Fully-mechanized caving hydraulic support withdrawal technology

Abstract

The present invention discloses a fully-mechanized caving hydraulic support withdrawal process, which uses a withdrawal system to withdraw the hydraulic support. The withdrawal system includes a traction device, a number of shielding supports and a triangular area support frame. The traction device is used to tow the hydraulic support out of the support along a preset path. The shielding support has a state of lifting the support and a state of lowering the support. The shielding support has a flat push rod that can be telescoped in the roadway direction, and the flat push rod is connected to the traction device. The triangular area support frame includes two support columns that can be telescoped in the vertical direction, and the support columns can rotate around the other support column to step forward. The withdrawal process includes a withdrawal preparation stage, a withdrawal stage, and a withdrawal finishing stage. The fully-mechanized caving hydraulic support withdrawal process of the present invention greatly improves the shielding safety and the withdrawal efficiency of the hydraulic support, reduces the personnel allocation on the working face for withdrawing the hydraulic support, enhances the safety of the work for withdrawing the hydraulic support, realizes the effect of reducing personnel, increasing efficiency and enhancing safety, and has extremely high economic value and social value.

Description

Technical Field

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

[0002] Currently, in the withdrawal work of fully-mechanized caving hydraulic supports in coal mines, generally, methods such as building wooden cribs and supporting round logs are used for the support and protection of the triangular area. The consumption of wood is large, the cost is high, the danger coefficient is high, it is time-consuming and laborious, the support effect is poor, and accidents often occur where equipment is buried by roof falls and collapses, resulting in low withdrawal work efficiency, high danger coefficient, and high uncertainty.

[0003] The traction work of hydraulic supports mainly uses a winch to pull through a steel wire rope, and the traction direction often does not coincide with the direction required for the hydraulic support to be withdrawn or moved. Therefore, it is often necessary to change the traction direction of the steel wire rope through a pulley. Also, because the hydraulic support is relatively heavy, very high requirements are imposed on the fixed point of the pulley. There are few pulley fixed points that can be used for anchoring in the coal mine underground, so that the traction force direction is relatively single and fixed, and it is difficult to adjust. Moreover, due to the elastic flash draw of the steel wire rope, the towed hydraulic support often collides and rubs against the shielding support, roadway wall, etc., with sparks flying everywhere, increasing the probability of equipment damage and dangerous situations. It also requires multiple operators to manually drag, coil, and connect the steel wire rope, and the process is very difficult, with potential safety hazards. In addition, due to the harsh working conditions, the used steel wire ropes often cause abnormal wear and tear, and the frequency of wire rope breakage accidents is high. Due to the large traction force, the elastic snap-back of the broken wire rope is extremely dangerous, and the frequency of personnel injury accidents is high.

[0004] With the increasing mining height of coal mines, for the withdrawal work of hydraulic supports in large mining height working faces, whether from the perspective of support and protection or from the perspective of withdrawing and adjusting the support, the hydraulic support withdrawal process in the related technology can no longer meet the requirements. Therefore, there is an urgent need for a brand-new withdrawal process to achieve less personnel, increased efficiency, and enhanced safety in coal mines. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems in the related technology to some extent. To this end, an embodiment of the present invention provides a fully-mechanized caving hydraulic support withdrawal process for the withdrawal of fully-mechanized caving hydraulic supports in coal mines, which improves the withdrawal efficiency of hydraulic supports, reduces the personnel allocation in the hydraulic support withdrawal working face, and enhances the safety of the hydraulic support withdrawal work.

[0006] The fully-mechanized caving hydraulic support withdrawal process according to the embodiment of the present invention uses a withdrawal system to withdraw the hydraulic support. The withdrawal system includes a traction device, a plurality of shielding supports, and a triangular area support frame.

[0007] The traction device is used to pull out the hydraulic support along a preset path. The shield support has a state of raising the support and a state of lowering the support. The shield support has a flat push rod that can be telescoped in the roadway direction. The flat push rod is connected to the traction device. The triangular area support frame includes two telescopic support columns, and the support columns can rotate around the other support column to move forward in a stepping manner;

[0008] The withdrawal process includes the following steps:

[0009] S1: In the withdrawal preparation stage, install the withdrawal system at the withdrawal working face. A number of the shield supports are arranged in sequence in a first horizontal direction perpendicular to the roadway direction and raise the support to support. The triangular area support frame is located in the triangular area beside the shield support close to the hydraulic support to be withdrawn, and both of its two support columns are extended to support. The traction device reaches the traction position and is connected to a number of the flat push rods, and the flat push rods are in a contracted state;

[0010] S2: In the withdrawal stage, the traction device pulls out the hydraulic support and adjusts its direction along the roadway direction. Use the support removal equipment to remove the hydraulic support in the roadway. The triangular area support frame takes a step forward and supports again. The flat push rods of a number of the shield supports are simultaneously extended to push the traction device forward by a step distance to reach the traction position of the next hydraulic support. Then, a number of the shield supports sequentially complete the steps of lowering the support, contracting and moving forward the flat push rod, and raising the support to support. Thus, one support removal cycle is completed, and this step is repeated;

[0011] S3: In the withdrawal finishing stage, remove the traction device, and sequentially remove the shield support and the triangular area support frame.

[0012] After the fully-mechanized coal mining hydraulic support withdrawal process proposed in the embodiment of the present invention uses the traction device to pull out the hydraulic support, then use the support removal equipment such as a winch to remove the hydraulic support along the roadway, replacing the process of directly using a winch and a movable pulley to pull the hydraulic support in the traditional withdrawal process. The traction route of the traction device is flexible and adjustable, and can better complete the support removal and direction adjustment of the hydraulic support, avoiding the phenomena of collision, rubbing, and spark splashing caused by using a winch to pull the hydraulic support. The support removal efficiency is greatly improved, and the personnel configuration at the hydraulic support withdrawal working face is reduced, avoiding the safety hazards caused by personnel gathering.

[0013] Multiple shielding supports are used alternately for shielding. The flat push rods of the shielding supports push and pull in sequence to achieve the stepping self - movement of multiple shielding supports, eliminating the step of using a winch to pull the shielding support forward in the general withdrawal process. In step S2, the working steps of the withdrawal equipment to pull the hydraulic support out of the roadway can be carried out synchronously with the steps of the shielding support stepping forward, saving the withdrawal time and improving the withdrawal efficiency of the hydraulic support. Making the shielding supports step forward independently in sequence can ensure that at least one shielding support can be in the state of lifting the support to play a role in shielding and supporting, enhancing the safety of the roadway. When there is roof fall or collapse and pressure on the support in the withdrawal working face, it can effectively prevent the shielding support from being crushed, making its forward movement smoother and more efficient.

[0014] The triangular - area support frame is used for supporting the triangular area, eliminating the process of building a timber crib with sleepers in the withdrawal process of related technologies. It has high support strength, fast support speed, can provide good support and shielding, avoid roof collapse, and ensure the safety of the personnel and equipment being shielded. Moreover, the two support columns of the triangular - area support frame can alternately support and move forward by rotating and stepping, and can adjust the rotation angle as needed, step forward in any direction, and freely adjust the support position. Therefore, it can greatly simplify the preparatory process in the early stage of the hydraulic support and the finishing process in the later stage of the hydraulic support withdrawal, providing good shielding for the withdrawal of the hydraulic support and the shielding support.

[0015] In addition, the rotation - stepping method of the triangular - area support frame can achieve non - repeated support for the roof and floor, reducing the damage to the roof and floor, and then reducing the risk of roof fragmentation and collapse. And its rotation - stepping method can always make the support column in the non - support state move between the support column in the support state and the shielding area between the hydraulic support to be withdrawn or the shielding support, effectively avoiding the risk of support crushing caused by the roof pressing down due to the loss of support.

[0016] Therefore, the fully - mechanized coal - mining hydraulic - support withdrawal process proposed in the embodiments of the present invention greatly improves the shielding safety and the withdrawal efficiency of the hydraulic support, reduces the personnel allocation in the hydraulic - support withdrawal working face, enhances the safety of the hydraulic - support withdrawal work, realizes the effect of reducing personnel, increasing efficiency, and enhancing safety, and has extremely high economic value and social value.

[0017] In some embodiments, the hydraulic supports to be withdrawn are numbered ①… in sequence from the back to the front along the roadway direction. Step S1 specifically includes:

[0018] S101, withdraw the fourth and fifth hydraulic supports in the withdrawal working face;

[0019] S102, install the triangular - area support frame at the position vacated by the two hydraulic supports withdrawn in step S101, and both of the two support columns extend for support;

[0020] S103. Install several of the shield supports in place successively along the first horizontal direction, and raise the supports for support.

[0021] S104. Withdraw the 3rd and 6th hydraulic supports at the retreating working face.

[0022] S105. Install the traction device at the traction position corresponding to the 7th hydraulic support. The traction device is connected to the horizontal push rods of several of the shield supports, and all the horizontal push rods are in a contracted state.

[0023] S106. Move the triangular area support frame forward in the direction of the 7th hydraulic support, and extend and support both of the support columns.

[0024] S107. Successively cover and tow the remaining 2nd and 1st hydraulic supports behind the shield supports to the roadway opening.

[0025] In some embodiments, the two support columns are a first support column and a second support column. In step S102, the support column close to the shield support is the first support column, and the support column close to the goaf is the second support column. Step S106 specifically includes:

[0026] S10601. Contract the first support column so that it rotates around the second support column by a certain angle to move forward. After reaching the position, extend and support the first support column.

[0027] S10602. Contract the second support column so that it rotates around the second support column by a certain angle to move forward. After reaching the position, extend and support the second support column.

[0028] S10603. Contract the first support column so that it rotates around the second support column by a certain angle to move forward. After reaching the position, extend and support the first support column. At this time, the first support column is close to the shield support, and the second support column is close to the goaf.

[0029] In some embodiments, step S2 specifically includes:

[0030] S201. Connect the hydraulic support to the traction device, and control the traction device to tow out and adjust the orientation of the hydraulic support.

[0031] S202. The support withdrawal equipment withdraws the hydraulic support towed out in step S201.

[0032] S203. The triangular area support frame takes a step forward and re-supports.

[0033] S204. Control the flat push rods of several of the shield supports to extend simultaneously, pushing the traction device forward by one step distance so that the traction device reaches the pulling-out position of the next hydraulic support.

[0034] S205. Control the shield support closest to the hydraulic support to lower its support, then control the flat push rod of the shield support to contract to complete the forward movement of the shield support, and then raise the shield support again to provide support.

[0035] S206. Move the remaining shield supports forward in sequence from the one closest to the hydraulic support to the one farthest away to complete one out-of-frame cycle.

[0036] S207. Repeat steps S201 to S206 until after the third-to-last hydraulic support in the entire working face has been withdrawn, enter the S3 withdrawal and finishing stage.

[0037] In some embodiments, the traction device includes a base, a large arm, a small arm, a traction head, a large arm driving device, and a small arm driving device. The small arm is a telescopic small arm. The large arm is movably arranged on the base. The large arm driving device is arranged on the base and connected to the large arm. The large arm driving device is used to push and pull the large arm along the first horizontal direction to make it move. The first end of the small arm is hinged to the first end of the large arm. The small arm driving device is arranged on the large arm and connected to the small arm. The small arm driving device is used to push and pull the small arm to make the small arm swing relative to the large arm. The traction head is arranged at the second end of the small arm for connecting with the object to be towed.

[0038] The steps for the traction device to pull out the hydraulic support and adjust its direction along the roadway direction specifically include:

[0039] S20101: Connect the hydraulic support to be withdrawn to the traction head through a chain. The small arm is in the extended state, and the extension direction of the small arm is along the first horizontal direction.

[0040] S20102: The large arm driving device drives the large arm to move along the first horizontal direction, and at the same time the small arm contracts, so that the traction device pulls out the hydraulic support along the first horizontal direction.

[0041] S20103: The small arm driving device drives the small arm to swing relative to the large arm to move the traction head away from the large arm, and at the same time the small arm gradually extends, so that the traction device gradually adjusts the direction of the hydraulic support.

[0042] S20104: The small arm continues to extend, and at the same time the small arm driving device drives the small arm to continue to swing, so that the traction support pulls the hydraulic support to move along the roadway direction.

[0043] In some embodiments, the two support columns are a first support column and a second support column. In step S202, the support column close to the shielding support is the first support column, and the support column close to the goaf is the second support column. S203 specifically includes:

[0044] S20301, the first support column contracts, causing it to rotate 90 degrees around the second support column so as to move forward. After reaching the position, the first support column extends to provide support;

[0045] S20302, the second support column contracts, causing it to rotate 90 degrees around the first support column in the same rotation direction as in step S20301. After reaching the position, the second support column extends to provide support. At this time, the first support column is close to the goaf, and the second support column is close to the shielding support.

[0046] In some embodiments, step S3 specifically includes:

[0047] S301, disassemble and withdraw the traction device, and withdraw the shielding support closest to the triangular area support frame;

[0048] S302, contract the support column of the triangular area support frame close to the goaf, causing it to move forward around the other support column so that the triangular area support frame faces the roadway;

[0049] S303, withdraw the shielding of the second-to-last hydraulic support on the withdrawal working face, and then withdraw the shielding supports in sequence from the closest to the farthest from the hydraulic support. Then withdraw the last hydraulic support, and finally withdraw the triangular area support frame.

[0050] In some embodiments, the shielding support includes a hydraulic support rod and a top shielding beam. The hydraulic support rod supports at the bottom of the top shielding beam. The hydraulic support rod is telescopically arranged to raise or lower the top shielding beam. In the state of raising the support, the top shielding beam rises, and in the state of lowering the support, the top shielding beam descends;

[0051] On the side of the shielding support closest to the hydraulic support to be withdrawn and close to the triangular area support frame, there is at least one side shielding beam. The side shielding beam is connected to the top shielding beam of the shielding support and is rotatably arranged. The side shielding beam has a deployed state and a retracted state. In the deployed state, the side shielding beam is parallel to the top shielding beam to provide support. In the retracted state, the side shielding beam droops. The withdrawal process further includes:

[0052] When the triangular area support frame takes a step, make the side shielding beam flip to the deployed state.

[0053] In some embodiments, the shielding support includes a first shielding support, a second shielding support, and a third shielding support arranged in sequence in a first horizontal direction, and the third shielding support is located on one side close to the hydraulic support to be withdrawn.

[0054] The first shielding support includes a first flat push rod, the second shielding support includes a second flat push rod, the third shielding support includes a third flat push rod, and the three connection points of the first flat push rod, the second flat push rod, and the third flat push rod with the traction device form an acute triangle on a horizontal plane, and the connection point of the second flat push rod is located behind the connection points of the first flat push rod and the third flat push rod.

[0055] In some embodiments, the triangular area support frame further includes: a connection structure that is connected between the two support columns and can drive one of the support columns in a contracted state to rotate around the other support column in a supported state. When rotating, the connection structure and the support column in the contracted state are located between the top and bottom ends of the support column in the supported state in the vertical direction; a sleeve assembly that is sleeved on the support column one by one and is fixed to the support column in the circumferential direction. The sleeve assembly is located between the top support part and the bottom support part, and the sleeve assembly is fixed to the connection structure in the axial direction and is rotatably arranged relative to the connection structure in the circumferential direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a layout diagram of the working face of a general fully-mechanized coal mining hydraulic support to be withdrawn in an embodiment of the present invention.

[0057] Figure 2 It is a schematic structural diagram of the system withdrawal system in an embodiment of the present invention.

[0058] Figure 3 It is a process diagram of the S1 process in the withdrawal preparation stage and the working face layout diagram in an embodiment of the present invention.

[0059] Figure 4 It is a process diagram of the S2 process in the withdrawal stage and the working face layout diagram in an embodiment of the present invention.

[0060] Figure 5 It is a process diagram of the S3 process in the withdrawal ending stage and the working face layout diagram in an embodiment of the present invention.

[0061] Figure 6 It is a schematic structural diagram of the traction device provided in an embodiment of the present invention.

[0062] Figure 7 It is a process diagram of the out-of-frame traction process of the traction device provided in an embodiment of the present invention.

[0063] Figure 8 It is a schematic structural diagram of the first shielding support provided in an embodiment of the present invention.

[0064] Figure 9 It is a schematic structural diagram of the second shielding support provided by an embodiment of the present invention.

[0065] Figure 10 It is a schematic structural diagram of the third shielding support provided by an embodiment of the present invention.

[0066] Figure 11 It is a schematic diagram of the process and layout in S202 process in an embodiment of the present invention.

[0067] Figures 12 to 16 It is a schematic diagram of the process and layout from S204 to S206 in the present invention.

[0068] Figure 17 It is a schematic structural diagram of the triangular area support frame provided by an embodiment of the present invention.

[0069] Figure 18 It is a partial schematic diagram of the triangular area support frame provided by an embodiment of the present invention.

[0070] Figure 19 It is a cross-sectional view of the triangular area support frame provided by an embodiment of the present invention.

[0071] Figure 20 It is a sectional view A-A of the triangular area support frame provided by an embodiment of the present invention.

[0072] Figure 21 It is an application diagram of the triangular area support frame provided by an embodiment of the present invention.

[0073] Figure 22 It is a schematic diagram of the S106 process of the triangular area support frame in an embodiment of the present invention.

[0074] Figure 23 It is a schematic diagram of the S203 process of the triangular area support frame in an embodiment of the present invention.

[0075] Reference numerals:

[0076] Goaf 001, reserved coal pillar 002, retreat auxiliary roadway 003, connecting roadway 004, unmined area 005,

[0077] Traction device 100, base 101, boom 102, forearm 103, traction head 104, boom telescopic oil cylinder 105, forearm telescopic oil cylinder 106, first connecting rod 107, second connecting rod 108, inner forearm sleeve 109, outer forearm sleeve 110, chain 111,

[0078] First shielding support 200, first horizontal push rod 201, first hydraulic support rod 202, first top shielding beam 203, shielding curtain 204, seat 205, lighting lamp 206, connecting ear 207,

[0079] The second shielding support 300, the second flat push rod 301, the second hydraulic support rod 302, the second top shielding beam 303, the electro-hydraulic control system 304,

[0080] The third shielding support 400, the third flat push rod 401, the third hydraulic support rod 402, the third top shielding beam 403, the first side shielding beam 404, the second side shielding beam 405, the base side shielding plate 406,

[0081] The hydraulic support to be withdrawn 500, the hydraulic support 501,

[0082] The triangular area support frame 600, the first support column 601a, the second support column 601b, the top support part 611, the bottom support part 612, the drive mechanism 613, the inner cylinder 614, the outer cylinder 615, the limit projection 616, the first driven gear 617, the second driven gear 618, the connection structure 602, the first driving gear 621, the second driving gear 622, the connection box body 623, the box body cover 6231, the first rotary motor 624, the second rotary motor 625, the cable 603, the sleeve assembly 604, the first sleeve assembly 604a, the second sleeve assembly 604b, the upper flange 641, the sleeve 642, the lower flange 643, the limit groove 644, the first bearing 651, the second bearing 652, the top plate 661, the bottom plate 662, the electric control component 607. Detailed implementation manners

[0083] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0084] The following is based on Figures 1 - 23 Describe the fully-mechanized coal mining hydraulic support withdrawal process provided by the embodiments of the present invention. This withdrawal process uses a withdrawal system to withdraw the hydraulic support, as Figure 2 shown. The withdrawal system includes a traction device 100, several shielding supports and a triangular area support frame 600.

[0085] Among them, the traction device 100 is used to pull out the hydraulic support 501 along a preset path, that is, to pull out the hydraulic support 501 from the hydraulic support 500 to be withdrawn, and guide the hydraulic support 501 to be placed along the roadway direction. The shielding support has a raised state and a lowered state. In the raised state, the shielding support is raised and supported between the roof and the floor of the roadway, playing a supporting role. In the lowered state, the shielding support is lowered and separated from the roof of the roadway. At this time, the shielding support can step forward. The shielding support has a flat push rod that can be telescoped along the roadway direction. The flat push rod is connected to the traction device 100 and plays a role in pushing the traction device 100 to step forward. The triangular area support frame 600 includes two telescopic support columns, and the support columns can rotate around another support column to step forward. The extended support column can be supported between the roof and the floor to play a supporting role. After the support column shrinks, it can rotate a certain angle around another support column in the supporting state. By setting the rotation direction and angle, stepping in any direction can be achieved.

[0086] The withdrawal process includes the following steps:

[0087] S1: As Figure 3 shown, in the withdrawal preparation stage, a withdrawal system is installed at the withdrawal working face. Among them, several shielding supports are arranged in sequence in the first horizontal direction perpendicular to the roadway direction and are raised and supported. The triangular area support frame 600 is located in the triangular area beside the shielding support close to the hydraulic support 500 to be withdrawn, and both of its two support columns are extended and supported. The traction device 100 reaches the traction position and is connected to several flat push rods of several shielding supports. At this time, the flat push rods are in a contracted state;

[0088] S2: As Figure 4 shown, in the withdrawal stage, the traction device 100 pulls out the hydraulic support 501 from a row of hydraulic supports 500 to be withdrawn and adjusts its direction along the roadway direction. The withdrawn hydraulic support 501 in the roadway is withdrawn using a support removal device. The triangular area support frame 600 steps forward (steps in the direction close to the next hydraulic support 501) by one step distance and re-supports. The flat push rods of several shielding supports are simultaneously extended to push the traction device 100 forward by one step distance to reach the traction position of the next hydraulic support 501 to be pulled out. Then, several shielding supports sequentially complete the steps of lowering the support, contracting and moving forward the flat push rod, and raising and supporting the support, thereby completing one out-of-support cycle. Repeat this step;

[0089] S3: As Figure 5 shown, in the withdrawal finishing stage, the traction device is withdrawn, and the shielding support and the triangular area support frame are withdrawn in sequence.

[0090] In step S2, the steps of lowering the shielding support, retracting and moving forward the flat push rod, and raising and supporting the shielding support are specifically as follows: the shielding support is lowered to disengage from the roof of the roadway, and then the flat push rod of the shielding support retracts to drag the shielding support forward by one step distance in the direction close to the traction device 100. After reaching the position, the shielding support is raised and supported again. When a shielding support is in the lowered state, the remaining shielding supports are all raised and supported to play a shielding role.

[0091] In step S2, the equipment for removing the support can be selected as a winch, a forklift or other equipment.

[0092] In the fully-mechanized caving hydraulic support withdrawal process proposed by the embodiment of the present invention, after the hydraulic support is pulled out of the support by the traction device, a winch or other equipment is used to withdraw the hydraulic support along the roadway, replacing the process of directly using a winch and a movable pulley to pull the hydraulic support in the traditional withdrawal process. The traction route of the traction device is flexible and adjustable, which can better complete the out-of-support and orientation adjustment of the hydraulic support, avoid the collision, rubbing, and spark splashing phenomena caused by using a winch to pull the hydraulic support, greatly improve the out-of-support efficiency, reduce the personnel configuration of the hydraulic support withdrawal working face, and avoid the safety hazards caused by personnel gathering.

[0093] Multiple shielding supports are used for alternate shielding, and the flat push rods of the shielding supports push and pull in sequence to realize the stepping self-movement of multiple shielding supports, abandoning the step of using a winch to pull the shielding support forward in the general withdrawal process. In step S2, the working step of the equipment for removing the support to pull the hydraulic support out of the roadway can be carried out synchronously with the step of the shielding support moving forward step by step, saving the withdrawal time and improving the withdrawal efficiency of the hydraulic support. Making the shielding supports step forward independently in sequence can ensure that at least one shielding support can be in the raised state to play a shielding and supporting role, enhancing the safety of the roadway. When there is roof fall or collapse and pressure on the support in the withdrawal working face, it can effectively prevent the shielding support from being crushed, making its forward movement smoother and more efficient.

[0094] The triangular area support frame is used for supporting the triangular area, eliminating the process of building a wooden crib with sleepers in the relevant technical withdrawal process. It has high support strength, fast support speed, can provide good support and shielding, avoid roof collapse, and ensure the safety of the protected personnel and equipment. Moreover, the two support columns of the triangular area support frame can alternately support and move forward by rotation and stepping, and can adjust the rotation angle as needed, step forward in any direction, and adjust the support position at will. Therefore, it can greatly simplify the preparatory process of the hydraulic support in the early stage and the finishing process in the later stage of the hydraulic support withdrawal, and provide good shielding for the withdrawal of the hydraulic support and the shielding support.

[0095] In addition, the rotary stepping method of the triangular support frame can achieve non-repeated support for the roof and floor, reduce damage to the roof and floor, and thus reduce the risk of roof fragmentation and collapse. Moreover, its rotary stepping method enables the support columns in the non-support state to always move between the support columns in the support state and the shelter area between the hydraulic support to be withdrawn or the shield support, effectively avoiding the risk of hydraulic support pressing caused by the roof pressing down due to the loss of support.

[0096] Therefore, the fully-mechanized caving hydraulic support withdrawal process proposed in the embodiments of the present invention greatly improves the shelter safety and the withdrawal efficiency of the hydraulic support, reduces the personnel allocation in the hydraulic support withdrawal working face, enhances the safety of the hydraulic support withdrawal work, realizes the effect of reducing personnel, increasing efficiency and enhancing safety, and has extremely high economic value and social value.

[0097] As Figure 1 shown, in the working face of the fully-mechanized caving hydraulic support to be withdrawn, the hydraulic support 500 to be withdrawn is arranged on one side of the goaf 001 along the roadway direction. In the withdrawal working face, there are also a withdrawal auxiliary roadway 003 and a connecting roadway 004 communicating with the roadway, as well as a reserved coal pillar 002 and an unmined area 005.

[0098] Next, according to Figures 2 - 23 the specific embodiments of the fully-mechanized caving hydraulic support withdrawal process provided by the present invention will be described in detail.

[0099] As Figure 1 shown, in the hydraulic support 500 to be withdrawn, the arrangement direction of the hydraulic support 501 is along the roadway direction, and the roadway direction extends along the front-back direction. The hydraulic support 500 to be withdrawn is numbered ①… sequentially from back to front along the roadway direction. The withdrawal sequence is generally from back to front, that is, the hydraulic support 501 with a smaller number is withdrawn first. In order to provide space for the installation of the withdrawal system, in the withdrawal preparation process of step S1, it is necessary to first withdraw some hydraulic supports 501 from the frame and then gradually move forward.

[0100] As an example, step S1 specifically includes:

[0101] S101, withdraw the fourth and fifth hydraulic supports 501 in the withdrawal working face,

[0102] S102, install the triangular support frame 100 at the position vacated by the two hydraulic supports 501 withdrawn in step S101, and extend and support both support columns of the triangular support frame 100;

[0103] S103, install multiple shield supports in place sequentially along the first horizontal direction and raise the supports. The first horizontal direction is perpendicular to the roadway extension direction. In Figure 3In the illustrated embodiment, the roadway is located on the right side of the hydraulic support 500 to be withdrawn, and the shielding support is installed in the roadway, that is, the shielding support is located on the right side of the hydraulic support 500 to be withdrawn;

[0104] S104, withdraw the 3rd and 6th hydraulic supports at the withdrawal working face;

[0105] S105, install the traction device 100 at the traction position corresponding to the 7th hydraulic support, that is, on the right side of the 7th hydraulic support, connect the traction device 100 to the flat push rods of several shielding supports, and the flat push rods are all in the retracted state;

[0106] S106, as Figure 3 shown, move the triangular support frame 600 forward in the direction of the 7th hydraulic support, and then extend both of its support columns to support;

[0107] S107, shield and traction the remaining 2nd and 1st hydraulic supports behind the shielding support to the roadway opening in sequence, and the withdrawal sequence is the 2nd hydraulic support - the 1st hydraulic support.

[0108] In steps S101, S104, and S107, the withdrawal of the 1st - 6th hydraulic supports can use a winch, a forklift or other equipment.

[0109] As Figure 4 shown, step S2 specifically includes:

[0110] S201, connect the hydraulic support 501 waiting to be withdrawn (in sequence from the 7th hydraulic support backward) to the traction device 100, and control the traction device 100 to pull out and turn the hydraulic support 501;

[0111] S202, the support withdrawal equipment withdraws the hydraulic support pulled out in step S201;

[0112] S203, the triangular support frame 100 takes a step forward and re - supports;

[0113] S204, control the flat push rods of several shielding supports to extend simultaneously, push the traction device 100 forward by a step distance, and the step distance is the width of the hydraulic support to be withdrawn, so that the traction device 100 reaches the pull - out position of the next hydraulic support 501 waiting to be withdrawn;

[0114] S205, control the shielding support closest to the hydraulic support to lower the support (in Figure 4 the illustrated embodiment, the shielding support closest to the hydraulic support is the left - most shielding support), then control the flat push rod of the shielding support to contract to complete the forward movement of the shielding support, and then make the shielding support raise the support again to support;

[0115] S206, Move the remaining shielding supports forward in sequence in the direction from close to far from the hydraulic support (from left to right) to complete one support extraction cycle.

[0116] S207, Repeat steps S201 to S206 until after the penultimate hydraulic support 501 in the entire working face is withdrawn, enter the S3 withdrawal and finishing stage.

[0117] As Figure 5 shown, step S3 specifically includes:

[0118] S301, Dismantle and withdraw the traction device 100, and withdraw the shielding support closest to the triangular area support frame 600.

[0119] S302, Contract the support column of the triangular area support frame 600 close to the goaf, make it move forward around another support column, and make the triangular area support frame 600 face the roadway.

[0120] S303, Shield and withdraw the penultimate hydraulic support 501 on the withdrawal working face, then withdraw the shielding supports in sequence in the direction from close to far from the hydraulic support (from left to right), then withdraw the last hydraulic support 501, and finally withdraw the triangular area support frame 600.

[0121] It should be noted that in step S207, the two remaining hydraulic supports 501 in the working face are not withdrawn because, restricted by the length of the roadway, the traction device 100 can no longer perform the traction work. In actual work, according to the actual situation of the roadway and the working space required by the traction device 100, as many hydraulic supports as possible can be withdrawn, not limited to the situation of "until after the penultimate hydraulic support 501 in the entire working face is withdrawn, enter the S3 withdrawal and finishing stage" in the above step S207.

[0122] The inventor found that: The ideal route of the support extraction traction route during the withdrawal of the hydraulic support (support extraction means that the hydraulic support is individually pulled out from a row of hydraulic supports where it is located and completes the orientation adjustment along the roadway direction, not referring to the entire withdrawal traction route) is generally composed of three sections:

[0123] The first section is a straight line section with a length approximately equal to the base length of the hydraulic support, generally between 2.0 meters and 4.0 meters. The traction force required for this section is the largest, generally the traction force is equivalent to the weight of the hydraulic support, generally between 20 tons and 100 tons; the second section is the orientation adjustment section, which is a large arc section with an angle of about 30 degrees with the first section. The hydraulic support gradually adjusts its orientation in this section, and its tail must not be deflected to collide with the shielding support; the third section is a nearly straight line section nearly perpendicular to the first straight line section to make the hydraulic support complete the orientation adjustment.

[0124] However, in the traction process of the traction device in the related art, it is very difficult to fit this ideal route, resulting in difficulties in extracting the hydraulic support. The towed hydraulic support often collides and rubs against the coal wall, the shield support, and other hydraulic supports, causing equipment damage and safety problems.

[0125] Based on the discovery and recognition of the above facts and problems, the inventors propose that in the withdrawal process, the traction device 100 is used to tow the hydraulic support out of the rack. The traction device 100 has stronger flexibility and better matches the ideal traction route of the hydraulic support.

[0126] The following will describe Figures 6 - 16 As shown, the traction device 100 in some specific embodiments of the present invention, and the extraction traction method for completing the extraction and orientation adjustment of the hydraulic support 501 based on this traction device 100.

[0127] In some embodiments, as Figure 6 shown, the traction device 100 includes a base 101, a large arm 102, a small arm 103, a traction head 104, a large arm driving device, and a small arm driving device. The small arm 103 is a telescopic small arm, and the large arm 102 is movably arranged on the base 101. The large arm 102 has a first end and a second end opposite to each other in its extending direction, the small arm 103 has a first end and a second end opposite to each other in its extending direction, and the first end of the small arm 103 is hinged to the first end of the large arm 102. The movement of the large arm 102 can drive the movement of the small arm 103, and the small arm 103 can swing relative to the large arm 102 with the hinge point as the rotation center.

[0128] The large arm driving device is arranged on the base 101 and connected to the large arm 102. The large arm driving device is used to push and pull the large arm 102 along the first horizontal direction to make it move. The small arm driving device is arranged on the large arm 102 and connected to the small arm 103. The small arm driving device is used to push and pull the small arm 103 to make the small arm 103 swing relative to the large arm 102. The traction head 104 is arranged at the second end of the small arm 102, and the traction head 104 is used to connect to the object to be towed (hydraulic support 501). As Figure 11 shown, in the extraction traction process, the traction device 100 pulls out one hydraulic support 501 in the hydraulic support 500 to be withdrawn along the first horizontal direction and finally realizes the orientation adjustment of the hydraulic support 501.

[0129] Based on this extraction traction of the traction device 100 for completing the extraction and orientation adjustment of the hydraulic support 501, as Figure 7 and 11 shown, step S201 specifically includes the following steps:

[0130] S20101: As Figure 7As shown in A, the hydraulic support 501 to be withdrawn is connected to the towing head 104 by a chain. The small arm 103 is in the extended state, and the extension direction of the small arm 103 is along the first horizontal direction. At this time, the telescopic direction of the small arm 103 is along the first horizontal direction;

[0131] S20102: As Figure 7 As shown in B and 7C, the boom driving device drives the boom 102 to move along the first horizontal direction and drives the small arm 103 to move along the first horizontal direction. At the same time, the small arm 103 contracts, so that the traction device 100 pulls the hydraulic support 501 out of the hydraulic support 500 to be withdrawn along the first horizontal direction, completing the first straight section in the out-of-frame traction route;

[0132] S20103: As Figure 7 As shown in D, the small arm driving device drives the small arm 103 to swing relative to the boom 102 to move the towing head 104 away from the boom 102. At the same time, the small arm 103 gradually extends, so that the traction device 100 gradually adjusts the direction while towing the hydraulic support 501, completing the second direction adjustment section in the out-of-frame traction route;

[0133] S20104: As Figure 7 As shown in E, the small arm 103 continues to extend, and at the same time, the small arm driving device drives the small arm 103 to continue to swing, so that the traction support 100 pulls the hydraulic support 501 to move along the roadway direction, completing the third near-straight section in the out-of-frame traction route.

[0134] It should be noted that in step S20102, when the boom driving 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 small arm 103) basically moves along the first horizontal direction, so that the boom 102 drives the small arm 103 to move along the first horizontal direction, so that after the traction device 100 completes this step, the hydraulic support 501 can be accurately pulled out.

[0135] The traction device 100 and the out-of-frame traction method of the embodiment of the present invention achieve the best fit with the ideal out-of-frame traction route. Specifically, the movement of the boom 102 is coordinated with the contraction of the small arm 103 to complete the first traction work in the out-of-frame traction route. After that, while the small arm 103 swings forward, the small arm 103 is controlled to extend appropriately, so that the towing head 104 approximately advances along the direction of the second traction path. Finally, by extending the small arm 103 and adjusting the swing angle of the small arm 103, the towing head 104 advances along the third traction route.

[0136] During the out-of-frame traction process using the traction device 100 provided by the embodiments of the present invention, by controlling each driving device to adjust the traction direction at any time, it is possible to better achieve the out-of-frame and orientation adjustment of the hydraulic support 501, avoid various collisions and rubbings, and prevent equipment damage and dangerous situations. It can completely avoid many problems and potential safety hazards in the traditional winch traction method, greatly improve the working efficiency of the hydraulic support withdrawal, significantly reduce the number of workers required for the withdrawal working face, achieve the effect of reducing personnel, increasing efficiency, and enhancing safety, and has extremely high economic value and social value.

[0137] In some embodiments, the boom driving device is the boom telescopic cylinder 105. As Figure 6 shown, the first end of the boom telescopic cylinder 105 is hinged to the base 101, and the second end is hinged to the boom 102. The boom telescopic cylinder 105 expands and contracts along the first horizontal direction to push and pull the boom 102, causing the boom 102 to move along the first horizontal direction. When the boom telescopic cylinder 105 extends, it pushes the boom 102, and when the boom telescopic cylinder 105 contracts, it pulls the boom 102.

[0138] In some alternative embodiments, as Figure 6 shown, the boom telescopic cylinder 105 is arranged on the side of the boom 102 close to the hydraulic support 501. The boom telescopic cylinder 105 extends to push the boom 102. In some other alternative embodiments, the boom telescopic cylinder 105 can be arranged on the side of the boom 102 away from the hydraulic support 501, and in step 2, the boom telescopic cylinder 105 contracts to pull the boom 102.

[0139] In some embodiments, as Figure 6 shown, the forearm driving device is the forearm telescopic cylinder 106. The first end of the forearm telescopic cylinder 106 is hinged to the boom 102, and the second end is hinged to the forearm 103. The forearm telescopic cylinder 106 expands and contracts to push and pull the forearm 103. When the forearm telescopic cylinder 106 extends, the forearm 103 swings and its second end moves away from the boom 102. When the forearm telescopic cylinder 106 contracts, the forearm 103 swings in the opposite direction and its second end approaches the boom.

[0140] In some alternative embodiments, when the forearm telescopic cylinder 106 extends, the angle between the forearm 103 and the boom 102 becomes larger. When the forearm telescopic cylinder 106 contracts, the angle between the forearm 103 and the boom 102 becomes smaller.

[0141] Using the telescopic cylinder to provide power for the movement of the boom 102 and the swing of the forearm 103, the telescopic cylinder can provide a large traction force, effectively avoid the occurrence of jamming phenomena, and make the out-of-frame traction process operate smoothly.

[0142] In some embodiments, as Figure 6As shown, the second end of the boom 102 is hinged to the base 101. In order to ensure that when the boom 102 moves driven by the boom driving device, its first end can be kept moving along the first horizontal direction as much as possible. The traction device 100 further includes at least one connecting rod. The first end of the connecting rod is hinged to the base 101, the second end of the connecting rod is hinged to the boom 102, and the hinged position of the connecting rod and the boom 102 is located on the side away from the first end of the boom 102 of the connecting position between the boom driving device and the boom 102. The setting of the connecting rod forms a connecting rod structure. When the boom driving device drives the boom to move, the boom 102 drives the connecting rod to swing, which can make the first end of the boom 102 keep a nearly linear motion when swinging the boom.

[0143] In some alternative embodiments, the boom 102 can be integrally translated along the first horizontal direction driven by the boom driving device. For example, the boom driving device is a boom telescopic cylinder 105. A slide rail extending along the first horizontal direction is provided on the base 101. The boom 102 has at least one support point supported on the slide rail and is slidably arranged along the slide rail. The boom telescopic cylinder 105 pushes the boom 105 to slide along the slide rail, so that it is integrally translated along the first horizontal direction, so that its first end can be kept moving along the first horizontal direction.

[0144] The following takes Figure 6 , 7 , as shown in 11, as an example to describe the traction device 100 in a specific embodiment of the present invention and the outrigger traction method using this traction device 100.

[0145] As Figure 6 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.

[0146] For the convenience of description, the first horizontal direction is defined as the left-right direction. The hydraulic support 500 to be withdrawn is located on the left side of the traction device 100. The traction device 100 pulls out a certain hydraulic support 501 in the hydraulic support 500 to be withdrawn to the right direction and sends the hydraulic support 501 forward through orientation. The first end of the boom 102 is its front end, and the second end is its rear end. The left-right direction and the front-rear direction are as shown by the arrows in Figure 11 .

[0147] The extending directions of the first connecting rod 107 and the second connecting rod 108 are parallel. The first ends of the first connecting rod 107 and the second connecting rod 108 are both hinged to the base 101, and the second ends are both hinged to the boom 102. And the first connecting rod 107 is located in front of the second connecting rod 108. The hinged point of the first connecting rod 107 and the boom 102 is located in front of the hinged point of the second connecting rod 108 and the boom 102, and is closer to the first end of the boom 102. As Figure 2As shown, the second connecting rod 108 is hinged to the rear end of the boom 102, i.e., the second end.

[0148] As Figure 6 and 7 shown, the telescopic boom 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 a position in front of the middle of the boom 102. Moreover, the hinged point of the telescopic boom cylinder 105 and the boom 102 is in front of the hinged point of the first connecting rod 107 and the boom 102, and is closer to the first end of the boom 102. As Figure 7 shown, the telescopic direction of the telescopic boom cylinder 105 remains basically unchanged. When the telescopic boom cylinder 105 extends, it pushes the boom 102 to move to the right. When the telescopic boom cylinder 105 contracts, it pulls the boom 102 to move to the left.

[0149] The boom 102, the telescopic boom cylinder 105, the first connecting rod 107 and the second connecting rod 108 form a four-bar linkage mechanism. As Figure 7 shown in FIGS. A-C in the middle, when the telescopic boom cylinder 105 extends, while it pushes the boom 102 to move to the right, the telescopic boom cylinder 105 and the boom 102 swing relative to each other around the connecting pin shaft. The first connecting rod 107 and the second connecting rod 108 swing under the action of the boom 102, so that the front end of the boom 102 moves to the right in a nearly straight line when swinging the boom.

[0150] Before the traction work starts, as Figure 6 , 7 shown in A, the extending direction of the forearm 103 is generally along the first horizontal direction, i.e., the left-right direction. At this time, the first end (right end) of the forearm 103 is hinged to the front end of the boom 102, the second end (left end) of the forearm 104 faces the hydraulic support 501, and the traction head 104 is hinged to the second end of the forearm 104.

[0151] The telescopic forearm cylinder 106 is connected between the boom 102 and the forearm 103. The first end of the telescopic forearm cylinder 106 is hinged to a position in front of the middle of the boom 102, and the second end is hinged to the middle of the forearm 103. Moreover, in this embodiment, as Figure 6 shown, the hinged position of the telescopic forearm cylinder 106 and the boom 102 is in front of the hinged position of the telescopic boom cylinder 105 and the boom 102. When the telescopic forearm cylinder 106 extends, it pushes the forearm 103 to swing clockwise relative to the boom 102. When the telescopic forearm cylinder 106 contracts, it pulls the forearm 103 to swing counterclockwise relative to the boom 102.

[0152] Furthermore, in order 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 oil cylinder (not shown in the figure). The outer forearm sleeve 110 is sleeved on the inner forearm sleeve 109 and the two are slidably arranged relative to each other, that is, the inner forearm sleeve 109 and the outer forearm sleeve 110 are sleeved and slidably connected. The built-in telescopic oil cylinder is located inside the outer forearm sleeve 110 and is connected to the inner forearm sleeve 109 for pushing and pulling the inner forearm sleeve 109. The first end of the big arm 102 is hinged to the outer forearm sleeve 110, and the towing head 104 is hinged to the inner forearm sleeve 109. When the built-in telescopic oil 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 oil cylinder contracts, it pulls the inner forearm sleeve 109 into the outer forearm sleeve 110, and the forearm 103 shortens.

[0153] As Figure 6 shown, the towing head 104 is connected to the hydraulic support 501 that is being withdrawn from the support by a chain 111. It can be understood that the extension or contraction of the forearm 103 drives the movement of the towing head 104, and further drives the movement of the hydraulic support 501 connected by the chain 111 to the towing head 104.

[0154] The big arm telescopic oil cylinder 105 drives the movement of the big arm 102, the forearm telescopic oil cylinder 106 drives the swing of the forearm 103, and the built-in telescopic oil cylinder drives the extension and contraction of the forearm 103. The above movement modes cooperate with each other, and the towing device 100 towes the hydraulic support 501 along the ideal out-of-frame towing route and completes the orientation adjustment.

[0155] Next, according to Figure 6 、 7 、11, the out-of-frame towing method using the towing device 100 in the above embodiment will be specifically described. The layout position of the towing device 100 in the fully-mechanized coal mining hydraulic support withdrawal working face and the out-of-frame towing route map of the hydraulic support are shown in Figure 11 , and the schematic diagram of the state conversion process of the towing device 100 during the out-of-frame towing process is shown in Figure 7 Figure A-Figure E in. The out-of-frame towing method specifically includes the following steps:

[0156] Step 1: As Figure 11 、 Figure 7As 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 - right direction (the first horizontal direction), and 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 directly to the right of the hydraulic support 501 to be removed from the support frame. The built - in telescopic cylinder of the forearm drives the forearm to be in an extended state. The boom telescopic cylinder 105 is in a contracted state, so that the boom 102 is located at a position closer to the left. The forearm telescopic cylinder 106 is in a contracted state. A chain 111 is used to connect the hydraulic support 501 to be removed from the support frame and the traction head 104 to each other.

[0157] Step 2: As Figure 11 、 Figure 7 shown in Figure B, the built - in telescopic cylinder contracts, and the inner sleeve 109 of the forearm gradually retracts into the outer sleeve 110 of the forearm, and the forearm 103 shortens. At the same time, as Figure 7 shown in Figure C, the boom telescopic cylinder 105 extends, pushing the boom 102 to move to the right. The movement of the boom 102 to the right drives the first connecting rod 107 and the second connecting rod 108 to swing counterclockwise. The front end of the boom 102 moves almost linearly to the right, driving the forearm 103 to move to the right. The traction head 104 pulls the hydraulic support 501 to move to the right until the hydraulic support 501 is pulled out from a row of hydraulic supports 500 to be withdrawn, completing the first straight - line segment in the support - removing traction route.

[0158] Step 3: As Figure 11 、 Figure 7 shown in Figure D, the forearm telescopic cylinder 106 extends, driving the forearm 103 to swing clockwise relative to the boom 102. At the same time, the built - in telescopic cylinder drives the forearm 103 to gradually extend, so that the traction head 104 pulls the hydraulic support 501 to gradually adjust the direction, completing the second direction - adjusting segment in the support - removing traction route.

[0159] Step 4: As Figure 11 、 Figure 7 shown in Figure E, the built - in telescopic oil controls the forearm 103 to continue to extend. At the same time, the forearm telescopic cylinder 106 drives the forearm 103 to continue to swing clockwise, or appropriately contracts to drive the forearm 103 to swing counterclockwise, so that the traction head 104 pulls the hydraulic support 501 to move forward, completing the third almost straight - line segment in the support - removing traction route and pulling the hydraulic support 501 into the roadway.

[0160] By using the traction device provided in the embodiment of the present invention and following the above-described out-of-frame traction method, the hydraulic support can be tractioned out of the frame as much as possible along the ideal traction route. By controlling each telescopic oil cylinder, the traction direction can be adjusted at any time, so that the out-of-frame and phase adjustment processes of the hydraulic support can be well realized, various collisions and rubbing accidents can be avoided, the efficiency of the hydraulic support withdrawal work is greatly improved, the number of staff required for the withdrawal working face is reduced, the labor cost is saved, the equipment is protected, the safety factor of the withdrawal process is improved, and it has extremely high economic value and social value.

[0161] Step S105 further includes the step of connecting the emulsion liquid supply pipeline.

[0162] In some embodiments, the shielding support includes a first shielding support 200, a second shielding support 300, and a third shielding support 400 arranged in sequence along the first horizontal direction. The first shielding support 200 includes a first flat push rod 201, the second shielding support 300 includes a second flat push rod 301, and the third shielding support 400 includes a third flat push rod 401. The third shielding support 400 is located on the side close to the hydraulic support 500 to be withdrawn, that is, the first shielding support 200, the second shielding support 300, and the third shielding support 400 are arranged from right to left in sequence.

[0163] The three connection points of the first flat push rod 201, the second flat push rod 301, and the third flat push rod 401 with the traction device 100 form an acute triangle on the horizontal plane, and the connection point of the second flat push rod 301 is located behind the connection points of the first flat push rod 201 and the third flat push rod 401. The three connection points forming an acute triangle form a stable fixed point of a triangle between the stepping device and the traction device 100, playing a role of stable positioning.

[0164] As an example, as Figure 12 and 13 shown, the first flat push rod 201, the second flat push rod 301, and the third flat push rod 401 all extend in the front-rear direction. The front ends of the first flat push rod 201, the second flat push rod 301, and the third flat push rod 401 are respectively hinged to three hinge points on the base 101 of the traction device 100. Among them, the front end of the second flat push rod 301 is located behind the front ends of the first flat push rod 201 and the third flat push rod 401, and the front ends of the first flat push rod 201 and the third flat push rod 401 are basically flush in the front-rear direction, and the front ends of the three flat push rods form an acute triangle.

[0165] When the stepping device pushes the traction device 100 forward in a step, 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 a step distance. When the stepping device body steps forward, the first shielding support 200, the second shielding support 300 and the third shielding support 400 step forward in sequence under the action of the first flat push rod 201, the second flat push rod 301 and the third flat push rod 401 respectively.

[0166] Further, as Figures 8 - 10 shown, the first shielding support 200, the second shielding support 300 and the third shielding support 400 all include a hydraulic support rod and a top shielding beam. The hydraulic support rod is supported at the bottom of the top shielding beam, and the hydraulic support rod is telescopically arranged to raise or lower the top shielding beam. When the shielding support is in the state of raising the frame, its top shielding beam rises; when the shielding support is in the state of lowering the frame, its top shielding beam descends.

[0167] Before the shielding support steps forward, the hydraulic support rod contracts to lower the top shielding beam to make it in the state of lowering the frame. After the stepping is completed, the hydraulic support rod extends to raise the top shielding beam to make it in the state of raising the frame. The first shielding support 200, the second shielding support 300 and the third shielding support 400 can be separately moved forward by lowering the frame and retracting the flat push rod. When moving to a suitable position, they raise the frame and fix it. By rotating in sequence, all three shielding supports can be moved forward, so that the traction device 100 and the three shielding supports can step forward.

[0168] Specifically, as Figure 8 shown, the first shielding support 200 includes a base, a first flat push rod 201, a first hydraulic support rod 202 and a first top shielding beam 203. The first flat push rod 201 is arranged on the base, and a connecting ear 207 is provided at its front end for connecting with the base 101. The top end of the first hydraulic support rod 202 is supported at the bottom of the first top shielding beam 203, and the bottom end is supported on the base. Moreover, one end of the first top shielding beam 203 is hinged to the base, so that it is rotatably arranged relative to the base. When the first hydraulic support rod 202 contracts, the first top shielding beam 203 flips downward to reduce the height of the first shielding support 200 for stepping forward. When the first hydraulic support rod 202 extends, the first top shielding beam 203 flips upward to increase the height of the first shielding support 200. The first shielding support 200 is supported on the roof of the roadway to play a role in support and shielding.

[0169] Furthermore, the first shielding support 200 further includes a shielding curtain 204, a seat 205, and a lighting lamp 206. The shielding curtain 204 may preferably use several circular chain links, with one end fixedly connected to the first top shielding beam 203 and the other end hanging freely, isolating a safe area for the operator to prevent flying injuries such as the breakage of wire ropes and chains, and enabling the operator to have a better view and more clearly and conveniently observe the positions and states of the traction device, hydraulic support, and shielding support, with good ergonomics. The seat 205 is fixed to the base of the first shielding support 200 to provide a rest for the operator. The lighting lamp 206 is fixed to the bottom of the first top shielding beam 203 to provide lighting, solving the problem of difficult lighting in the triangular area underground in coal mines, enabling the operator to more conveniently and clearly observe the positions and operating states of various devices, and further improving safety.

[0170] As Figure 8 shown, the first flat push rod 201 of the first shielding support 200 is an extended flat push rod. The first shielding support 200 is equipped with a flat push rod that is longer than that of ordinary existing shielding supports. The purpose of this design is as follows: a) The hinge point with the above-mentioned traction device 100 can be extended forward, and finally the hinge points of the three shielding supports fall within an acute triangle in a plane, so that the above-mentioned heavy-duty traction device can be positioned more stably; b) The top support area of the flat push rod can be postponed, forming a stepped shielding with the second shielding support 300, the third shielding support 400, and the triangular area support frame 600, making the overall shielding area a triangular area, reducing the shielding pressure on the second shielding support 300, the third shielding support 400, and the triangular area support frame 600, and achieving a better shielding effect on the roof; c) The extended flat push rod leaves a certain amount of space in front of the support, providing a safe operation area for the operator, with a better view and a more comfortable space, improving the ergonomics of the entire set of equipment, and thus enhancing the operation efficiency and safety.

[0171] As Figure 9 shown, the second shielding support 300 includes a base, a second flat push rod 301, a second hydraulic support rod 302, and a second top shielding beam 303. The second flat push rod 301 is arranged on the base, and a connecting ear is provided at its front end for connecting to the base 101. The top end of the second hydraulic support rod 302 supports the bottom of the second top shielding beam 303, and the bottom end supports on the base. Moreover, one end of the second top shielding beam 303 is hinged to the base, so that it is rotatably arranged relative to the base. The rotation method can refer to the first shielding support 200.

[0172] Further, an electro-hydraulic control system 304 is also provided on the second shielding support 300. The electro-hydraulic control system 304 is fixed on the base of the second shielding support 300 and is located below the second top shielding beam 303. The electro-hydraulic control system 304 is responsible for the electro-hydraulic control of the whole system and supplies power to the lighting lamp 206. The traction system provided by the embodiment of the present invention can also adopt intelligent detection remote control. The intelligent detection function of the electro-hydraulic control system 304 can timely detect the cylinders and pressure conditions, so as to timely display the changes of the roof pressure and traction force, enabling the operator to timely adjust the operation strategy according to the corresponding situation, making the support moving and withdrawing operations safer and more reliable. The traction system adopts remote control, avoiding the close operation of the equipment and keeping away from the moving equipment, and can timely observe the running positions and states of the traction device 100 and the hydraulic support 501 from a more comprehensive perspective, making the whole operation process safer.

[0173] As Figure 10 shown, the third shielding support 400 includes a base, a third horizontal push rod 401, a third hydraulic support rod 402 and a third top shielding beam 403. The third horizontal push rod 401 is arranged on the base, and a connecting ear is provided at its front end for connecting with the base 101. The top end of the third hydraulic support rod 402 supports on the bottom of the third top shielding beam 403, and the bottom end supports on the base. And, one end of the third top shielding beam 403 is hinged to the base, so that it is arranged to be rotatable relative to the base. The flipping mode can refer to the first shielding support 200.

[0174] In some embodiments, at least one side shielding beam is provided on the side of the shielding support closest to the hydraulic support 500 to be withdrawn and close to the triangular area support frame 600. The side shielding beam is connected to the top shielding beam of the shielding support and is arranged to be rotatable. The side shielding beam has a deployed state and a retracted state. In the deployed state, the side shielding beam is parallel to the top shielding beam to play a supporting role. In the retracted state, the side shielding beam droops. The withdrawal process further includes:

[0175] When the triangular area support frame 600 takes a step, the side shielding beam is flipped to the deployed state.

[0176] As an example, in steps S106 and S203, the side shielding beam can support and shield according to the situation to shield the forward movement of the triangular area support frame 600.

[0177] In Figure 10 and 12In the illustrated embodiment, the shield support closest to the hydraulic support 500 to be retracted is the third shield support 400. On the side of the third shield support 400 away from the second shield support 300, there is at least one side shield beam. The side shield beam is connected to the third top shield beam 403 and is rotatably arranged. The side shield beam has a deployed state and a retracted state. In the deployed state, the side shield beam is parallel to the third top shield beam 403 to play a supporting role. In the retracted state, the side shield beam droops to block the interior of the third shield support 400 to play a shielding role.

[0178] Specifically, as Figure 10 shown, the side shield beam includes a first side shield beam 404 and a second side shield beam 405. As Figure 10 shown, both the first side shield beam 404 and the second side shield beam 405 are 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 with swing cylinders, so that the first side shield beam 404 and the second side shield beam 405 can be folded. The first side shield beam 404 and the second side shield beam 405 can be timely deployed to be parallel to the upper plane of the third top shield beam 403 to support the roof together.

[0179] The third shield support 400 further includes a base side shield plate 406. The base side shield plate 406 is fixed on the base, and the base side shield plate 406 is used to prevent caved coal blocks and stones from invading the interior of the shield support.

[0180] When the first side shield beam 404 and the second side shield beam 405 are retracted, they droop and are in a vertical state, together with the base side shield plate 406, to prevent crushed stones and coal blocks in the collapsed area from invading the inner side of the shield support. Among them, the extended ultra-thin third top shield beam 403 can better provide protection for the hydraulic support to be retracted and can leave enough passage space for it.

[0181] Figure 12 It is the initial position after the traction device 100 completes the out-of-frame traction of a hydraulic support 501.

[0182] Step S204 specifically includes: as Figure 12 and Figure 13 shown, after the traction device 100 completes the out-of-frame traction, control the first flat push rod 201, the second flat push rod 301 and the third flat push rod 401 to simultaneously extend forward, push the traction device 100 forward by a step distance, and the traction device 100 reaches the next out-of-frame position and faces the next hydraulic support 501.

[0183] Step S205 specifically includes: as Figure 14As shown in the figure, the contraction of the third hydraulic support rod 402 of the third shielding support 400 drives the lowering of the third top shielding beam 403, controls the contraction of the third horizontal push rod 401, pulls the body of the third shielding support 400 forward by a step distance, and the elongation of the third hydraulic support rod 402 drives the third top shielding beam 403 to rise and support and fix.

[0184] Step S206 specifically includes:

[0185] As Figure 15 shown in the figure, the contraction of the second hydraulic support rod 302 of the second shielding support 300 drives the lowering of the second top shielding beam 303, controls the contraction of the second horizontal push rod 301, pulls the body of the second shielding support 300 forward by a step distance, and the elongation of the second hydraulic support rod 302 drives the second top shielding beam 303 to rise and support and fix;

[0186] As Figure 16 shown in the figure, the contraction of the first hydraulic support rod 202 of the first shielding support 200 drives the lowering of the first top shielding beam 203, controls the contraction of the first horizontal push rod 201, pulls the body of the first shielding support 200 forward by a step distance, and the elongation of the first hydraulic support rod 202 drives the first top shielding beam 203 to rise and support and fix.

[0187] By using the traction device 100 provided in the embodiment of the present invention and according to the above-described out-of-frame traction method, large-tonnage traction can be performed on a nearly horizontal plane, and its traction path can be adapted to the ideal path required for the withdrawal of hydraulic supports. The traction direction can also be adjusted in a timely manner according to the traction requirements. Moreover, since it uses an oil cylinder and a heavy-duty robotic arm for force output, it can provide a traction force far exceeding that of ordinary winches, and can better adapt to the out-of-frame and orientation adjustment of large-tonnage hydraulic supports.

[0188] The traction device 100 is respectively hinged to the horizontal push rods of the first shielding support 200, the second shielding support 300, and the third shielding support 400. By controlling the alternating shielding of the three shielding supports, the horizontal push rods push or pull in sequence to achieve the stepping self-movement of the heavy-duty traction device and the three shielding supports, eliminating the previous process of using equipment such as winches to pull the shielding supports forward. The stepping forward process can be coordinated with processes such as pulling the support out of the roadway and loading the vehicle with a winch, saving more time. Moreover, the method of driving the traction device 100 to step forward by using a horizontal push rod has higher movement accuracy, effectively preventing excessive forward movement. The horizontal push rod works under the push of an oil cylinder, can provide a greater support-pulling force, and the method of the shielding supports stepping forward in sequence can effectively prevent the shielding supports from being crushed when there is roof fall or collapse and pressure on the support in the withdrawal working face, making its forward movement smoother and more efficient.

[0189] Based on the traction device 100, the first shield support 200, the second shield support 300, and the third shield support 400 in the above embodiments, in step S301, the third shield support 400 is withdrawn. When it comes to step S303, the remaining equipment in the retreat working face is: the last hydraulic support, the second-to-last hydraulic support, the triangular area support frame 600, the second shield support 300, and the first shield support 200.

[0190] Step S303 specifically includes: using a winch or other traction device to alternately cover and move these five pieces of equipment, gradually moving them towards the retreat crossheading, and adjusting the direction and attitude to form a fan-shaped support area. Then, withdraw them one by one. When one piece of equipment is withdrawn, the fan-shaped cover area is reduced by one circle. Generally, the preferred withdrawal order is: the second-to-last hydraulic support → the second shield support 300 → the first shield support 200 (with other equipment withdrawn together) → the last hydraulic support → the triangular area support frame 600. Thus, the entire withdrawal work of the hydraulic supports is completed.

[0191] Next, according to Figures 17 - 23 describe the triangular area support frame 600 in some specific embodiments of the present invention. As Figures 17 - 20 shown, the triangular area support frame 600 includes two support columns and a connection structure 602. The support columns include a vertically arranged first support column 601a and a second support column 601b.

[0192] Both the first support column 601a and the second support column 601b include a top support portion 611, a bottom support portion 612, and a driving mechanism 613. The driving mechanism 613 is connected between the corresponding top support portion 611 and bottom support portion 612. The driving mechanism 613 is used to drive the top support portion 611 and the bottom support portion 612 connected thereto to approach or move away from each other along the axial direction (i.e., the vertical direction). The support column has a support state and a contraction state, and the support column in the support state plays a supporting role.

[0193] Specifically, the driving mechanism 613 drives the top support portion 611 and the bottom support portion 612 to move relatively away from each other along the vertical direction until the support column is in the support state. The top and bottom ends of the support column in the support state are both in contact with the roadway, playing a role in supporting and covering. The driving mechanism 613 drives the top support portion 611 and the bottom support portion 612 to move relatively closer to each other along the vertical direction until the support column reaches the contraction state. At least one of the top and bottom ends of the support column in the contraction state is separated from the roadway and no longer plays a role in supporting and covering. The length of the support column in the support state in the vertical direction is greater than the length of the support column in the contraction state in the vertical direction.

[0194] The connecting structure 602 is connected between the first support column 601a and the second support column 601b, and can drive one of them in the contracted state to rotate around the other in the supported state. In other words, the connecting structure 602 can drive one of them in the contracted state to rotate with the central axis of the other in the supported state as the rotation center line. When rotating, the connecting structure 602 and the support column in the contracted state are located between the top end and the bottom end of the support column in the supported state in the vertical direction.

[0195] Specifically, when the first support column 601a is in the supported state and the second support column 601b is in the contracted state, the first support column 601a is supported between the top plate 661 and the bottom plate 662. The top end and the bottom end of the second support column 601b and the connecting mechanism 2 are both located between the top end and the bottom end of the first support column 601a in the vertical direction, that is, between the top plate 661 and the bottom plate 662, with a certain interval from the top plate and the bottom plate. The connecting structure 602 drives the second support column 601b to rotate with the central axis of the first support column 601a as the rotation center line.

[0196] When the second support column 601b is in the supported state and the first support column 601a is in the contracted state, the second support column 601b is supported between the top plate 661 and the bottom plate 662. The top end and the bottom end of the first support column 601a and the connecting mechanism 2 are both located between the top end and the bottom end of the second support group 102 in the vertical direction, that is, between the top plate 661 and the bottom plate 662, with a certain interval from the top plate and the bottom plate. The connecting structure 602 drives the first support column 601a to rotate with the central axis of the second support column 601b as the rotation center line.

[0197] Of course, the first support column 601a and the second support column 601b can be in the supported state at the same time, that is, supported between the top plate 661 and the bottom plate 662 at the same time.

[0198] The stepping method of the triangular area support frame 600 in the above embodiment is as follows:

[0199] Place the triangular area support frame 600 between the top plate 661 and the bottom plate 662;

[0200] Under the action of the driving mechanism 613, the first support column 601a is in the supported state and the second support column 601b is in the contracted state. The first support column 601a is supported between the top plate 661 and the bottom plate 662. There is a certain interval between the connecting structure 602 and the second support column 601b and the top plate 661 and the bottom plate 662;

[0201] The connecting structure 602 drives the second support column 601b to rotate by an angle α around the first support column 601a;

[0202] Driven by the driving mechanism 613, the second support column 601b is in a supporting state, and the first support column 601a is in a contracted state. The second support column 601b supports between the top plate 661 and the bottom plate 662, and there is a certain interval between the connecting structure 602 and the first support column 601a and the top plate 661 and the bottom plate 662;

[0203] The connecting structure 602 drives the first support column 601a to rotate by an angle β around the second support column 601b;

[0204] Repeat the above steps to make the triangular area support frame 600 step forward. And the rotation direction and angle can be set as needed to complete different forward movement methods.

[0205] Based on the triangular area support frame 600 and its stepping method in the above embodiments:

[0206] In some embodiments, as Figure 3 and Figure 22 shown, in step S102, the support column of the triangular area support frame 600 close to the shield support is defined as the first support column 601a, and the support column close to the goaf is defined as the second support column 601b. In step S106, the two support columns make three forward movements in total to move forward in the direction of the seven hydraulic supports. Step S106 includes:

[0207] S10601, the first support column 601a contracts, so that it rotates a certain angle around the second support column 601b to move forward. After reaching the position, the first support column 601a extends to support;

[0208] S10602, the second support column 601b contracts, so that it rotates a certain angle around the second support column 601b to move forward. After reaching the position, the second support column 601b extends to support;

[0209] S10603, the first support column 601a contracts, so that it rotates a certain angle around the second support column 601b to move forward. After reaching the position, the first support column 601a extends to support. At this time, the first support column 601a is close to the shield support, and the second support column 601b is close to the goaf.

[0210] Specifically, as Figure 22 shown, in step S102, the first support column 601a is located on the right side of the second support column 601b. In S10601, the first support column 601a rotates 45° counterclockwise ( Figure 22 the rotation direction -1 in Figure 22in the rotation direction - 2) backhaul 90° to move forward a certain distance; in S10603, the first support column 601a rotates counterclockwise ([ Figure 22 in the rotation direction - 3) rotate 45° to reach the position directly to the right of the second support column 601b again.

[0211] As Figure 4 and Figure 23 shown, in step S202, the support column of the triangular area support frame 600 close to the shield support is defined as the first support column 601a, and the support column close to the goaf is defined as the second support column 601b. S203 specifically includes:

[0212] S20301, the first support column 601a contracts, causing it to rotate 90 degrees around the second support column 601b to move forward. After reaching the position, the first support column 601a extends to support;

[0213] S20302, the second support column 601b contracts, causing it to rotate 90 degrees around the first support column 601a. The rotation direction is the same as the rotation direction in step S20301. After reaching the position, the second support column 601b extends to support. Thus, the triangular area support frame 600 completes a step - by - step forward movement. At this time, the first support column 601a is close to the goaf, and the second support column 601b is close to the shield support.

[0214] Specifically, as Figure 23 shown, in step S202, the first support column 601a is located on the right side of the second support column 601b. In S20301, the first support column 601a rotates 90 degrees counterclockwise ([ Figure 23 in the rotation direction - 1), and in S20302, the second support column 601b rotates 90 degrees counterclockwise ([ Figure 23 in the rotation direction - 2) around the first support column 601a.

[0215] As Figure 5 shown, in step S302, the support column of the triangular area support frame 600 close to the goaf is contracted, causing it to rotate 90 degrees clockwise around the other support column to move forward, making the triangular area support frame 600 face the roadway.

[0216] It can be understood that the stepping method of the triangular area support frame 600 is not limited to this, and the rotation and movement method can be flexibly selected according to different working conditions.

[0217] The connection structure 602 of the triangular support frame 600 can rotate around each of the first support column 601a and the second support column 601b. When one support column is in the supporting state, for the convenience of rotation, the other support column is contracted and its bottom end is lifted away from the bottom plate 662, and its top end is retracted away from the top plate 661. This support column is supported by the connection structure 602 until it reaches the contracted state. At this time, the connection structure 602 needs to bear the overall weight of the support column in the contracted state, and the connection structure 602 itself should also have a gap between the top plate 661 and the bottom plate 662.

[0218] In some embodiments, as Figures 17 - 19 shown, the triangular support frame 600 includes a sleeve assembly 604. The sleeve assembly 604 is sleeved on the support columns one by one and is fixed to the support columns in the circumferential direction, that is, the sleeve assembly 604 cannot rotate relative to the support column it is sleeved on. The sleeve assembly 604 is located between the top support portion 611 and the bottom support portion 612. The sleeve assembly 604 is axially fixed to the connection structure 602 and is rotatably arranged relative to each other in the circumferential direction.

[0219] To achieve the axial fixation and circumferential relative rotation between the sleeve assembly 604 and the connection structure 602, in some embodiments, as Figure 19 shown, at least one bearing can be fitted between the connection structure 602 and the sleeve assembly 604. The outer ring of the bearing is connected to the connection structure 602, and the inner ring of the bearing is connected to the sleeve assembly 604.

[0220] In other alternative embodiments, the axial fixation and circumferential relative rotation between the connection structure 602 and the sleeve assembly 604 can be achieved through the cooperation of an annular card slot and a slider. For example, the connection structure 602 is provided with a slider, and the outer peripheral surface of the sleeve assembly 604 is provided with an annular card slot. The slider is fitted in the annular card slot and can slide along the card slot. The slider abuts against the wall surface of the annular card slot to achieve axial limitation.

[0221] Furthermore, in some embodiments, the sleeve assembly 604 and the support column are axially slidably arranged relative to each other. To lift the connection structure 602 to a certain height when it rotates, the triangular support frame 600 includes a plurality of cables 603. As Figure 18 shown, the top of the cable 603 is connected to the top support portion 611, and the bottom of the cable 603 is connected to the sleeve assembly 604. Since the connection structure 602 and the sleeve assembly 604 are axially fixed, the cable can achieve the purpose of lifting the connection structure 602. A part of the plurality of cables 603 is arranged on the first support column 601a, and the other part is arranged on the second support column 601b. As Figure 18 shown, a plurality of cables 603 surround the first support column 601a, and a plurality of cables 603 surround the second support column 601b. AsFigure 19 As shown, when the support column is in the supporting state, the cable 603 connected to the support column is tensioned. Under the action of the cable 603, the bottom end of the connecting structure 602 is located above the bottom end of the support column in the supporting state. That is to say, the tension of the cable 603 on the support column in the supporting state lifts the connecting structure 602 to a certain height, so that there is a certain gap between its bottom end and the bottom plate 662, so as to facilitate the rotation of the connecting structure 602. The first support column 601a and the second support column 601b alternately contract and extend, and the cables 603 of the first support column 601a and the second support column 601b alternately lift the connecting structure 602, so that there is always a certain gap between the bottom end of the connecting structure 602 and the bottom plate 662.

[0222] In addition, by adjusting the length of the cable 603, the supporting height of the support column and the height distance between the bottom end of the connecting structure 602 and the bottom end of the support column can also be adjusted within a certain range. That is, in the above embodiment, the supporting height of the support column and the height distance between the bottom end of the connecting structure 602 and the bottom end of the support column are related to the length of the cable 603.

[0223] Furthermore, as Figure 18 and Figure 19 shown, the support column includes an inner cylinder 614 and an outer cylinder 615 sleeving the inner cylinder 614. The inner cylinder 614 and the outer cylinder 615 are axially slidably arranged relative to each other. The driving mechanism 613 is located inside the inner cylinder 614. The sleeve assembly 604 sleeves the outer cylinder 615 and is axially slidably arranged relative to the outer cylinder 615.

[0224] In Figure 18 and Figure 19 the shown embodiment, the inner cylinder 614 is connected to the bottom of the top support portion 611 and extends downward, and the outer cylinder 615 is connected to the bottom of the bottom support portion 612 and extends upward. The outer peripheral surface of the inner cylinder 614 contacts the inner peripheral surface of the outer cylinder 615 and is axially slidably arranged. The inner peripheral surface of the sleeve assembly 604 contacts the outer peripheral surface of the outer cylinder 14 and is axially slidably arranged.

[0225] In other alternative embodiments, the inner cylinder 614 is connected to the bottom of the bottom support portion 612 and extends upward, and the outer cylinder 615 is connected to the bottom of the top support portion 611 and extends downward.

[0226] The driving mechanism 613 is a large-tonnage column oil cylinder. The column oil cylinder is vertically arranged inside the inner cylinder 614. The driving mechanism 613 has a first hinge point and a second hinge point. The top support part 611 is connected to the first hinge point, and the bottom support part 612 is connected to the second hinge point. The driving of the column oil cylinder can drive the top support part 611 and the bottom support part 612 to move up and down. The large-tonnage column oil cylinder can provide a supporting force far exceeding that of ordinary timber stacks and single hydraulic props, and its supporting force can even exceed that of ordinary hydraulic supports.

[0227] As Figure 18 and Figure 19 shown, when the driving mechanism 613 drives the second support column 601b to convert from the supporting state to the retracted state, the top support part 611 of the support column moves downward. When the top support part 611 abuts against the top end of the upper flange 641, a limit is generated. The bottom support part 612 moves upward under the lifting of the driving mechanism 613. The inner cylinder 614 and the outer cylinder 615 slide towards each other, that is, the inner cylinder 614 moves vertically downward, and the outer cylinder 615 moves vertically upward. And the sleeve assembly 604 is relatively fixed in the vertical direction under the tension of the cable 603 of the first support column 601a, and the outer cylinder 615 slides upward relative to the sleeve assembly 604.

[0228] In order to realize the circumferential fixation between the sleeve assembly 604 and the outer cylinder 615 and prevent the sleeve assembly 604 from being driven to rotate by the connecting structure 602 when the connecting structure 602 rotates. Further, as Figure 19 shown, the sleeve assembly 604 is provided with a limit groove 644, and the outer cylinder 615 is provided with a limit protrusion 616. The limit groove 644 extends along the axial direction of the support column, and the limit protrusion 616 is fitted in the limit groove 644 and is slidably arranged along the limit groove 644. Alternatively, the limit groove 644 can also be arranged on the outer cylinder 14, and the limit protrusion 616 is arranged on the sleeve assembly 604.

[0229] Specifically, as Figure 18 and Figure 19As shown, the sleeve assembly 604 includes a first sleeve assembly 604a and a second sleeve assembly 604b. The first sleeve assembly 604a sleeves the first support column 601a, and the second sleeve assembly 604b sleeves the second support column 601b. Each sleeve assembly 604 includes an upper flange 641, a sleeve 642, and a lower flange 643 that are connected in sequence from top to bottom. A first bearing 651 and a second bearing 652 are provided between the connection structure 602 and each sleeve assembly 604. The first bearing 651 is fitted between the upper flange 641 and the connection structure 602, and the second bearing 652 is fitted between the lower flange 643 and the connection structure 602, enabling the connection structure 602 to rotate around each of the first sleeve assembly 604a and the second sleeve assembly 604b and being axially fixed to both. A limit groove 644 is provided on the lower flange 643, and a limit protrusion 616 is provided on the outer peripheral surface of the outer cylinder 615. The lower end of the cable 603 is connected to a connection ear on the outer peripheral surface of the upper flange 641. When the support column is in a contracted state, the top support portion 611 abuts against the top end of the upper flange 641 to generate a limit.

[0230] In some embodiments, as Figure 18 and Figure 20 shown, the connection structure 602 includes a first driving gear 621 and a second driving gear 622. The first support column 601a includes a first driven gear 617. The first driven gear 617 sleeves the sleeve 642 of the first support column 601a and is connected thereto. The first driven gear 617 meshes with the first driving gear 621. The second support column 601b includes a second driven gear 618. The second driven gear 618 sleeves the sleeve 642 of the second support column 601b and is connected thereto. The second driven gear 618 meshes with the second driving gear 622.

[0231] The connection structure 602 includes a driving device. As Figure 18 shown, the driving device includes a first rotating motor 624 for driving the first driving gear 621 to rotate, and a second rotating motor 625 for driving the second driving gear 622 to rotate. The first rotating motor 624 drives the first driving gear 621 to rotate around the first driven gear 617 to enable the connection structure 602 to drive the second support column 601b to rotate around the central axis of the first support column 601a. The second rotating motor 625 drives the second driving gear 622 to rotate around the second driven gear 618 to enable the connection structure 602 to drive the first support column 601a to rotate around the central axis of the second support column 601b.

[0232] As Figure 17 and Figure 19As shown, the connection structure 602 includes a connection box body 623. The connection box body 623 sleeves each of the first support column 601a and the second support column 601b. The top support portions 611 and the bottom support portions 612 of the first support column 601a and the second support column 601b respectively extend from the upper and lower ends of the connection box body 623. The first driving gear 621, the second driving gear 622, the first rotating motor 624 and the second rotating motor 625 are all located inside the connection box body 623. The connection box body 623 further includes two box covers 6231. The two box covers 6231 respectively sleeve the two support columns, and the first bearing 651 is fitted between the upper flange 641 and the box cover 6231.

[0233] As Figure 18 shown, the connection structure 602 further includes an electric control component 607. The electric control component 607 is used to control the operation of the first rotating motor 624 and the second rotating motor 625, and then drive the first driving gear 621 and the second driving gear 622 to rotate.

[0234] When the first support column 601a rotates around the second support column 601b: the driving mechanism 613 of the first support column 601a operates and contracts to make the first support column 601a in a contracted state. The second support column 601b is supported between the top plate 661 and the bottom plate 662. The second rotating motor 625 of the connection structure 602 operates, and the second driving gear 622 rotates around the second driven gear 618. The connection structure drives the first support column 601a to rotate around the second support column 601b.

[0235] When the second support column 601b rotates around the first support column 601a: the driving mechanism 613 of the second support column 601b operates and contracts to make it in a contracted state. The first support column 601a is supported between the top plate 661 and the bottom plate 662. The first rotating motor 624 of the connection structure 602 operates, and the first driving gear 621 rotates around the first driven gear 617. The connection structure 602 drives the second support column 601b to rotate around the first support column 601a.

[0236] The two support columns of the triangular area support frame 600 provided by the embodiment of the present invention can support simultaneously or alternately, lift the unsupported support column off the ground, and rotate around the supported support column. In this way, they support alternately and rotate and displace, so as to realize the function of shifting positions, and then realize stepping forward, so as to be able to keep up with the forward movement of the retreat working face and provide a good covering function for the hydraulic support to be withdrawn.

[0237] In summary, the fully-mechanized caving hydraulic support withdrawal process proposed by the present invention greatly reduces the manual processes and a large amount of heavy physical labor in the traditional withdrawal process, realizes the high safety, high reliability, high efficiency and high benefits of the hydraulic support withdrawal work, solves many unsolved pain points in the hydraulic support withdrawal, realizes the automatic transformation of the coal mine roadway hydraulic support withdrawal, significantly improves the operation efficiency and safety of the hydraulic support withdrawal, and can generate great economic and social benefits.

[0238] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0239] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0240] In the present invention, unless otherwise clearly defined and limited, the terms "install", "connect", "couple", "fix", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0241] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is less than that of the second feature.

[0242] In the present invention, the terms "an embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0243] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A fully-mechanized caving hydraulic support withdrawal process, characterized in that, The hydraulic support is withdrawn by a withdrawal system, and the withdrawal system includes a traction device, a plurality of shielding supports and a triangular area support frame. The traction device is used to tow the hydraulic support out of the support along a preset path. The shielding support has a raised state and a lowered state. The shielding support has a flat push rod that can be telescoped in the roadway direction. The flat push rod is connected to the traction device. The triangular area support frame includes two support columns that can be telescoped in the vertical direction. The support columns can rotate around the other support column to take a step forward. The two support columns are a first support column and a second support column. Both the first support column and the second support column include a top support part and a bottom support part. The triangular area support frame further includes: A connection structure that is connected between the two support columns and can drive one of them in the contracted state to rotate around the other in the supported state. When rotating, the connection structure and the support column in the contracted state are located between the top and bottom of the support column in the supported state in the vertical direction. A sleeve assembly that is sleeved on the support column one by one and is fixed to the support column in the circumferential direction. The sleeve assembly is located between the top support part and the bottom support part. The sleeve assembly is axially fixed to the connection structure and is rotatably provided relative to the connection structure in the circumferential direction. The withdrawal process includes the following steps: S1: Withdrawal preparation stage. Install the withdrawal system at the withdrawal working face. Among them, a plurality of the shielding supports are arranged in sequence in a first horizontal direction perpendicular to the roadway direction and are raised to support. The triangular area support frame is located in the triangular area beside the shielding support close to the hydraulic support to be withdrawn, and both of its two support columns are extended to support. The traction device reaches the traction position and is connected to a plurality of the flat push rods. The flat push rods are in the contracted state. S2: Withdrawal stage. The traction device pulls out the hydraulic support and adjusts its direction along the roadway direction. Use the support removal equipment to remove the hydraulic support in the roadway. The triangular area support frame takes a step forward and supports again. The flat push rods of a plurality of the shielding supports are simultaneously extended to push the traction device forward by a step distance to reach the traction position of the next hydraulic support. Then, a plurality of the shielding supports sequentially complete the steps of lowering the support, contracting and moving forward the flat push rod, and raising the support to support, thereby completing one support removal cycle. Repeat this step. S3: Withdrawal ending stage. Withdraw the traction device, and sequentially withdraw the shielding support and the triangular area support frame.

2. The fully-mechanized caving hydraulic support withdrawal process according to claim 1, wherein The hydraulic supports to be withdrawn are numbered ①… in sequence from the back to the front along the roadway direction. Step S1 specifically includes: S101. Remove the fourth and fifth hydraulic supports at the withdrawal working face. S102. Install the triangular area support frame at the position vacated by the two hydraulic supports removed in step S101. Both of the two support columns are extended to support. S103. Install a plurality of the shielding supports in place in sequence along the first horizontal direction and raise them to support. S104. Remove the third and sixth hydraulic supports at the withdrawal working face. S105. Install the traction device at the traction position corresponding to the 7th hydraulic support. The traction device is connected to the horizontal push rods of several said shield supports, and all the horizontal push rods are in a contracted state; S106. Move the triangular area support frame forward in the direction of the 7th hydraulic support, and extend and support both said support columns; S107. Shield and traction the remaining 2nd and 1st hydraulic supports behind the shield support to the roadway opening in sequence.

3. The fully-mechanized caving hydraulic support withdrawal process according to claim 2, wherein In step S102, the support column close to the shield support is the first support column, and the support column close to the goaf is the second support column. Step S106 specifically includes: S10601. The first support column contracts, rotates around the second support column by a certain angle to move forward, and after reaching the position, the first support column extends and supports; S10602. The second support column contracts, rotates around the second support column by a certain angle to move forward, and after reaching the position, the second support column extends and supports; S10603. The first support column contracts, rotates around the second support column by a certain angle to move forward, and after reaching the position, the first support column extends and supports. At this time, the first support column is close to the shield support, and the second support column is close to the goaf.

4. The fully-mechanized caving hydraulic support withdrawal process according to claim 1, characterized in that Step S2 specifically includes: S201. Connect the hydraulic support to the traction device, and control the traction device to pull out and adjust the orientation of the hydraulic support; S202. The support removal equipment removes the hydraulic support pulled out in step S201; S203. The triangular area support frame takes a step forward and re-supports; S204. Control the horizontal push rods of several said shield supports to extend simultaneously, push the traction device forward by a step distance, and make the traction device reach the pull-out position of the next hydraulic support; S205. Control the shield support closest to the hydraulic support to lower the frame, then control the horizontal push rod of the shield support to contract to complete the forward movement of the shield support, and then make the shield support re-raise and support; S206. Move the remaining said shield supports forward in sequence from the closest to the farthest from the hydraulic support to complete one support removal cycle; S207. Repeat steps S201 to S206 until the second last hydraulic support in the entire working face is withdrawn, and then enter the S3 withdrawal and finishing stage.

5. The fully-mechanized caving hydraulic support withdrawal process according to claim 1 or 4, characterized in that, The traction device includes a base, a large arm, a small arm, a traction head, a large arm driving device, and a small arm driving device. The small arm is a telescopic small arm. The large arm is movably arranged on the base. The large arm driving device is arranged on the base and connected to the large arm. The large arm driving device is used to push and pull the large arm along the first horizontal direction to make it move. The first end of the small arm is hinged to the first end of the large arm. The small arm driving device is arranged on the large arm and connected to the small arm. The small arm driving device is used to push and pull the small arm to make the small arm swing relative to the large arm. The traction head is arranged at the second end of the small arm for connecting with the object to be towed; The steps of the traction device pulling out the hydraulic support and adjusting its orientation along the roadway direction specifically include: S20101: Connect the hydraulic support to be withdrawn and the towing head with a chain. The small arm is in the extended state, and the extension direction of the small arm is along the first horizontal direction. S20102: The large arm driving device drives the large arm to move along the first horizontal direction, and at the same time, the small arm contracts, so that the towing device pulls out the hydraulic support along the first horizontal direction. S20103: The small arm driving device drives the small arm to swing relative to the large arm to move the towing head away from the large arm, and at the same time, the small arm gradually extends, so that the towing device gradually adjusts the direction of the hydraulic support. S20104: The small arm continues to extend, and at the same time, the small arm driving device drives the small arm to continue to swing, so that the towing support pulls the hydraulic support to move along the roadway direction.

6. The fully-mechanized caving hydraulic support withdrawal process according to claim 4, characterized in that, In step S202, the support column close to the shield support is the first support column, and the support column close to the goaf is the second support column. S203 specifically includes: S20301: The first support column contracts and rotates 90 degrees around the second support column to move forward. After reaching the position, the first support column extends to support. S20302: The second support column contracts and rotates 90 degrees around the first support column. The rotation direction is the same as that in step S20301. After reaching the position, the second support column extends to support. At this time, the first support column is close to the goaf, and the second support column is close to the shield support.

7. The fully-mechanized coal mining hydraulic support withdrawal process according to claim 4 or 6, characterized in that, Step S3 specifically includes: S301: Dismantle and withdraw the towing device, and withdraw the shield support closest to the triangular area support frame. S302: Contract the support column of the triangular area support frame close to the goaf, and make it move forward around the other support column so that the triangular area support frame faces the roadway. S303: Cover and withdraw the second-to-last hydraulic support on the withdrawal working face, and then withdraw the shield supports in sequence from the closest to the farthest from the hydraulic support, and then withdraw the last hydraulic support, and finally withdraw the triangular area support frame.

8. The fully-mechanized caving hydraulic support withdrawal process according to any one of claims 1-4, characterized in that, The shield support includes a hydraulic support rod and a top shield beam. The hydraulic support rod supports at the bottom of the top shield beam. The hydraulic support rod is telescopically arranged to raise or lower the top shield beam. In the raised state of the support, the top shield beam is raised, and in the lowered state of the support, the top shield beam is lowered. On one side of the shield support closest to the hydraulic support to be withdrawn and close to the triangular area support frame, there is at least one side shield beam. The side shield beam is connected to the top shield beam of the shield support and is rotatably arranged. The side shield beam has a deployed state and a retracted state. In the deployed state, the side shield beam is parallel to the top shield beam to play a supporting role. In the retracted state, the side shield beam droops. The withdrawal process also includes: When the triangular area support frame takes a step, make the side shield beam flip to the deployed state.

9. The fully-mechanized caving hydraulic support withdrawal process according to claim 1, wherein, The shielding support includes a first shielding support, a second shielding support, and a third shielding support arranged in sequence in the first horizontal direction, and the third shielding support is located on the side close to the hydraulic support to be withdrawn. The first shielding support includes a first flat push rod, the second shielding support includes a second flat push rod, the third shielding support includes a third flat push rod, and the three connection points of the first flat push rod, the second flat push rod, and the third flat push rod with the traction device form an acute triangle on the horizontal plane, and the connection point of the second flat push rod is located behind the connection points of the first flat push rod and the third flat push rod.

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