Traction device and traction system

Abstract

The application discloses a traction device and a traction system. The traction device comprises 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 driving device is used for pushing and pulling the large arm to move along a first horizontal direction. The small arm driving device is used for pushing and pulling the small arm to swing relative to the large arm. In the process of withdrawing the traction device, the driving devices are controlled to adjust the traction direction at any time, so that the withdrawing and direction adjusting of the hydraulic support can be better realized, various collisions and scratches can be avoided, the withdrawing work efficiency of the hydraulic support is greatly improved, the effect of reducing the number of workers, increasing the efficiency and strengthening the safety is realized, and the traction device has high economic value and social value. The traction system provided by the application has higher moving precision in the mode of driving the traction device to move forward, and effectively prevents over-movement.

Description

Technical Field

[0001] This invention relates to the field of mine engineering traction technology, and in particular to a traction device and traction system. Background Technology

[0002] Currently, during the withdrawal of hydraulic supports in fully mechanized coal mining, the main method for traction is to use a winch to pull the hydraulic supports out via wire rope. Since the winch's traction direction often differs from the direction the hydraulic supports are deployed or moving, pulleys are frequently used to change the traction direction of the wire rope. Furthermore, because hydraulic supports are quite heavy (generally tens of tons, and up to 100 tons for high-extraction hydraulic supports), the requirements for pulley anchoring points are extremely high. There are very few suitable anchoring points for pulleys in underground coal mines, resulting in a relatively fixed and unidirectional traction force, making adjustment difficult. On the other hand, operators need to manually drag, coil, and install the wire rope. For example, a typical 50-ton load-bearing wire rope has a diameter of 36mm and weighs over 5.5 kg per meter. Combined with its inherent rigidity, this makes dragging, coiling, and installing the wire rope extremely difficult, requiring the coordinated efforts of many operators. Due to the harsh working conditions, the steel wire ropes used often suffer abnormal wear and tear, and rope breakage accidents occur frequently. Because of the large traction force, the elastic rebound of the broken steel wire rope is extremely dangerous and often causes personal injury or death. Summary of the Invention

[0003] This invention is based on the inventor's discoveries and understanding of the following facts and problems:

[0004] The ideal traction route for hydraulic support retraction (retraction refers to the hydraulic support to be retracted being pulled out individually from its row of hydraulic supports and oriented along the roadway direction, not the entire retraction route) consists of approximately three segments:

[0005] The first section is a straight section, approximately the length of the hydraulic support base, typically between 2.0 and 4.0 meters. This section requires the greatest traction force, generally equivalent to the weight of the hydraulic support, typically between 20 and 100 tons. The second section is the steering section, a large arc section approximately 30 degrees from the first section. The hydraulic support is gradually steered in this section, ensuring that its tail does not deflect and collide with the protective support. The third section is a near-straight section, almost perpendicular to the first straight section, allowing the hydraulic support to complete its steering.

[0006] However, the traction process of the traction device in the relevant technology is difficult to match this ideal route, which makes it difficult for the hydraulic support to be deployed. The traction hydraulic support often collides and scrapes with the coal wall, shield support, and other hydraulic supports, resulting in equipment damage and safety issues.

[0007] The present invention aims to at least partially solve one of the technical problems in the related art. To this end, embodiments of the present invention provide a traction device and a traction system.

[0008] The traction device of this invention includes a base, a large arm, a small arm, a traction head, a large arm drive device, and a small arm drive device. The small arm is a telescopic small arm. The large arm is disposed on the movable base. The large arm drive device is disposed on the base and connected to the large arm. The large arm drive device is used to push and pull the large arm in a first horizontal direction to move it. The first end of the small arm is hinged to the first end of the large arm. The small arm drive device is disposed on the large arm and connected to the small arm. The small arm drive 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 disposed at the second end of the small arm and is used to connect to the object being traction.

[0009] The traction device provided in this embodiment of the invention can achieve a maximum fit with the ideal traction route for lifting the frame. Specifically, the movement of the boom in conjunction with the retraction of the forearm completes the first segment of the traction work of the lifting route. Then, while the forearm swings forward, it is controlled to extend appropriately, so that the traction head moves approximately along the direction of the second traction path. Finally, by extending the forearm and adjusting the swing angle of the forearm, the traction head moves along the third traction route.

[0010] The traction device provided in this invention, during the lifting process, controls each drive device to adjust the traction direction at any time, thereby better realizing the lifting and reorientation of the hydraulic support, avoiding various collisions and scrapes, and preventing equipment damage and dangerous situations. It completely avoids many problems and safety hazards in traditional winch traction methods, greatly improving the efficiency of hydraulic support retraction and significantly reducing the number of personnel required for the retraction work face, achieving the effect of reducing manpower, increasing efficiency, and enhancing safety, and possessing extremely high economic and social value.

[0011] In some embodiments, the boom drive device is a boom telescopic cylinder, with a first end hinged to the base and a second end hinged to the boom, the boom telescopic cylinder extending and retracting along the first horizontal direction to push and pull the boom; and / or, the forearm drive device is a forearm telescopic cylinder, with a first end hinged to the boom and a second end hinged to the forearm, the forearm telescopic cylinder extending and retracting to push and pull the forearm.

[0012] In some embodiments, the traction device further includes: at least one link, a first end of the link being hinged to the base, a second end of the link being hinged to the boom, and the hinge position of the link and the boom being located on the side away from the first end of the boom at the connection position between the boom drive device and the boom. Of course, the boom can be directly hinged to the base, which can also achieve a similar effect.

[0013] In some embodiments, there are two links, namely a first link and a second link, the first link and the second link are parallel to each other, and the boom, the boom drive device, the first link and the second link form a four-bar linkage.

[0014] In some embodiments, the forearm includes an inner forearm sleeve, an outer forearm sleeve, and a built-in telescopic cylinder. The outer forearm sleeve is fitted over the inner forearm sleeve and the two are slidably disposed together. The built-in telescopic cylinder is located inside the outer forearm sleeve and connected to the inner forearm sleeve for pushing and pulling the inner forearm sleeve. The first end of the upper arm is hinged to the outer forearm sleeve, and the traction head is hinged to the inner forearm sleeve.

[0015] Another embodiment of the present invention provides a traction system comprising: a traction device; and a stepping device, the stepping device including at least one retractable push rod arranged along a third horizontal direction, the end of the push rod being connected to the traction device, the stepping device being used to drive the traction device to step along the third horizontal direction.

[0016] In some embodiments, the stepping device includes a plurality of shield supports arranged sequentially along the first horizontal direction, each shield support including a push rod, the plurality of push rods being parallel to each other, wherein the first horizontal direction is perpendicular to the third horizontal direction, the shield support having a supported state and a retracted state, wherein in the supported state, the top of the shield support abuts against the tunnel roof, and in the retracted state, the shield support retracts to disengage from the roof.

[0017] In some embodiments, there are three cover supports, including a first cover support, a second cover support, and a third cover support arranged sequentially in the first horizontal direction. The first cover support includes a first horizontal push rod, the second cover support includes a second horizontal push rod, and the third cover 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 a triangle.

[0018] In some embodiments, each of the shield supports includes a hydraulic support rod and a top shield beam, the hydraulic support rod being supported at the bottom of the top shield beam and being telescopically configured to raise or lower the top shield beam. When the shield support is in the supported state, the top shield beam is raised, and when the shield support is in the retracted state, the top shield beam is lowered.

[0019] In some embodiments, the third cover support has at least one side cover beam on the side away from the second cover support. The side cover beam is connected to the top cover beam of the third cover support and is rotatably disposed. The side cover beam has an extended state and a retracted state. In the extended state, the side cover beam is parallel to the top cover beam and provides support. In the retracted state, the side cover beam hangs down and covers the interior of the third cover support.

[0020] The advantages of the traction system provided in this embodiment of the invention are as follows: the method of using a flat push rod to drive the traction device to move forward has higher movement accuracy and effectively prevents excessive forward movement. The flat push rod works under the push of the hydraulic cylinder, which can provide greater pulling force. When there is roof fall or collapse on the top plate of the working face during the retraction, it can effectively prevent the shield support from being crushed, making its forward movement smoother and more efficient. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the traction system provided in an embodiment of the present invention.

[0022] Figure 2 This is a schematic diagram of the traction device provided in an embodiment of the present invention.

[0023] Figure 3 This is a diagram illustrating the traction process of the traction device provided in an embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of the structure of the first protective support provided in an embodiment of the present invention.

[0025] Figure 5 This is a schematic diagram of the structure of the second protective support provided in an embodiment of the present invention.

[0026] Figure 6 This is a schematic diagram of the structure of the third protective support provided in an embodiment of the present invention.

[0027] Figure 7 This is a diagram showing the layout of the hydraulic support retraction working face provided in an embodiment of the present invention.

[0028] Figure 8 This is a schematic diagram of the traction route for the hydraulic support to be pulled out of the frame by the traction device provided in the embodiment of the present invention.

[0029] Figures 9-13 This is a schematic diagram of the stepping method steps of the traction system provided in the embodiment of the present invention.

[0030] Figure label:

[0031] Traction device 100, base 101, boom 102, forearm 103, traction head 104, boom telescopic cylinder 105, forearm telescopic cylinder 106, first connecting rod 107, second connecting rod 108, forearm inner sleeve 109, forearm outer sleeve 110, chain 111.

[0032] First protective support bracket 200, first horizontal push rod 201, first hydraulic support rod 202, first top protective beam 203, protective curtain 204, seat 205, lighting lamp 206, connecting lug 207.

[0033] Second protective support bracket 300, second horizontal push rod 301, second hydraulic support rod 302, second top protective beam 303, electro-hydraulic control system 304.

[0034] Third protective bracket 400, third horizontal push rod 401, third hydraulic support rod 402, third top protective beam 403, first side protective beam 404, second side protective beam 405, base side protective plate 406.

[0035] Hydraulic supports 500 and 501 are to be withdrawn. Detailed Implementation

[0036] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0037] The following is based on Figure 1-3 Sections 7 and 8 describe the basic structure of the traction device 100 provided in the embodiments of the present invention and the method for traction of the hydraulic support 501 to complete the ejection and reorientation based on such traction device 100.

[0038] like Figure 2 As shown, the traction device 100 includes a base 101, a main arm 102, a secondary arm 103, a traction head 104, a main arm drive device, and a secondary arm drive device. The secondary arm 103 is a telescopic arm, and the main arm 102 is movably mounted on the base 101. The main arm 102 has a first end and a second end opposite each other in its extension direction, and the secondary arm 103 also has a first end and a second end opposite each other in its extension direction. The first end of the secondary arm 103 is hinged to the first end of the main arm 102. Movement of the main arm 102 can drive movement of the secondary arm 103, and the secondary arm 103 can swing relative to the main arm 102 about the hinge point as its rotation center.

[0039] The boom drive device is mounted on the base 101 and connected to the boom 102. The boom drive device is used to push and pull the boom 102 in the first horizontal direction to move it. The forearm drive device is mounted on the boom 102 and connected to the forearm 103. The forearm drive device is used to push and pull the forearm 103 to make the forearm 103 swing relative to the boom 102. The traction head 104 is located at the second end of the forearm 102. The traction head 104 is used to connect to the object being traction.

[0040] In some embodiments, the traction device 100 provided in this invention is applied to the retraction process of a fully mechanized coal mining hydraulic support, and the object being traction is the hydraulic support 501. Figure 7 and Figure 8 As shown, during the lifting process, the lifting device 100 pulls one of the hydraulic supports 501 in the hydraulic supports 500 to be retracted out along the first horizontal direction and finally realizes the reorientation of the hydraulic support 501.

[0041] The unloading and towing method includes the following steps:

[0042] Step 1: Connect the hydraulic support 501 to be retracted to the traction head 104 of the traction device 100 via the chain 111. The forearm 103 is in an extended state, and the extension direction of the forearm 103 is along the first horizontal direction. At this time, the extension and retraction direction of the forearm 103 is along the first horizontal direction.

[0043] Step 2: The boom drive device drives the boom 102 to move along the first horizontal direction and drives the forearm 103 to move along the first horizontal direction. At the same time, the forearm 103 retracts along the first horizontal direction so that the traction device 100 pulls the hydraulic support 501 out of the hydraulic support 500 to be retracted along the first horizontal direction, completing the first straight section in the traction route for the frame removal.

[0044] Step 3: The forearm drive device drives the forearm 103 to swing relative to the boom 102, causing the traction head 104 to move away from the boom. At the same time, the forearm 103 gradually extends, so that the traction device 100 pulls the hydraulic support 501 to gradually adjust its direction, completing the second adjustment section in the outgoing traction route.

[0045] Step 4: The forearm 103 continues to extend, and simultaneously, the forearm drive device drives the forearm 103 to continue swinging, so that the traction bracket 100 pulls the hydraulic bracket 501 to move along the second horizontal direction, completing the third near-straight segment of the support traction route. The angle between the first and second horizontal directions is x, and the second horizontal direction is related to the extension direction of the roadway. In some embodiments, x is 90 degrees, that is, the second horizontal direction is perpendicular to the first horizontal direction.

[0046] It should be noted that in step 2, when the boom drive device drives the boom 102 to move along the first horizontal direction, it should at least ensure that the first end of the boom 102 (the end connected to the forearm 103) basically maintains movement along the first horizontal direction, so that the boom 102 drives the forearm 103 to move along the first horizontal direction, so that the traction device 100 can accurately pull out the hydraulic support 501 after completing this step.

[0047] The traction device and its ejection traction method provided in this embodiment of the invention achieve a maximum fit with the ideal ejection traction route. Specifically, the upper arm moves in conjunction with the lower arm retracts to complete the first segment of the ejection traction route. Then, while the lower arm swings forward, it is controlled to extend appropriately, so that the traction head moves approximately along the direction of the second traction path. Finally, by extending the lower arm and adjusting the swing angle of the lower arm, the traction head moves along the third traction route.

[0048] The traction device provided in this invention, during the lifting process, controls each drive device to adjust the traction direction at any time, thereby better realizing the lifting and reorientation of the hydraulic support, avoiding various collisions and scrapes, and preventing equipment damage and dangerous situations. It completely avoids many problems and safety hazards in traditional winch traction methods, greatly improving the efficiency of hydraulic support retraction and significantly reducing the number of personnel required for the retraction work face, achieving the effect of reducing manpower, increasing efficiency, and enhancing safety, and possessing extremely high economic and social value.

[0049] In some embodiments, the boom drive device is a boom telescopic cylinder 105, such as... Figure 2 As 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 extends and retracts in a first horizontal direction to push and pull the boom 102, causing the boom 102 to move in the first horizontal direction. When the boom telescopic cylinder 105 extends, it pushes the boom 102; when the boom telescopic cylinder 105 retracts, it pulls the boom 102.

[0050] In some alternative embodiments, such as Figure 8 As shown, the boom extension cylinder 105 is located on the side of the boom 102 closest to the hydraulic support 501. In step 2, the boom extension cylinder 105 extends to push the boom 102. In some alternative embodiments, the boom extension cylinder 105 may be located on the side of the boom 102 furthest from the hydraulic support 501. In step 2, the boom extension cylinder 105 retracts to pull the boom 102.

[0051] In some embodiments, such as Figure 2As shown, the forearm drive device is a forearm telescopic cylinder 106. The first end of the forearm telescopic cylinder 106 is hinged to the upper arm 102, and the second end is hinged to the forearm 103. The forearm telescopic cylinder 106 extends and retracts 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 upper arm 102. When the forearm telescopic cylinder 106 retracts, the forearm 103 swings in the opposite direction and its second end moves closer to the upper arm.

[0052] In some alternative embodiments, the forearm telescopic cylinder 106 extends, increasing the angle between the forearm 103 and the upper arm 102; the forearm telescopic cylinder 106 retracts, decreasing the angle between the forearm 103 and the upper arm 102.

[0053] Telescopic hydraulic cylinders are used to provide power for the movement of the boom 102 and the swing of the forearm 103. The telescopic hydraulic cylinders can provide a large traction force, which can effectively avoid jamming and make the lifting process run smoothly.

[0054] In some embodiments, such as Figure 2 As shown, the second end of the boom 102 is hinged to the base 101. To ensure that the first end of the boom 102 remains within the first horizontal direction as much as possible when it moves under the drive of the boom drive device, the traction device 100 also 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. The hinge position between the connecting rod and the boom 102 is located on the side away from the first end of the boom 102 from the connection position between the boom drive device and the boom 102. This connecting rod configuration forms a linkage structure. When the boom drive device drives the boom to move, the boom 102 drives the connecting rod to swing, allowing the first end of the boom 102 to maintain near-linear motion during the swing.

[0055] In some alternative embodiments, the boom 102 can be translated as a whole along a first horizontal direction under the drive of the boom drive device. For example, the boom drive device is a boom telescopic cylinder 105. The base 101 is provided with a slide rail extending along the first horizontal direction. 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 cylinder 105 pushes the boom 105 to slide along the slide rail, so that it is translated as a whole along the first horizontal direction, so that its first end can maintain movement along the first horizontal direction.

[0056] The following is based on Figure 2 , 3 The following describes a traction device 100 and a method for unloading the frame using such a traction device 100, with examples 7 and 8.

[0057] like Figure 2As shown, the traction device 100 includes a base 101, a boom 102, a forearm 103, a traction head 104, a boom telescopic cylinder 105, a forearm telescopic cylinder 106, a first connecting rod 107, and a second connecting rod 108.

[0058] For ease of description, the first horizontal direction is defined as the left-right direction, and the second horizontal direction is defined as the front-back direction. The hydraulic support 500 to be retracted is located to the left of the traction device 100. The traction device 100 pulls one of the hydraulic supports 501 to be retracted to the right and then sends the hydraulic support 501 forward by adjusting its direction. The first end of the boom 102 is its front end, and the second end is its rear end. The left-right and front-back directions are as follows: Figure 8 As shown by the arrow in the image.

[0059] The first link 107 and the second link 108 extend in parallel directions. The first ends of both links 107 and 108 are hinged to the base 101, and the second ends are hinged to the upper arm 102. Furthermore, the first link 107 is located in front of the second link 108, and the hinge point between the first link 107 and the upper arm 102 is located in front of the hinge point between the second link 108 and the upper arm 102, closer to the first end of the upper arm 102. Figure 2 As shown, the second link 108 is hinged to the rear end of the main arm 102, i.e., the second end.

[0060] like Figure 2 and Figure 8 As shown, the boom telescopic cylinder 105 is located on the left side of the boom 102. Its first end (left end) is hinged to the base 101, and its second end (right end) is hinged to the front middle position of the boom 102. The hinge point between the boom telescopic cylinder 105 and the boom 102 is located in front of the hinge point between the first connecting rod 107 and the boom 102, closer to the first end of the boom 102. Figure 3 As shown, the extension and retraction direction of the boom telescopic cylinder 105 remains basically unchanged. When the boom telescopic cylinder 105 extends, it pushes the boom 102 to the right; when the boom telescopic cylinder 105 retracts, it pulls the boom 102 to the left.

[0061] The boom 102, boom telescopic cylinder 105, first link 107, and second link 108 form a four-bar linkage. For example... Figure 3 As shown in Figures A-C, when the boom extension cylinder 105 extends, it pushes the boom 102 to the right. At the same time, the boom extension cylinder 105 and the boom 102 swing relative to each other around the connecting pin. 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 maintains a near-linear movement to the right when swinging the boom.

[0062] Before the traction work begins, such as Figure 3 and Figure 8As shown, the extension direction of the forearm 103 is roughly along the first horizontal direction, that is, the left and right direction. At this time, the first end (right end) of the forearm 103 is hinged to the front end of the upper arm 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.

[0063] 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 the front middle section of the boom 102, and the second end is hinged to the middle section of the forearm 103. Furthermore, in this embodiment, as... Figure 2 As shown, the hinge position between the forearm telescopic cylinder 106 and the boom 102 is located in front of the hinge position between 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. When the forearm telescopic cylinder 106 retracts, it pulls the forearm 103 to swing counterclockwise relative to the boom 102.

[0064] Furthermore, to achieve the telescopic performance of the forearm 103, in this embodiment, the forearm 103 includes an inner forearm sleeve 109, an outer forearm sleeve 110, and a built-in telescopic cylinder (not shown in the figure). The outer forearm sleeve 110 is fitted onto the inner forearm sleeve 109, and the two are slidably arranged relative to each other, i.e., the inner forearm sleeve 109 and the outer forearm sleeve 110 are slidably connected. The built-in telescopic cylinder is located inside the outer forearm sleeve 110 and connected to the inner forearm sleeve 109 for pushing and pulling the inner forearm sleeve 109. The first end of the upper arm 102 is hinged to the outer forearm sleeve 110, and the traction head 104 is hinged to the inner forearm sleeve 109. When the built-in telescopic cylinder extends, it pushes the inner forearm sleeve 109 out of the outer forearm sleeve 110, and the forearm 103 extends; when the built-in telescopic cylinder retracts, it pulls the inner forearm sleeve 109 into the outer forearm sleeve 110, and the forearm 103 shortens.

[0065] like Figure 2 As shown, the traction head 104 is connected to the hydraulic support 501 that is being deployed via chain 111. It can be understood that the extension or retraction of the forearm 103 causes the traction head 104 to move, which in turn causes the hydraulic support 501 connected to the traction head 104 via chain 111 to move.

[0066] The boom telescopic cylinder 105 drives the boom 102 to move, the forearm telescopic cylinder 106 drives the forearm 103 to swing, and the built-in telescopic cylinder drives the forearm 103 to extend and retract. The above movements work together, and the traction device 100 pulls the hydraulic support 501 out along the ideal out-of-frame traction route and completes the orientation adjustment.

[0067] The following is based on Figure 3 , 78. The specific description of the support deployment traction method using the traction device 100 in the above embodiments is as follows: The location of the traction device 100 at the fully mechanized hydraulic support retraction face and the support deployment traction route diagram are shown in [reference needed]. Figure 7 See the schematic diagram of the state transition process of the traction device 100 during the lifting process. Figure 3 The diagrams A-E in the image are shown. The specific steps of the unloading and traction method include the following:

[0068] Step 1: As Figure 8 , Figure 3 As shown in Figure A, the traction device 100 reaches the working position. At this time, the extension direction of the forearm 103 is along the left and right direction (first horizontal direction). The telescopic direction of the forearm 103 is also along the first horizontal direction. The traction head 104 is connected to the left end of the forearm 103 and is located to the right of the hydraulic support 501 to be deployed. The built-in telescopic cylinder of the forearm 103 drives the forearm to be in an extended state. The telescopic cylinder 105 of the upper arm is in a retracted state, so that the upper arm 102 is located on the left. The telescopic cylinder 106 of the forearm is in a retracted state. The hydraulic support 501 to be deployed and the traction head 104 are connected to each other by the chain 111.

[0069] Step 2: As Figure 8 , Figure 3 As shown in Figure B, the built-in telescopic cylinder retracts, and the inner sleeve 109 of the forearm gradually retracts into the outer sleeve 110 of the forearm, causing the forearm 103 to shorten. Simultaneously... Figure 3 As shown in C, the boom extension cylinder 105 extends and pushes the boom 102 to the right. The boom 102 moves to the right, causing the first link 107 and the second link 108 to swing counterclockwise. The front end of the boom 102 moves to the right in a near-linear manner, causing the forearm 103 to move to the right. The traction head 104 pulls the hydraulic support 501 to the right until the hydraulic support 501 is pulled out from a row of hydraulic supports 500 waiting to be retracted, completing the first straight section of the outgoing traction route.

[0070] Step 3: As Figure 8 , Figure 3 As shown in D, the boom extension cylinder 106 extends, driving the boom 103 to swing clockwise relative to the boom 102. At the same time, the built-in extension cylinder drives the boom 103 to gradually extend, so that the traction head 104 pulls the hydraulic support 501 to gradually adjust the direction, completing the second adjustment section in the outgoing traction route.

[0071] Step 4: As Figure 8 , Figure 3As shown in E, the built-in telescopic hydraulic control arm 103 continues to extend, while the arm telescopic hydraulic cylinder 106 drives the arm 103 to continue to swing clockwise, or, with appropriate contraction, drives the arm 103 to swing counterclockwise, so that the traction head 104 pulls the hydraulic support 501 forward to complete the third near-straight section of the support traction route, and pulls the hydraulic support 501 into the tunnel.

[0072] Using the traction device provided in this embodiment of the invention, and following the above-described method for traction, the hydraulic support can be tractioned along an ideal traction route as closely as possible. By controlling each telescopic cylinder, the traction direction can be adjusted at any time, thereby effectively realizing the traction and phase adjustment process of the hydraulic support, avoiding various collisions and scrapes, greatly improving the efficiency of the hydraulic support retraction work, reducing the number of personnel required for the retraction work face, saving labor costs, protecting equipment, and improving the safety factor of the retraction process, thus possessing extremely high economic and social value.

[0073] Another embodiment of the present invention also provides a traction system having the above-described traction device 100, which is described below according to... Figure 1-6 The basic structure of the traction system provided in the embodiments of the present invention is described.

[0074] like Figure 1 As shown, the traction system includes a traction device 100 and a stepping device. The traction device 100 is the traction device 100 in any of the above embodiments, and is used for traction of the hydraulic support during its deployment. The stepping device includes at least one telescopically oriented push rod, the end of which is connected to the traction device 100. The stepping device is used to drive the traction device to step along the third horizontal direction, bringing the traction device 100 to the next deployment position.

[0075] Several hydraulic supports 501 are arranged along a third horizontal direction. After the traction device 100 completes the ejection traction of one hydraulic support 501, the hydraulic support 501 needs to be stepped along the third horizontal direction to the next ejection position so that it can be ejected in accordance with the next hydraulic support 501. The push rod can be extended or shortened under the control of the push cylinder.

[0076] In some embodiments, such as Figure 9-13 As shown, the stepping device is located in the opposite direction of the stepping direction of the traction device 100. First, the push rod of the stepping device is driven to extend. After the push rod pushes the traction device 100 to the next exit position, the push rod of the stepping device is driven to shorten, pulling the body of the stepping device toward the traction device 100 by one step.

[0077] In other embodiments, the stepping device may also be located on one side of the stepping direction of the traction device 100. First, the push rod of the stepping device is driven to extend, advancing the body of the stepping device away from the traction device 100 by one step. Then, the push rod of the stepping device is driven to shorten, pulling the traction device 100 towards the stepping device by one step.

[0078] In some embodiments, the third horizontal direction is parallel to the roadway direction (the second horizontal direction). That is, the hydraulic support 500 to be retracted is arranged along the roadway direction for easy retraction.

[0079] In some embodiments, the stepping device includes a plurality of shield supports arranged sequentially along a first horizontal direction. Each shield support includes a push rod, and the push rods are parallel to each other, wherein the first horizontal direction is perpendicular to a third horizontal direction. The shield supports have a supported state and a retracted state. In the supported state, the top of the shield support abuts against the tunnel roof; in the retracted state, the shield support retracts to disengage from the roof. Each shield support can step independently after retraction by operating the push rod, or it can remain in a supported state to provide shielding while other shield supports are stepping, thus completing multiple pushes of the traction device 100.

[0080] By advancing the shield supports independently in sequence, at least one support can be in a supporting state, thus enhancing the safety of the roadway. When there is roof fall or collapse during the retreat of the working face, it effectively prevents the shield supports from being crushed, allowing for smoother and more efficient forward movement.

[0081] In some embodiments, such as Figures 9-13 As shown, the stepping device includes three protective supports spaced apart in the first horizontal direction. Each protective support includes a horizontal push rod, and each horizontal push rod is connected to a connection point on the traction device 100. The three horizontal push rods and the three connection points of the traction device 100 form a triangle. The triangular arrangement of the three connection points creates a stable triangular fixing point between the stepping device and the traction device 100, thus providing a stable positioning function.

[0082] The following is based on Figures 1-13 The following describes a traction system and a stepping method of such a traction system in a specific embodiment of the present invention.

[0083] like Figure 1 and Figure 7 As shown, the traction system in this embodiment includes a traction device 100 and a stepping device. The stepping device includes a first cover support 200, a second cover support 300 and a third cover support 400 arranged sequentially along a first horizontal direction. The first cover support 200 includes a first push rod 201, the second cover support 300 includes a second push rod 301, and the third cover support 400 includes a third push rod 401.

[0084] For ease of description, the first horizontal direction is defined as the left-right direction, and the third horizontal direction is parallel to the tunnel direction (the second horizontal direction) and defined as the front-back direction. The left-right and front-back directions are as follows: Figure 9 As indicated by the arrows in the diagram. The first cover support 200, the second cover support 300, and the third cover support 400 are arranged sequentially from right to left. In this embodiment, the traction device 100 steps forward, and the stepping device is located behind the traction device.

[0085] like Figure 9 and Figure 10 As shown, the first push rod 201, the second push rod 301, and the third push rod 401 all extend in the front-to-back direction. The front ends of the first push rod 201, the second push rod 301, and the third push rod 401 are respectively hinged to three hinge points on the base 101 of the traction device 100. The front end of the second push rod 301 is located behind the front ends of the first push rod 201 and the third push rod 401. The front ends of the first push rod 201 and the third push rod 401 are basically flush in the front-to-back direction, and the front ends of the three push rods form a triangle. When the stepping device pushes the traction device 100 forward, the first flat push rod 201, the second flat push rod 301 and the third flat push rod 401 extend forward synchronously, pushing the traction device 100 forward by one step. When the stepping device body moves forward, the first cover support 200, the second cover support 301 and the third cover support 400 move forward in sequence under the action of the first flat push rod 201, the second flat push rod 301 and the third flat push rod 401 respectively.

[0086] Furthermore, such as Figures 4-6 As shown, the first protective support 200, the second protective support 300, and the third protective support 400 all include a hydraulic support rod and a top protective beam. The hydraulic support rod is supported at the bottom of the top protective beam and is telescopically adjustable to raise or lower the top protective beam. When the protective support is in the supported state, its top protective beam is raised; when the protective support is in the retracted state, its top protective beam is lowered.

[0087] Before the protective support bracket 200 steps forward, the hydraulic support rod retracts, causing the top protective beam to lower and be in a retracted state. After the stepping is completed, the hydraulic support rod extends, causing the top protective beam to rise and be in a supported state. The first protective support bracket 200, the second protective support bracket 300, and the third protective support bracket 400 can move forward individually by lowering their supports and retracting their push rods. When they reach the appropriate position, they are raised and fixed. By rotating them in sequence, all three protective supports can move forward, thus enabling the traction device 100 and the three protective supports to move forward step by step.

[0088] Specifically, such as Figure 4 As shown, the first shield support 200 includes a base, a first push rod 201, a first hydraulic support rod 202, and a first top shield beam 203. The first push rod 201 is mounted on the base, and its front end has a connecting lug 207 for connecting to the base 101. The top end of the first hydraulic support rod 202 is supported on the bottom of the first top shield beam 203, and the bottom end is supported on the base. Furthermore, one end of the first top shield beam 203 is hinged to the base, allowing it to be flipped relative to the base. When the first hydraulic support rod 202 retracts, the first top shield beam 203 flips downwards, lowering the height of the first shield support 200 for forward movement. When the first hydraulic support rod 202 extends, the first top shield beam 203 flips downwards, raising the height of the first shield support 200. The first shield support 200 is supported on the roof of the roadway, providing support and protection. Figure 4 As shown, the first horizontal push rod 201 of the first cover support 200 is an extended horizontal push rod.

[0089] Furthermore, the first protective support 200 also includes a protective curtain 204, a seat 205, and a lighting fixture 206. The protective curtain 204 can preferably be constructed using several circular chain links, with one end fixedly connected to the first top protective beam 203 and the other end hanging freely. This isolates a safe area for the operator, preventing injuries from flying debris such as broken wire ropes or chains, and provides the operator with better visibility, allowing for clearer and more convenient observation of the position and status of the traction device, hydraulic support, and protective support, resulting in excellent ergonomics. The seat 205 is fixed to the base of the first protective support 200, providing a place for the operator to rest. The lighting fixture 206 is fixed to the bottom of the first top protective beam 203, providing illumination and solving the problem of difficult lighting in the triangular area of ​​underground coal mines. This allows operators to more conveniently and clearly observe the position and operating status of various equipment, further improving safety.

[0090] like Figure 5 As shown, the second protective support 300 includes a base, a second push rod 301, a second hydraulic support rod 302, and a second top protective beam 303. The second push rod 301 is mounted on the base, and its front end has a connecting lug for connecting to the base 101. The top end of the second hydraulic support rod 302 is supported on the bottom of the second top protective beam 303, and the bottom end is supported on the base. Furthermore, one end of the second top protective beam 303 is hinged to the base, allowing it to be flipped relative to the base. The flipping method is the same as that of the first protective support 200.

[0091] Furthermore, the second protective support 300 is also equipped with an electro-hydraulic control system 304. The electro-hydraulic control system 304 is fixed on the base of the second protective support 300 and located below the second top protective beam 303. The electro-hydraulic control system 304 is responsible for the electro-hydraulic control of the entire system and supplies power to the lighting lamp 206. The traction system provided in this embodiment of the invention can also adopt intelligent detection remote control. The intelligent detection function of the electro-hydraulic control system 304 can detect the status of each cylinder and pressure in real time, thereby displaying the changes in top plate pressure and traction force in real time. This allows the operator to adjust the operation strategy in a timely manner according to the corresponding situation, making the moving and retraction operations safer and more reliable. The traction system adopts remote control, avoiding close-range operation of the equipment and keeping it away from the moving equipment. It allows for a more comprehensive view of the operating position and status of the traction device 100 and the hydraulic support 501 in real time, making the entire operation process safer.

[0092] like Figure 6 As shown, the third protective support 400 includes a base, a third horizontal push rod 401, a third hydraulic support rod 402, and a third top protective beam 403. The third horizontal push rod 401 is mounted on the base, and its front end has a connecting lug for connection to the base 101. The top end of the third hydraulic support rod 402 is supported on the bottom of the third top protective beam 403, and the bottom end is supported on the base. Furthermore, one end of the third top protective beam 403 is hinged to the base, allowing it to be flipped relative to the base. The flipping method is the same as that of the first protective support 200.

[0093] Furthermore, the third protective support 400 is provided with at least one side protective beam on the side away from the second protective support 300. The side protective beam is connected to the third top protective beam 403 and is rotatably arranged. The side protective beam has an extended state and a retracted state. In the extended state, the side protective beam is parallel to the third top protective beam 403 and provides support. In the retracted state, the side protective beam hangs down and covers the interior of the third protective support 400 to provide cover.

[0094] Specifically, such as Figure 6 As shown, the side shield beams include a first side shield beam 404 and a second side shield beam 405. Figure 6 As shown, the first side shield beam 404 and the second side shield beam 405 are both hinged to the side of the extended, ultra-thin third top shield beam 403 away from the second shield support 300, and are respectively connected to a swing cylinder, allowing the first side shield beam 404 and the second side shield beam 405 to be folded. The first side shield beam 404 and the second side shield beam 405 can be unfolded in a timely manner to be parallel to the upper plane of the third top shield beam 403, together supporting the top plate.

[0095] The third protective support 400 also includes a base side protective plate 406, which is fixed on the base and is used to prevent collapsed coal blocks and rocks from entering the interior of the protective support.

[0096] When the first side shield beam 404 and the second side shield beam 405 are retracted, they hang down in a vertical position, together with the base side shield plate 406, to prevent debris and coal from the collapse zone from intruding into the inner side of the shield support. The extended and ultra-thin third top shield beam 403 can better protect the hydraulic support to be withdrawn and provide it with sufficient passage space.

[0097] The following is based on Figures 9-13 The stepping method of the traction system in the above embodiments is described in detail. Figure 8 To establish the initial position of the hydraulic support 501 after its deployment by the traction device 100, the stepping method of the traction system specifically includes the following steps:

[0098] Step 1: As Figure 9 and Figure 10 As shown, after the traction device 100 completes the ejection traction, the first flat push rod 201, the second flat push rod 301 and the third flat push rod 401 are controlled to extend forward simultaneously, pushing the traction device 100 forward by one step, and the traction device 100 reaches the next ejection position, which is opposite to the next hydraulic support 501.

[0099] Step 2: As Figure 11 As shown, the third hydraulic support rod 402 of the third cover support 400 retracts to drive the third top cover beam 403 to descend, controls the retraction of the third horizontal push rod 401, pulls the body of the third cover support 400 forward by one step, and the third hydraulic support rod 402 extends to drive the third top cover beam 403 to rise and support and fix it.

[0100] Step 3: As Figure 12 As shown, the second hydraulic support rod 302 of the second cover support 300 retracts to drive the second top cover beam 303 to descend, controls the second flat push rod 301 to retract, pulls the body of the second cover support 300 forward by one step, and the second hydraulic support rod 302 extends to drive the second top cover beam 303 to rise and support and fix it.

[0101] Step 4: As Figure 13 As shown, the first hydraulic support rod 202 of the first cover support 200 retracts to drive the first top cover beam 203 to descend, controls the first horizontal push rod 201 to retract, pulls the body of the first cover support 200 forward by one step, and the first hydraulic support rod 202 extends to drive the first top cover beam 203 to rise and be supported and fixed, thus completing the step forward movement of the entire system.

[0102] In related technologies, the use of winches for pulling the support frame requires manual pulling and securing of steel wire ropes. Winches have limited traction force, and when the traction force is insufficient, pulleys need to be activated, resulting in complex, time-consuming, and labor-intensive processes with poor pulling effect and low efficiency. The advantages of the traction system and its stepping method provided in this invention are: the use of a flat push rod to drive the traction device forward in a stepping manner provides higher movement accuracy and effectively prevents over-movement; the flat push rod, driven by a hydraulic cylinder, provides greater pulling force; and the sequential stepping method of the shield supports effectively prevents them from being crushed when there is roof fall or collapse during the retraction of the working face, making their forward movement smoother and more efficient.

[0103] After the hydraulic support is deployed, it needs to be pulled to the connecting roadway entrance by a winch, and then steered again by a loader or other means before being loaded onto a truck and driven away. During this period, the winch cannot pull the protective support due to the obstruction of the deployed hydraulic support. However, the stepping method of the traction system provided by this invention can be carried out during this period without affecting each other, thus completing the overall process and further improving efficiency.

[0104] The stepping method of the traction system provided in this embodiment of the invention can also be remotely controlled, reducing close-range operation of the equipment, allowing operators to stay away from the equipment and observe the operating position and status of the traction device and hydraulic support from a more comprehensive perspective, making it safer and more efficient.

[0105] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0106] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0107] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0108] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0109] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0110] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A traction device, characterized in that, include: The system comprises a base, a large arm, a small arm, a traction head, a large arm drive device, and a small arm drive device. The small arm is telescopic. The large arm is movably mounted on the base. The large arm drive device is mounted on the base and connected to the large arm. The large arm drive device is used to push and pull the large arm in a first horizontal direction to move it. The first end of the small arm is hinged to the first end of the large arm. The small arm drive device is mounted on the large arm and connected to the small arm. The small arm drive 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 located at the second end of the small arm and is used to connect to the object being pulled. The boom drive 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 drive device is a forearm telescopic cylinder, the first end of the forearm telescopic cylinder is hinged to the upper arm, the second end is hinged to the forearm, and the forearm telescopic cylinder extends and retracts to push and pull the forearm; Also includes: At least one link, the first end of the link is hinged to the base, the second end of the link is hinged to the boom, and the hinge position of the link and the boom is located on the side away from the first end of the boom at the connection position between the boom drive device and the boom. There are two links, namely the first link and the second link, the first link and the second link are parallel to each other, and the boom, the boom drive device, the first link and the second link form a four-bar linkage. When the boom drive device drives the boom to move, the boom drives the connecting rod to swing, which can keep the first end of the boom moving in a near-linear motion during the swing.

2. The traction device according to claim 1, characterized in that, The forearm includes an inner forearm sleeve, an outer forearm sleeve, and a built-in telescopic cylinder. The outer forearm sleeve is fitted onto the inner forearm sleeve and the two are slidably arranged. The built-in telescopic cylinder is located inside the outer forearm sleeve and connected to the inner forearm sleeve for pushing and pulling the inner forearm sleeve. The first end of the upper arm is hinged to the outer forearm sleeve, and the traction head is hinged to the inner forearm sleeve.

3. A traction system, characterized in that, include: A traction device, wherein the traction device is the traction device according to any one of claims 1-2; A stepping device, comprising at least one retractable push rod arranged along a third horizontal direction, the end of the push rod being connected to the traction device, the stepping device being used to drive the traction device to step along the third horizontal direction.

4. The traction system according to claim 3, characterized in that, The stepping device includes a plurality of shield supports arranged sequentially along the first horizontal direction. Each shield support includes a push rod, and the plurality of push rods are parallel to each other. The first horizontal direction is perpendicular to the third horizontal direction. The shield support has a supported state and a retracted state. In the supported state, the top of the shield support abuts against the roof of the tunnel. In the retracted state, the shield support retracts to disengage from the roof.

5. The traction system according to claim 4, characterized in that, The cover support consists of three parts, including a first cover support, a second cover support, and a third cover support arranged sequentially in the first horizontal direction. The first cover support includes a first horizontal push rod, the second cover support includes a second horizontal push rod, and the third cover 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 a triangle.

6. The traction system according to claim 5, characterized in that, Each of the aforementioned shield supports includes a hydraulic support rod and a top shield beam. The hydraulic support rod is supported at the bottom of the top shield beam and is telescopically configured to raise or lower the top shield beam. When the shield support is in the supported state, the top shield beam is raised, and when the shield support is in the retracted state, the top shield beam is lowered.

7. The traction system according to claim 6, characterized in that, The third protective support has at least one side protective beam on the side away from the second protective support. The side protective beam is connected to the top protective beam of the third protective support and is rotatably arranged. The side protective beam has an extended state and a retracted state. In the extended state, the side protective beam is parallel to the top protective beam and provides support. In the retracted state, the side protective beam droops.

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