Powerful traction device, system and method of traction

Abstract

The application discloses a strong traction device, system and traction method, and the strong traction device comprises a base, a push-pull device, an inclined connecting rod, a main connecting rod, a telescopic small arm and a joint hydraulic cylinder. The push-pull device is connected with the base, and the front end of the push-pull device can be extended or contracted relative to the base along a first preset direction. One end of the inclined connecting rod is hinged to the front end of the push-pull device, and the other end of the inclined connecting rod is hinged to one end of the telescopic small arm. The other end of the telescopic small arm is used for traction of a hydraulic support. One end of the main connecting rod is hinged to the base, and the other end of the main connecting rod is hinged to the inclined connecting rod. One end of the joint hydraulic cylinder is hinged to the main connecting rod, and the other end of the joint hydraulic cylinder is hinged to the telescopic small arm. The strong traction device can output a traction force much larger than the pulling force of the push-pull device in a small range through the lever principle, overcome the maximum value of the static friction force of the hydraulic support in the starting stage, and make the hydraulic support traction route be pulled according to an ideal path.

Description

Technical Field

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

[0002] Currently, during the withdrawal of hydraulic supports in fully mechanized coal mining, the traction of the hydraulic supports is mainly achieved using a winch via wire rope. Since the winch's traction direction often differs from the direction of the hydraulic support's withdrawal or movement, pulleys are frequently used to change the wire rope's traction direction. Furthermore, because hydraulic supports are quite heavy (generally tens of tons, and up to 100 tons for high-extraction hydraulic supports), very high requirements are placed on the pulley fixing points. There are very few suitable pulley fixing points in underground coal mines, resulting in a relatively fixed and unidirectional traction force, making adjustment difficult. Moreover, due to the elasticity and slippage of the wire rope, the pulled hydraulic support frequently collides and scrapes against the shield supports, roadway walls, etc., causing sparks to fly and increasing the probability of equipment damage and dangerous situations. In addition, winch operation requires multiple operators to manually drag, coil, and connect the wire rope, a very difficult process that leads to personnel gathering at the withdrawal face, posing a safety hazard. In addition, due to the harsh working conditions caused by the winch, the steel wire ropes used often suffer abnormal wear and tear, and rope breakage accidents occur frequently. Due to the large traction force, the elastic rebound of the broken steel wire rope is extremely dangerous, and personnel casualties occur frequently. Summary of the Invention

[0003] The present invention aims to at least partially solve one of the technical problems in related technologies. To this end, embodiments of the present invention provide a powerful traction device.

[0004] Embodiments of the present invention also propose a powerful traction system having the above-described powerful traction device.

[0005] Embodiments of the present invention also propose a traction method based on the above-described powerful traction device.

[0006] The powerful traction device of this invention is used to pull a hydraulic support to be retracted out along a preset path. It includes: a base, a push-pull device, a diagonal connecting rod, a main connecting rod, a telescopic forearm, and a joint hydraulic cylinder. The push-pull device is connected to the base, and its front end can extend or retract relative to the base along a first preset direction. One end of the diagonal connecting rod is hinged to the front end of the push-pull device, and the other end of the diagonal connecting rod is hinged to one end of the telescopic forearm. The other end of the telescopic forearm is used to pull the hydraulic support. One end of the main connecting rod is hinged to the base, and the other end of the main connecting rod is hinged to the diagonal connecting rod. One end of the joint hydraulic cylinder is hinged to the main connecting rod, and the other end of the joint hydraulic cylinder is hinged to the telescopic forearm. The push-pull device is used to push and pull the diagonal connecting rod to make it swing, and the joint hydraulic cylinder is used to push and pull the telescopic forearm to make it swing.

[0007] The powerful traction device provided in this invention makes reasonable use of limited space, solving the prominent contradiction between heavy output equipment and narrow working space in mine roadways. When starting to traction the hydraulic support, the powerful traction device can output a traction force much greater than the pulling force of the push-pull device within a small range through the lever principle, overcoming the maximum static friction force of the hydraulic support during the start-up phase. Furthermore, through reasonable control of each drive device, it can ensure that the hydraulic support is pulled out along an ideal path, avoiding various collisions and scrapes, preventing equipment damage and dangerous situations, and greatly improving the safety and efficiency of the hydraulic support pulling process.

[0008] In some embodiments, the telescopic forearm includes: an outer forearm sleeve, an inner forearm sleeve, and a forearm telescopic hydraulic cylinder. The outer forearm sleeve is fitted over the inner forearm sleeve and the two are slidably disposed together. The telescopic hydraulic cylinder is located inside the outer forearm sleeve and connected to the inner forearm sleeve for pushing and pulling the inner forearm sleeve. The inclined connecting rod is hinged to the end of the outer forearm sleeve. The joint hydraulic cylinder is hinged to the outer side of the outer forearm sleeve. The end of the inner forearm sleeve is hinged with a traction head for traction of the hydraulic support.

[0009] In some embodiments, the joint hydraulic cylinder is hinged to the outer side of the forearm sleeve near the end of the traction head.

[0010] In some embodiments, the swing angle range of the diagonal link is 0-90°.

[0011] Another embodiment of the present invention provides a powerful traction system including the powerful traction device in any of the above embodiments, and a stepping device. The stepping device includes at least one push-pull rod that can extend or retract along a first preset direction. The end of the push-pull rod is connected to the base and is used to drive the base to step forward along the first preset direction.

[0012] In some embodiments, the stepping device includes a plurality of shield supports, which are arranged sequentially along a second preset direction orthogonal to the first preset direction. Each shield support includes a support frame and at least one push-pull rod. The push-pull rod extends or retracts relative to the support frame along the first preset direction. The support frame has a raised frame state and a lowered frame state. In the raised frame state, the top of the support frame abuts against the mine roof. In the lowered frame state, the support frame retracts and disengages from the mine roof.

[0013] In some embodiments, the base includes a shield lifting frame and a base. The shield lifting frame has a raised frame state supported on the mine roof and a lowered frame state detached from the mine roof. The push-pull device is disposed on the shield lifting frame. The front end of the shield lifting frame and the front end of the push-pull rod are hinged to the base. One end of the main connecting rod is hinged to the base.

[0014] In some embodiments, the stepping device includes two push-pull rods, which are arranged in a triangular pattern with two hinge points of the base and the hinge points of the shield lifting frame and the base.

[0015] In some embodiments, the support frames of the plurality of shield supports are lowered in sequence and then move forward under the action of the push-pull rod.

[0016] Another embodiment of the present invention provides a traction method for a powerful traction device, the traction method comprising:

[0017] The push-pull device, the joint hydraulic cylinder, and the telescopic arm are all in an extended state, and the end of the telescopic arm is hinged to the hydraulic support to be retracted.

[0018] The push-pull device is controlled to retract, the inclined connecting rod rotates under the action of the main connecting rod, and the joint hydraulic cylinder is controlled to retract, so as to drive the telescopic arm to pull the hydraulic support to be retracted out of the frame along a predetermined trajectory. After the hydraulic support to be retracted is unloaded and changes from stationary to sliding, the telescopic arm is controlled to retract to complete the removal action.

[0019] The hydraulic cylinder of the joint is controlled to extend, and the telescopic arm is also controlled to extend, so that the telescopic arm moves the hydraulic support to be retracted along a predetermined trajectory.

[0020] After the hydraulic support that has been tilted and is to be retracted is pulled out by other traction equipment, the joint hydraulic cylinder, the push-pull device and the telescopic forearm are controlled to retract, in preparation for the retraction of the next hydraulic support. Attached Figure Description

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

[0022] Figure 2 This is a schematic diagram of the composition and arrangement of the powerful traction system provided in the embodiment of the present invention.

[0023] Figure 3 This is a structural schematic diagram of the powerful traction system provided in an embodiment of the present invention.

[0024] Figure 4 This is a structural schematic diagram of the powerful traction device provided in an embodiment of the present invention.

[0025] Figure 5 is a schematic diagram of the implementation process of the strong traction system puller function S1 provided in the embodiment of the present invention.

[0026] Figure 6 This is a simplified diagram illustrating the force analysis of the powerful traction device provided in the embodiment of the present invention during the initial stage of traction.

[0027] Figure 7 This is a schematic diagram showing the change of traction force at the end of the robotic arm during the initial stage of traction using the powerful traction device provided in this embodiment of the invention.

[0028] Figure 8 This is a schematic diagram of the step-forward function S2 of the powerful traction system provided in the embodiment of the present invention.

[0029] Figure label:

[0030] 100 supporting timber stacks, 200 hydraulic supports in rows, and 300 hydraulic supports awaiting retraction.

[0031] First protective support bracket 400, first support frame 401, first hydraulic support rod 4011, first top protective beam 4012, first push-pull rod 402.

[0032] Second protective support bracket 500, second support frame 501, second hydraulic support rod 5011, second top protective beam 5012, second push-pull rod 502

[0033] 601 protective lifting frame, 602 push-pull device

[0034] The high-power traction robotic arm and its base include a pushing beam 700, a base 701, a base 7011, a diagonal connecting rod 702, a main connecting rod 703, a forearm outer sleeve 704, a forearm inner sleeve 705, a forearm telescopic hydraulic cylinder 706, and a joint hydraulic cylinder 708. Detailed Implementation

[0035] Embodiments of the present invention are described in detail below, with examples of the embodiments illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0036] The following is based on Figures 1-8 This invention describes the powerful traction device, powerful traction system, and traction method of the powerful traction device provided in the embodiments of the present invention.

[0037] The powerful traction device is used to pull the hydraulic supports 300 to be retracted in the hydraulic support row 200 out of the frame along a preset path. The powerful traction device includes a powerful traction robotic arm and its base pushing beam 700 and a push-pull device 602. The powerful traction robotic arm and its base pushing beam 700 include a base 701, a diagonal connecting rod 702, a main connecting rod 703, a telescopic forearm and a joint hydraulic cylinder 708.

[0038] The retractable forearm has a retractable function, and in some embodiments, such as Figure 3 and Figure 4 As shown, the telescopic forearm includes: an outer forearm sleeve 704, an inner forearm sleeve 705, and a telescopic hydraulic cylinder 706. The outer forearm sleeve 704 is fitted onto the inner forearm sleeve 705, and the two are slidably arranged. The telescopic hydraulic cylinder 706 is located inside the outer forearm sleeve 704 and connected to the inner forearm sleeve 705 for pushing and pulling the inner forearm sleeve 705 to achieve telescopic movement of the inner forearm sleeve 705 relative to the outer forearm sleeve 704. When the telescopic hydraulic cylinder 706 extends, it pushes the inner forearm sleeve 705 outward relative to the outer forearm sleeve 704, and the telescopic forearm is in an extended state. When the telescopic hydraulic cylinder 706 retracts, it pulls the inner forearm sleeve 705 into the outer forearm sleeve 704, and the telescopic forearm is in a retracted state.

[0039] The push-pull device 602 is connected to the base 701, and the front end of the push-pull device 602 can extend or retract relative to the base 701 in a first preset direction. One end of the diagonal connecting rod 702 is hinged to the front end of the push-pull device 602, and the other end of the diagonal connecting rod 702 is hinged to one end of the telescopic arm. The other end of the telescopic arm is used to pull the hydraulic support to be retracted. One end of the main connecting rod 703 is hinged to the base 701, and the other end of the main connecting rod 703 is hinged to the middle of the diagonal connecting rod 702. One end of the joint hydraulic cylinder 708 is hinged to the main connecting rod 703, and the other end of the joint hydraulic cylinder 708 is hinged to the middle of the telescopic arm. The push-pull device 602 is used to push and pull the diagonal connecting rod 702 to make the diagonal connecting rod 702 swing. The joint hydraulic cylinder 708 is used to push and pull the telescopic arm to make the telescopic arm swing.

[0040] The traction method of the powerful traction device provided in this embodiment of the invention includes:

[0041] The push-pull device 602, the joint hydraulic cylinder 708, and the telescopic forearm are all in the extended state, and the end of the telescopic forearm is hinged to the hydraulic support 300 to be retracted.

[0042] The push-pull device 602 is controlled to retract, and the inclined connecting rod 702 rotates under the action of the main connecting rod 703. At the same time, the joint hydraulic cylinder 708 is controlled to retract, so as to drive the telescopic arm to pull the hydraulic support 300 to be retracted out of the frame along the predetermined trajectory. After the hydraulic support 300 is unloaded and changes from stationary to sliding, the telescopic arm is controlled to retract to complete the removal action.

[0043] The hydraulic cylinder 708 of the control joint is extended, and the telescopic arm is extended at the same time, so that the telescopic arm drops the hydraulic support 300 to be retracted along a predetermined trajectory.

[0044] After the hydraulic support 300 that has completed its downward movement is pulled out by other traction equipment, the control joint hydraulic cylinder 708, the push-pull device 602 and the telescopic forearm retract, in preparation for the retraction of the next hydraulic support.

[0045] A simplified force analysis diagram of the high-strength traction device during the retraction of the hydraulic support is shown below. Figure 6 As shown. Here, AC represents the diagonal connecting rod 702, BD represents the main connecting rod 703, MN represents the joint hydraulic cylinder 708, CE represents the telescopic forearm, force F represents the pulling force of the push-pull device 602, the direction of force F is along the first preset direction, force G represents the pulling force of the telescopic forearm, point E is hinged to the hydraulic support 300 to be retracted, and point D is hinged to the base 701.

[0046] When the robotic arm is pulling, MN (joint hydraulic cylinder 708) can be considered as a rigid link with variable length. Therefore, quadrilateral CBMN can be considered as a single unit, rotating about point B as the fulcrum. Let the length of AB be l1, the length of BC be l2, and the angle of rotation of link AC at this time be... The length of connecting rod CE is l3, and the angle between it and the second preset direction is θ2. Both the second and first preset directions are horizontal, and the second preset direction is orthogonal to the first preset direction. Therefore, the angle between CE and AC is θ1 + θ2. The push-pull device 602 applies a constant horizontal force F, which generates a traction force G along the CE direction at the traction point of the telescopic arm. The lever arm of F relative to point B is d1 = l1·cosθ1, and the lever arm of G relative to point B is d2 = l2·sin(θ1 + θ2). Since the force exerted by connecting rod BD on connecting rod AC passes through fulcrum B, according to the torque formula:

[0047] G = F·d1 / d2

[0048] Furthermore, because it is desirable for point E to move along the second preset direction during the traction process so that the hydraulic support can smoothly exit the frame along the second preset direction, the projections of the lengths of rod AC and rod CE in the horizontal direction are equal, that is:

[0049] (l1+l2)·sinθ1=l3·sinθ2

[0050] The component of the traction force G in the second preset direction is G·cosθ2, and the displacement of the end point E in the second preset direction is:

[0051] x=(l1+l2)·(1-cosθ1)+l3·(1-cosθ2)

[0052] As an example, let l1 = 1150mm, l2 = 650mm, and l3 = 3340mm. Substituting these values ​​into the above equation, and assuming the initial applied horizontal constant force F is 100 tons, then the curve showing the vertical component of the traction force G as a function of x is as follows: Figure 7 As shown in the figure, it is clear from the figure that the robotic arm is in a lever-saving state at the initial start-up. Theoretically, the traction force starts from infinity and can still provide 6 times the output force F of the push-pull device 602, i.e., 600 tons, when the end effector moves about 50mm. As the traction distance increases, the traction force G gradually approaches the output force F of the push-pull device 602. Since the initial stage of hydraulic support deployment is very prone to difficulties due to top plate pressure, bottom plate sinking, and inherent static friction, etc., once the hydraulic support changes from stationary to sliding, the traction force requirement of the hydraulic support will be greatly reduced. Therefore, this output characteristic of the powerful traction device provided in this embodiment of the invention is very suitable for application in hydraulic support deployment traction.

[0053] The powerful traction device provided in this invention makes reasonable use of limited space, solving the prominent contradiction between heavy output equipment and narrow working space in mine roadways. When starting to traction the hydraulic support, the powerful traction device can output a traction force much greater than the pulling force of the push-pull device within a small range through the lever principle, overcoming the maximum static friction force of the hydraulic support during the start-up phase. Furthermore, through reasonable control of each drive device, it can ensure that the hydraulic support is pulled out along an ideal path, avoiding various collisions and scrapes, preventing equipment damage and dangerous situations, and greatly improving the safety and efficiency of the hydraulic support pulling process.

[0054] In some embodiments, such as Figure 3As shown, the telescopic forearm includes an outer forearm sleeve 704, an inner forearm sleeve 705, and a telescopic hydraulic cylinder 706. The outer forearm sleeve 704 is fitted onto the inner forearm sleeve 705 and the two are slidably arranged. The outer forearm sleeve 704 serves to slide and limit movement. The telescopic hydraulic cylinder 706 is located inside the outer forearm sleeve 704 and connected to the inner forearm sleeve 705 for pushing and pulling the inner forearm sleeve 705 to achieve telescopic movement of the inner forearm sleeve 705 relative to the outer forearm sleeve 704. When the telescopic hydraulic cylinder 706 extends, it pushes the inner forearm sleeve 705 outward relative to the outer forearm sleeve 704, and the telescopic forearm is in the extended state. When the telescopic hydraulic cylinder 706 retracts, it pulls the inner forearm sleeve 705 into the outer forearm sleeve 704, and the telescopic forearm is in the retracted state. The diagonal connecting rod 702 is hinged to the outer sleeve of the forearm 704, and the end of the inner sleeve of the forearm 705 is hinged to a traction head for traction of the hydraulic support.

[0055] Specifically, such as Figure 3 and Figure 4 As shown, the diagonal connecting rod 702 has opposing first and second ends, the forearm outer sleeve 704 has opposing first and second ends, and the forearm inner sleeve 705 has opposing first and second ends. The first end of the diagonal connecting rod 702 is hinged to the telescopic front end of the push-pull device 602, allowing the diagonal connecting rod 702 to swing relative to the push-pull device 602. The first end of the forearm outer sleeve 704 is hinged to the diagonal connecting rod 702, allowing the forearm outer sleeve 704 to swing relative to the diagonal connecting rod 702. The first end of the forearm inner sleeve 705 extends into the forearm outer sleeve 704 from the second end of the forearm outer sleeve 704, and the second end of the forearm inner sleeve 705 extends out from the second end of the forearm outer sleeve 704 and is connected to the traction head.

[0056] The main connecting rod 703 has opposing first and second ends, and the joint hydraulic cylinder 708 has opposing first and second ends. For example... Figure 3 and Figure 4 As shown, the first end of the main connecting rod 703 is hinged to the base 701, the second end of the main connecting rod 703 is hinged to the middle of the inclined connecting rod 702, the first end of the joint hydraulic cylinder 708 is hinged to the middle of the main connecting rod 703, and the second end of the joint hydraulic cylinder 708 is hinged to the outer side of the forearm sleeve 704.

[0057] Furthermore, the second end of the joint hydraulic cylinder 708 is hinged to the outer side of the end of the forearm sleeve 704 near the traction head (the second end of the forearm sleeve 704) to maximize the pulling force of the joint hydraulic cylinder 708 on the forearm sleeve 704.

[0058] Optionally, the swing angle range of the diagonal link 702 is 0-90°. For example, before the hydraulic support 300 to be retracted is removed from the frame, the diagonal link 702 is in the initial position, and the extension direction of the diagonal link 702 in the initial position is perpendicular to the extension direction of the push-pull device 602 (i.e., the first preset direction). After the hydraulic support 300 to be retracted is removed from the frame, the diagonal link 702 gradually swings 90° under the pull of the push-pull device 602 until it swings to a position parallel to the first preset direction.

[0059] The powerful traction system provided in this embodiment of the invention includes the powerful traction device in any of the above embodiments, and further includes a stepping device. The stepping device includes at least one push-pull rod that can extend or retract along a first preset direction. The end of the push-pull rod is connected to the base 701 and is used to drive the base 701 forward along the first preset direction so as to drive the base 701 to move to the next ejection position, so that the powerful traction robotic arm and its base push beam 700 are ready to eject the next hydraulic support 300 to be retracted.

[0060] In some alternative embodiments, such as Figure 3 and Figure 8 As shown, the stepping device is located behind the base 701, and the push-pull rod (e.g.) Figure 1 The front ends of the first push-pull rod 402 and the second push-pull rod 502 are hinged to the base 701. The push-pull rods extend to push the base 701 forward in a first preset direction, that is, the stepping device moves forward by pushing the base 701 forward.

[0061] In some alternative embodiments, the stepping device is located in front of the base 701, and the rear end of the push-pull rod is hinged to the base 701 (not shown in the figure). The push-pull rod retracts to pull the base 701 forward in a first preset direction, that is, the stepping device steps forward by pulling the base 701 forward.

[0062] In some embodiments, the stepping device includes a plurality of shield supports (e.g. Figure 3 The first protective support 400 and the second protective support 500 are arranged sequentially along a second preset direction, which is orthogonal to the first preset direction. Each protective support includes a support frame (e.g., Figure 3 The first support frame 401, the second support frame 501, and at least one push-pull rod (e.g.) Figure 3 The first push-pull rod 402 and the second push-pull rod 502 in the support frame extend or retract relative to the support frame body in a first preset direction. The support frame body has a raised frame state and a lowered frame state. In the raised frame state, the top of the support frame body abuts against the mine roof. In the lowered frame state, the support frame body retracts and detaches from the mine roof.

[0063] When the push-pull rod extends or retracts to drive the base 701 forward, the support frame is raised and supported between the mine roof and floor, making the stepping device more stable and the driving process more reliable. At the same time, the shield support can provide a protective support effect to prevent roadway collapse and burial. After the base 701 has moved forward, the support frame is lowered and the push-pull rod is retracted or extended to drive the support frame to the initial state, and then the support frame is raised and supported.

[0064] As an example, such as Figure 3 As shown, the stepping device includes a first cover support 400 and a second cover support 500, which are arranged in a second preset direction. The first cover support 400 includes a first support frame 401 and a first push-pull rod 402. The first push-pull rod 402 is mounted on the first support frame 401 and extends or retracts relative to the first support frame 401 along the first preset direction. The front end of the first push-pull rod 402 is hinged to the base 701. The second cover support 500 includes a second support frame 501 and a second push-pull rod 502, which is mounted on the second support frame 501 and extends or retracts relative to the second support frame 501 along the first preset direction. The front end of the second push-pull rod 502 is hinged to the base 701. The first support frame 401 and the second support frame 501 have a raised state and a lowered state.

[0065] In some embodiments, the support frames of several protective supports are lowered in sequence and then moved forward under the action of push-pull rods, so that the several protective supports can alternately support the top plate and always have a supporting effect on the top plate, effectively preventing the top plate from collapsing.

[0066] As an example, in Figure 8 In the illustrated embodiment, the first protective support 400 and the second protective support 500 are lowered sequentially and move forward under the action of corresponding push-pull rods. Both the first support frame 401 and the second support frame 501 are in the raised state. The first push-pull rod 402 and the second push-pull rod 502 simultaneously extend and push the base 701 forward a certain distance along the first preset direction. Then, the second support frame 501 is lowered, while the first support frame 401 remains in the raised state. After the second push-pull rod 502 retracts, causing the second support frame 501 to move forward a certain distance, the second support frame 501 returns to the raised state. Then, the first support frame 401 is lowered, while the second support frame 501 remains in the raised state. After the first push-pull rod 402 retracts, causing the first support frame 401 to move forward a certain distance, the first support frame 401 returns to the raised state.

[0067] Of course, in other alternative embodiments, the stepping device may also include other numbers of cover supports, such as three.

[0068] In some embodiments, the first support frame 401 includes a first hydraulic support rod 4011 and a first top shield beam 4012. The first hydraulic support rod 4011 is supported at the bottom of the first top shield beam 4012. The first hydraulic support rod 4011 is telescopically configured to raise or lower the first top shield beam 4012, so that the first support frame 401 can switch between a raised state and a lowered state.

[0069] The second support frame 501 includes a second hydraulic support rod 5011 and a second top protective beam 5012. The second hydraulic support rod 5011 is supported at the bottom of the second top protective beam 5012. The second hydraulic support rod 5011 is telescopically configured to raise or lower the second top protective beam 5012, so that the second support frame 501 can switch between a raised state and a lowered state.

[0070] Before the protective supports advance, both the first protective support 400 and the second protective support 500 are in a raised support state. When the protective supports advance, the second hydraulic support rod 5011 retracts to lower the second top protective beam 5012, placing it in a lowered state. After advancing, the second hydraulic support rod 5011 extends to raise the second top protective beam 5012, placing it in a raised state. The first hydraulic support rod 4011 retracts to lower the first top protective beam 4012, placing it in a lowered state. After advancing, the first hydraulic support rod 4011 extends to raise the first top protective beam 4012, placing it in a raised state. By lowering and retracting in this manner, the first protective support 400 and the second protective support 500 can move forward independently, allowing the entire protective support system to move forward under safe cover.

[0071] In some embodiments, the base 701 includes a shield lifting frame 601 and a base 7011. The shield lifting frame 601 has a raised state and a lowered state. In the raised state, the shield lifting frame 601 is supported between the mine roof and the mine floor. In the lowered state, the shield lifting frame 601 is detached from the mine roof. A push-pull device 602 is provided on the shield lifting frame 601, and the front end of the shield lifting frame 601 is hinged to the base 7011. One end of the main connecting rod 703 is hinged to the base 7011, that is, the main connecting rod 703 is supported on the base 7011 and swings around the hinge point with the base 7011.

[0072] Furthermore, the front end of the push-pull rod of the stepping device is also hinged to the base 7011. Therefore, when the push-pull rod of the stepping device extends to push the base 7011 forward, the base 7011 can drive the protective lifting frame 601 in the lowered state to step forward. The protective lifting frame 601 drives the push-pull device 602 to move forward synchronously. After the protective lifting frame 601 moves forward, it transforms into the raised state to provide support and protection.

[0073] exist Figure 3 and Figure 4 In the embodiment shown, the hinge points of the first push-pull rod 402 and the base 7011, the hinge points of the second push-pull rod 502 and the base 7011, and the hinge points of the shield lifting frame 601 and the base 7011 form a triangular distribution to stably fix the base 7011 to the base plate plane.

[0074] like Figure 1 As shown, the hydraulic support array 200 includes several hydraulic supports to be retracted arranged along the first preset direction, which is the front-to-back direction. A powerful traction system sequentially pulls the hydraulic supports 300 to be retracted from the hydraulic support array 200 along the first preset direction. The protective lifting frame 601, the second protective support 500, and the first protective support 400 are arranged in a second preset direction perpendicular to the first preset direction, with the first protective support 400 closer to the hydraulic support array 200. Behind the hydraulic support array 200 is a triangular area prone to collapse. To prevent the triangular area from collapsing, such as... Figure 1 and Figure 2 As shown, several supporting timber stacks 100 are provided in the triangular area. In other embodiments, other types of support and protection devices can also be used to support the triangular area to ensure safety during the retraction of the hydraulic support.

[0075] The implementation steps of the tie rod function S1 of the high-strength traction system provided in the above embodiment are described in detail below with reference to Figure 5. S1 includes, but is not limited to, the following preferred methods and steps:

[0076] S101: Arrange the first shield support 400, the second shield support 500, and the powerful traction robotic arm and its base pushing beam 700 in a suitable position in the roadway, so that the front end of the shield lifting frame 601 is hinged to the base 7011, the front end of the first push-pull rod 402 is hinged to the base 7011, the front end of the second push-pull rod 502 is hinged to the base 7011, and the front end of the push-pull device 602 is hinged to the inclined connecting rod 702. The first support frame 401, the second support frame 501, and the shield lifting frame 601 are supported and fixed. Since the three hinge points of the shield lifting frame 601, the first push-pull rod 402, the second push-pull rod 502, and the base 7011 form a triangular distribution, the base 7011 is stably fixed on the bottom plate plane.

[0077] S102: As Figure 5a As shown, the push-pull device 602 and the forearm telescopic hydraulic cylinder 706 are in the extended state, and the joint hydraulic cylinder 708 is controlled to extend, so that the front end of the forearm inner sleeve 705 is close enough to the front end of the hydraulic support 300 to be retracted. The traction head at the front end of the forearm inner sleeve 705 is connected to the front end of the push-pull rod of the hydraulic support 300 to be retracted using a circular chain or a special connecting lug.

[0078] S103: As Figure 5b As shown, the push-pull device 602 is retracted, and the inclined connecting rod 702 rotates under the action of the main connecting rod 703. At the same time, the joint hydraulic cylinder 708 is retracted, so that the end of the mechanical arm, namely the front end of the inner sleeve 705 of the forearm, pulls the hydraulic support 300 to be retracted out of the frame according to the predetermined trajectory. After the hydraulic support 300 is unloaded and changes from stationary to sliding, the forearm telescopic hydraulic cylinder 706 is retracted, and the frame is pulled out at the same time.

[0079] S104: As Figure 5c As shown, after the release action is completed, the hydraulic cylinder 708 of the control joint is extended, and the hydraulic cylinder 706 of the forearm extension is extended at the same time, so that the end of the mechanical arm, that is, the front end of the inner sleeve 705 of the forearm, pulls the hydraulic support 300 to be retracted along the predetermined trajectory to complete the drop.

[0080] S105: After the hydraulic support 300 to be retracted after the orientation adjustment is pulled out of the roadway by other traction equipment, the control joint hydraulic cylinder 708, the push-pull device 602 and the forearm telescopic hydraulic cylinder 706 retract, so that the robotic arm is in a retracted state, ready to carry out the next hydraulic support to be retracted and the orientation adjustment.

[0081] The following is based on Figure 8 The implementation of the powerful traction system's cover and forward movement function S2 provided in the above embodiments is described in detail. S2 includes, but is not limited to, the following preferred methods and steps:

[0082] S201: Based on S1 above, the first push-pull rod 402 and the second push-pull rod 502 are retracted. The initial state is defined as the shield lifting frame 601, the first support frame 401 and the second support frame 501 being in a supported state. At this time, the shield lifting frame 601 is lowered. The first push-pull rod 402 and the second push-pull rod 502 are simultaneously extended forward, which will push the base 7011, the shield lifting frame 601 (i.e., the base 701) and other components of the robotic arm forward. After being pushed into place, the shield lifting frame 601 is raised, supported and fixed.

[0083] S202: Lower the second support frame 501 to unload the load, control the second push-pull rod 502 to retract, pull the second support frame 501 forward, then raise the second support frame 501 for support and fixation, completing the forward movement of the second cover support 500;

[0084] S203: Lower the first support frame 401 to unload the load, control the first push-pull rod 402 to retract, pull the first support frame 401 forward, then raise the first support frame 401 for support and fixation, completing the forward movement of the first cover support 400.

[0085] S204: Repeat S201-S203 above, and the entire powerful traction system can move forward step by step.

[0086] The powerful traction system provided in this invention can adjust the traction direction at any time by controlling each drive device during the lifting process, thereby better realizing the lifting and reorientation of the hydraulic support, avoiding various collisions and scrapes, and preventing equipment damage and dangerous situations. It can completely avoid many problems and safety hazards in the traditional winch traction method, greatly improve the efficiency of hydraulic support retraction, and greatly reduce the number of personnel required for the retraction work face, achieving the effect of reducing manpower, increasing efficiency and strengthening safety, and has extremely high economic and social value.

[0087] Multiple shield supports are used for alternating protection. The push-pull rods of the shield supports are pushed and pulled in sequence to achieve the step-by-step movement of multiple shield supports. This replaces the step of using a winch to pull the shield supports forward in the traditional withdrawal process. After the hydraulic support is deployed, the work steps such as using other withdrawal equipment to pull the hydraulic support out of the roadway and load it onto a vehicle for transportation can be carried out in parallel with the deployment of the hydraulic support. This achieves process coordination, saves the overall withdrawal time, and greatly improves the withdrawal efficiency of the hydraulic support.

[0088] In summary, the powerful traction device, system, and traction method proposed in this application greatly reduce the manual procedures and heavy physical labor in traditional retraction systems, achieving high safety, high reliability, high efficiency, and high benefits in hydraulic support retraction. It solves many unresolved pain points in hydraulic support retraction, realizes the automated transformation of hydraulic support retraction in coal mine roadways, significantly improves the operational efficiency and safety of hydraulic support retraction, and can generate significant economic and social benefits.

[0089] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0090] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0091] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0092] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0093] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0094] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A high-power traction system, characterized in that, include: A powerful traction device is used to pull the hydraulic support to be retracted out along a preset path, including: a base, a push-pull device, a diagonal connecting rod, a main connecting rod, a telescopic forearm, and a joint hydraulic cylinder; The push-pull device is connected to the base, and the front end of the push-pull device can extend or retract relative to the base in a first preset direction. One end of the inclined connecting rod is hinged to the front end of the push-pull device, and the other end of the inclined connecting rod is hinged to one end of the telescopic forearm. The other end of the telescopic forearm is used to pull the hydraulic support. One end of the main connecting rod is hinged to the base, and the other end of the main connecting rod is hinged to the inclined connecting rod. One end of the joint hydraulic cylinder is hinged to the main connecting rod, and the other end of the joint hydraulic cylinder is hinged to the telescopic forearm. The push-pull device is used to push and pull the inclined connecting rod to make the inclined connecting rod swing, and the joint hydraulic cylinder is used to push and pull the telescopic forearm to make the telescopic forearm swing. A stepping device, the stepping device including at least one push-pull rod that can extend or retract along a first preset direction, the end of the push-pull rod being connected to the base for driving the base to step forward along the first preset direction; The inclined connecting rod is hinged to the forearm sleeve of the telescopic forearm, and the swing angle range of the inclined connecting rod is 0-90°. The base includes a shield lifting frame and a base. The shield lifting frame has a raised frame state supported on the mine roof and a lowered frame state detached from the mine roof. The push-pull device is installed on the shield lifting frame. The front end of the shield lifting frame and the front end of the push-pull rod are hinged to the base. One end of the main connecting rod is hinged to the base. The stepping device includes two push-pull rods. The two push-pull rods and the two hinge points of the base and the hinge points of the shield lifting frame and the base form a triangular distribution.

2. The high-power traction system according to claim 1, characterized in that, The stepping device includes a plurality of protective supports, which are arranged sequentially along a second preset direction orthogonal to the first preset direction. Each protective support includes a support frame and at least one push-pull rod. The push-pull rod extends or retracts relative to the support frame along the first preset direction. The support frame has a raised frame state and a lowered frame state. In the raised frame state, the top of the support frame abuts against the mine roof. In the lowered frame state, the support frame retracts and detaches from the mine roof.

3. The high-power traction system according to claim 2, characterized in that, After the support frames of several of the aforementioned protective supports are lowered in sequence, they move forward under the action of the push-pull rod.

4. The high-power traction system according to claim 1, characterized in that, The telescopic forearm includes: an outer forearm sleeve, an inner forearm sleeve, and a telescopic hydraulic cylinder. The outer forearm sleeve is fitted onto the inner forearm sleeve and the two are slidably arranged. The telescopic hydraulic cylinder is located inside the outer forearm sleeve and connected to the inner forearm sleeve for pushing and pulling the inner forearm sleeve. The inclined connecting rod is hinged to the end of the outer forearm sleeve. The joint hydraulic cylinder is hinged to the outer side of the outer forearm sleeve. The end of the inner forearm sleeve is hinged with a traction head for traction hydraulic support.

5. The high-power traction system according to claim 4, characterized in that, The joint hydraulic cylinder is hinged to the outer side of the forearm sleeve near the end of the traction head.

6. A traction method for a high-power traction system, characterized in that, The high-powered traction system is the high-powered traction system according to any one of claims 1-5, and the traction method includes: The push-pull device, the joint hydraulic cylinder, and the telescopic arm are all in an extended state, and the end of the telescopic arm is hinged to the hydraulic support to be retracted. The push-pull device is controlled to retract, the inclined connecting rod rotates under the action of the main connecting rod, and the joint hydraulic cylinder is controlled to retract, so as to drive the telescopic arm to pull the hydraulic support to be retracted out of the frame along a predetermined trajectory. After the hydraulic support to be retracted is unloaded and changes from stationary to sliding, the telescopic arm is controlled to retract to complete the removal action. The hydraulic cylinder of the joint is controlled to extend, and the telescopic arm is also controlled to extend, so that the telescopic arm moves the hydraulic support to be retracted along a predetermined trajectory. After the hydraulic support that has been tilted and is to be retracted is pulled out by other traction equipment, the joint hydraulic cylinder, the push-pull device and the telescopic forearm are controlled to retract, in preparation for the retraction of the next hydraulic support.

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