to complete the vibration and loosening of the pin shaft;

[0092] Next, the control device 6 controls the hydraulic pump 8 to supply oil to the pin pulling hydraulic circuit, and supplies oil to the second pin pulling lifting drive device 45, the pin pulling rotation drive device 46 and the first pin pulling lifting drive device 44 in turn, and the second pin pulling lifting arm 42, the pin pulling rotation arm 43 and the first pin pulling lifting arm 41 move in turn to complete the pin pulling positioning;

[0093] Next, the control device 6 controls the hydraulic pump 8 to supply oil to the pin pulling drive device 22, and the pin puller 21 is actuated to complete the pulling out of the pin shaft;

[0094] Finally, the control device 6 stops supplying oil to the vibration hydraulic circuit and the pin pulling hydraulic circuit, and the vibration device 1 and the pin pulling device 2 are reset; the walking device 52 is started again to move to the pin shaft of the next hydraulic support.

[0095] This completes a working cycle.

[0096] In summary, the special equipment for disassembling the pin shaft of the hydraulic support provided by the present invention includes a vibration device 1, a pin pulling device 2, a vibration positioning device 3, a pin pulling positioning device 4 and a walking and rotating device 5. The vibration device 1 and the pin pulling device 2 realize the integration and rapidity of vibration and disassembly through the walking and rotating device 5, and can vibrate and disassemble the pin shafts in different positions at the same time, thereby shortening the overall working time and improving the disassembly efficiency. The vibration device 1 and the pin pulling device 2 can also help to achieve automation, get rid of manual operation, reduce labor intensity, and have higher work efficiency. Therefore, the special equipment for disassembling the pin shaft of the hydraulic support provided by the present invention can effectively improve the disassembly efficiency of the pin shaft of the hydraulic support.

[0097] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0098] The above is a detailed introduction to the special equipment for disassembling the pin shaft of the hydraulic support provided by the present invention. Specific examples are used in this article to illustrate the principle and implementation method of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A special equipment for disassembling the pin shaft of a hydraulic support, characterized in that: include: Vibration device for loosening pins; A pin pulling device for pulling out the pin shaft; A vibration positioning device connected to the vibration device and used for lifting or rotating the vibration device; A pin pulling and positioning device connected to the pin pulling device and used for lifting or rotating the pin pulling device; A walking and rotating device respectively connected to the vibration positioning device and the pin pulling positioning device and used to drive the two to move; The vibration device comprises: a vibration pick for contacting and loosening the pin shaft and a vibration driving device connected to the vibration pick for driving the vibration pick; the vibration driving device is a piston-type vibration hydraulic cylinder, whose cylinder body is connected to a hinge support fixed on the vibration positioning device, and whose piston rod is connected to the vibration connecting part of the vibration pick; The vibration positioning device includes: a first vibration lifting arm connected to the vibration pick and used to drive the vibration pick to rise and fall; a second vibration lifting arm connected to the walking and rotating device and used to drive the vibration pick and the first vibration lifting arm to rise and fall; and a vibration rotating arm provided between the first vibration lifting arm and the second vibration lifting arm and used to drive the vibration pick to rotate; The vibration positioning device further includes: a first vibration lifting drive device connected between the first vibration lifting arm and the vibration rotating arm, used to drive the first vibration lifting arm to achieve lifting; a second vibration lifting drive device connected between the second vibration lifting arm and the walking rotating device, used to drive the second vibration lifting arm to achieve lifting; and a vibration rotating drive device provided in the vibration rotating arm, used to drive the vibration rotating arm to rotate; The pin pulling device comprises: a pin puller for contacting and pulling out the pin shaft; and a pin pulling driving device connected to the pin puller and used to drive the pin puller to move; The pin pulling and positioning device comprises: a first pin pulling and lifting arm connected to the pin pulling device and used to drive the pin pulling device to rise and fall; a second pin pulling and lifting arm connected to the walking and rotating device and used to drive the pin pulling device and the first pin pulling and lifting arm to rise and fall; and a pin pulling and rotating arm provided between the first pin pulling and lifting arm and the second pin pulling and lifting arm and used to drive the pin pulling device to rotate; The pin pulling and positioning device further includes: a first pin pulling and lifting driving device connected between the first pin pulling and lifting arm and the pin pulling and rotating arm, used to drive the first pin pulling and lifting arm to achieve lifting and lowering; a second pin pulling and lifting driving device connected between the second pin pulling and lifting arm and the walking and rotating device, used to drive the second pin pulling and lifting arm to achieve lifting and lowering; and a pin pulling and rotating driving device provided in the pin pulling and rotating arm, used to drive the pin pulling and rotating arm to rotate; The walking and rotating device comprises: a rotating device connected to the second vibration lifting arm and the second pin pulling lifting arm respectively for driving the two to rotate; and a walking device connected to the rotating device for driving the rotating device to move.

2. The special equipment for disassembling the pin shaft of the hydraulic support according to claim 1 is characterized in that: Also includes: A vibration hydraulic circuit connected to the vibration drive device, the first vibration lifting drive device, the second vibration lifting drive device and the vibration rotary drive device respectively, and used to drive the four devices to act in sequence; A pin pulling hydraulic circuit is respectively connected to the pin pulling drive device, the first pin pulling lifting drive device, the second pin pulling lifting drive device and the vibration rotary drive device, and is used to drive the four to act in sequence.

3. The special equipment for disassembling the pin shaft of the hydraulic support according to claim 2 is characterized in that: Also includes: An image recognition device installed on the travel rotary device and used to identify the position of the pin; A control device is respectively connected to the image recognition device, the vibration hydraulic circuit and the pin pulling hydraulic circuit, and is used to control the operation of the vibration hydraulic circuit and the pin pulling hydraulic circuit according to information sent by the image recognition device.

Images