A hydraulic support pin shaft and a low-damage disassembling method and device for structural parts

Abstract

The present application relates to a kind of hydraulic support pin shaft and structural member low-damage disassembly method and disassembly device, its method includes: in the first end of pin shaft, continue to apply ultrasonic vibration to pin shaft along the axial direction of pin shaft;While, from the first end of pin shaft to pin shaft along the axial direction of pin shaft is pushed, and pin shaft is ejected;In the process of pushing pin shaft, the elastic wave excited by ultrasonic vibration in pin shaft and pin hole is detected in real time;When the intensity of elastic wave exceeds the set range, the position of pin shaft is dynamically adjusted to the intensity of detected elastic wave in the set range;Then continue to push pin shaft to be completely ejected until pin shaft;Wherein, the frequency of ultrasonic vibration is in the range of 20-60kHz, and the amplitude is between 15-35 μm.It solves the technical problem that pin shaft and the parts connected by pin shaft are easily damaged in the prior art when disassembling pin shaft, resulting in low utilization.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing technology, and in particular to a low-damage disassembly method and disassembly device for hydraulic support pins and structural components. Background Technology

[0002] Hydraulic supports, as core equipment in existing coal mine fully mechanized mining engineering technology, are generally deployed under extreme conditions such as high loads and humid, dusty environments, and require long-term operation. They are prone to mechanical wear, corrosion, rust, and structural fatigue, leading to their scrapping due to malfunctions. However, the cost of a single large hydraulic support can often reach hundreds of thousands or even millions of yuan. Directly scrapping and replacing them with new ones not only incurs high procurement costs for enterprises but may also lead to resource waste and environmental pollution. Current technologies, to reduce the cost of using and purchasing hydraulic supports, typically involve cleaning, disassembly, remanufacturing, and reassembly of used hydraulic supports. The disassembled components are then used to produce new hydraulic supports, achieving the recycling of hydraulic support parts and reducing production costs.

[0003] In existing remanufacturing processes, the dismantling and recycling techniques for hydraulic supports are not mature. The utilization rate of hydraulic support structural components, including the pins themselves, which are crucial for the core support and rotational movement of the hydraulic support, is often unsatisfactory. Specifically, because the pins and the pin holes in the connected structural components are mostly interference fits, the connection is quite tight, requiring considerable force to remove the pins. Furthermore, after prolonged use, the structure of the pins and pin holes often undergoes uncertain and irregular changes due to stress variations, wear, and corrosion. This leads to a mismatch between the pin shape and the pin hole shape, making it easy for the pin and pin hole to come into contact during removal, resulting in severe friction, collision, squeezing, and scraping, causing secondary damage. In severe cases, this can even lead to pin jamming or breakage. Existing technologies typically employ hydraulic traction combined with vibration impact when disassembling pins. While this method can quickly remove the pin, it can easily cause irreparable secondary damage to the pin or pin hole during the removal process, or amplify existing damage. For example, vibration impact can cause repeated scraping between the pin and pin hole, exacerbating metal fatigue and leading to cracks that further expand existing cracks. During the traction process, the deformed part of the pin can scratch the pin hole, forming long cracks. The pin may also become stuck during disassembly and break under excessive external force, making it difficult to achieve a high utilization rate. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a low-damage disassembly method and disassembly device for hydraulic support pins, which solves the technical problem in the prior art that excessive secondary damage is easily caused to the pins and the parts connected by the pins during disassembly, resulting in low utilization rate.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0008] In a first aspect, the present invention provides a low-damage disassembly method for hydraulic support pins and structural components, characterized in that it includes: continuously applying ultrasonic vibration to the pin at its first end along the axial direction of the pin; while applying ultrasonic vibration, applying a thrust to the pin from its first end along the axial direction of the pin to push the pin out.

[0009] During the pushing process of the pin, the elastic waves excited by ultrasonic vibration in the pin and pin hole are detected in real time. When the elastic wave intensity exceeds the set range, the position of the pin is dynamically adjusted until the detected elastic wave intensity is within the set range. Then the pushing process of the pin continues until the pin is completely pushed out.

[0010] The frequency of ultrasonic vibration is in the range of 20-60kHz, and the amplitude is between 15-35μm.

[0011] Optional steps include the following:

[0012] S1: Apply ultrasonic vibration to the first end of the pin along the axial direction of the pin and continue for a set time.

[0013] S2: After the ultrasonic vibration continues for a set time, maintain the ultrasonic vibration and apply a pushing force to the first end of the pin along the axial direction of the pin to perform the first pushing process on the pin, so that the second end of the pin extends out of the pin hole.

[0014] S3: Continue ultrasonic vibration to perform a second push on the pin, completely ejecting the pin. During the second push, the elastic waves generated by the ultrasonic vibration on the pin and pin hole are detected in real time. When the elastic wave intensity exceeds the set range, the position of the pin is dynamically adjusted until the detected elastic wave intensity is within the set range. Then, the pin is pushed until it is completely ejected.

[0015] Optionally, dynamically adjusting the position of the pin includes: first retracting the pin a certain distance, then rotating the pin by a certain angle, and then continuing to push the pin forward; when the elastic wave intensity exceeds the set range, repeat the above process until the elastic wave intensity is within the set range.

[0016] Optionally, the frequency of the ultrasonic vibration is in the range of 35-45kHz, the amplitude is in the range of 20-30μm, and the total power of the ultrasonic vibration is in the range of 800-1200W.

[0017] Optionally, when retracting the pin, the retraction distance is between 1-6cm and the rotation angle is 20-30 degrees; when rotating the pin, the torque is increased at a speed of 0.1-1N·m / s until the pin begins to rotate, and the torque is stopped when the pin begins to rotate; the torque during pin rotation does not exceed 50% of the shear resistance index of the pin design.

[0018] In a second aspect, the present invention also provides a disassembly apparatus for implementing a low-damage disassembly method for hydraulic support pins and structural components according to any one of the first aspects, comprising a frame, a vibrator pusher sleeve, a first detection component, a first hydraulic pusher, a second hydraulic pusher, a rotary clamp, and an ultrasonic vibrator.

[0019] The vibrator push sleeve is mounted on the frame, and the ultrasonic vibrator is mounted on the linear motion output end of the vibrator push sleeve. The vibrator push sleeve can drive the ultrasonic vibrator to continuously abut against the first end of the pin to be disassembled.

[0020] The first hydraulic pusher is installed on the frame. The pushing end of the first hydraulic pusher passes through the vibrator pusher sleeve and abuts against the first end of the pin to be disassembled, and is used to push the pin to be disassembled.

[0021] The first detection component is used to be set on the edge surface of the second end of the pin shaft to be disassembled, corresponding to the pin hole.

[0022] The second hydraulic pusher is mounted on the frame and is used to retract the pin to be disassembled.

[0023] The rotary clamp is mounted on the frame and is used to rotate the pin to be disassembled.

[0024] Optionally, the vibrator push sleeve is connected to the frame via a first moving component, which can drive the vibrator push sleeve to move between multiple disassembly stations of the pins to be disassembled; the first hydraulic pusher is connected to the frame via a second moving component, which can drive the first hydraulic pusher to move between multiple disassembly stations of the pins to be disassembled; the first detection component is connected to the frame via a third moving component, which can drive the first detection component to move between multiple disassembly stations of the pins to be disassembled; the second hydraulic pusher is connected to the frame via a fourth moving component, which can drive the second hydraulic pusher to move between multiple disassembly stations of the pins to be disassembled; and the rotary clamp is connected to the frame via a fifth moving component, which can drive the rotary clamp to move between multiple disassembly stations of the pins to be disassembled.

[0025] Optionally, the vibrator push sleeve includes a top plate, a bottom plate, and several telescopic rods disposed between the top plate and the bottom plate;

[0026] Both the top and bottom plates are annular structures with through holes in the middle; telescopic rods are fixedly connected to the annular structures of the top and bottom plates at certain intervals;

[0027] The ultrasonic vibrator is installed on the side of the top plate away from the telescopic rod.

[0028] Optionally, the first hydraulic pusher includes a hydraulic cylinder and a telescopic push rod, with the piston rod of the hydraulic cylinder fixedly connected to the telescopic push rod; the telescopic push rod passes through the annular structure of the top plate and the bottom plate to abut against the first end of the pin to be disassembled.

[0029] Optionally, the first detection component includes a first annular substrate and a plurality of acoustic emission sensors fixedly connected to one side of the first annular substrate; when disassembling the pin to be disassembled, the side of the first detection component with acoustic emission sensors can abut against the edge surface of the pin hole corresponding to the second end of the pin to be disassembled, and the second end of the pin to be disassembled can pass through the first detection component.

[0030] (III) Beneficial Effects

[0031] The beneficial effects of the present invention are as follows: The present invention provides a low-damage disassembly method for hydraulic support pins and structural components. During the disassembly process, ultrasonic vibration is applied along the axial direction of the pin. Compared with the prior art, ultrasonic vibration can not only loosen and peel off the rust and impurities on the surface of the pin, but its better conduction effect can also be conducted along the metal to the part where the pin is connected to the hydraulic support. This reduces the obstruction to the disassembly of the pin caused by rust, dirt and fastening impurities at the connection, and avoids the problem of the pin being difficult to disassemble or the hydraulic support structural components being damaged due to excessive rust or impurities blocking the pin. Meanwhile, due to the relatively simple waveform of axial ultrasonic vibration, its vibration energy has strong conductivity and low loss, and can be transmitted to the entire pin. Compared with existing technologies, it can not only stably reduce the tightness of the interface between the pin and the pin hole through micro-friction, reducing the friction between the entire pin and the pin hole and avoiding secondary damage that may be caused by forcibly disassembling the pin; it can also stably excite elastic waves at the stress concentration points of the pin and the pin hole through periodic vibration. The excitation of elastic waves clearly reflects the stress relationship between the pin and the pin hole, and based on this, the position of the pin can be dynamically adjusted to improve the stress relationship between the pin and the pin hole, reduce the occurrence of secondary damage, avoid serious secondary damage, and improve the utilization rate of hydraulic support structural components and pins that are structurally connected by pins and are involved in the core support and rotational movement functions of hydraulic supports. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the pin disassembly frame of Embodiment 2 of the intelligent disassembly device for hydraulic supports of the present invention;

[0033] Figure 2 for Figure 1 An enlarged schematic diagram of point A in the middle.

[0034] [Explanation of Labels in the Attached Image]

[0035] 1: Frame body; 2: Vibrator pusher sleeve; 3: First detection component; 4: Second detection component; 5: First hydraulic pusher; 6: Second hydraulic pusher; 7: Rotary clamp; 8: Ultrasonic vibrator; 9: Pin to be disassembled; 10: Top plate; 11: Bottom plate; 12: Telescopic rod; 13: Ultrasonic transducer; 14: Amplitude rod; 15: Hydraulic cylinder; 16: Telescopic pusher; 17: First moving component; 18: Second moving component; 19: Third moving component; 20: Fourth moving component; 22: Second annular base plate; 23: Acoustic emission sensor. Detailed Implementation

[0036] To better explain and facilitate understanding of the present invention, a detailed description of the invention is provided below with reference to the accompanying drawings and specific embodiments. In this document, directional terms such as "up," "down," "left," and "right" are used interchangeably. Figure 1 The orientation is used as a reference.

[0037] Example 1:

[0038] This embodiment provides a low-damage disassembly method for hydraulic support pins and structural components, including: continuously applying ultrasonic vibration to the first end of the pin along the axial direction of the pin; while applying ultrasonic vibration, applying a thrust to the pin from the first end along the axial direction of the pin to push the pin out.

[0039] During the pushing process of the pin, the elastic waves generated by ultrasonic vibration in the pin and pin hole are monitored in real time. When the intensity of the elastic waves exceeds the set range, the position of the pin is dynamically adjusted until the detected elastic wave intensity is within the set range. Then, the pushing process continues until the pin is completely pushed out.

[0040] Preferably, the frequency of the ultrasonic vibration is in the range of 20-60kHz and the amplitude is between 15-35μm.

[0041] Specifically, such as Figure 1 As shown, the low-damage disassembly method for hydraulic support pins and structural components of the present invention includes the following steps:

[0042] S1: Apply ultrasonic vibration to the first end of the pin along the axial direction of the pin and continue for a set time.

[0043] S2: After the ultrasonic vibration continues for a set time, maintain the ultrasonic vibration and apply a thrust to the first end of the pin along the axial direction of the pin to perform the first pushing process on the pin, so that the second end of the pin extends out of the pin hole.

[0044] S3: Continue applying ultrasonic vibration. At the first end of the pin, continue applying thrust along the axial direction of the pin to perform a second pushing process. During the second pushing process, the elastic waves generated by the ultrasonic vibration on the pin and pin hole are detected in real time. When the elastic wave intensity exceeds the set range, dynamically adjust the position of the pin until the detected elastic wave intensity is within the set range. Then continue pushing the pin until it is completely pushed out.

[0045] Specifically, during the pushing process of the pin, when the pin and pin hole experience obstruction or compression due to deformation or other issues, potentially leading to secondary damage, stress concentration occurs at the main contact point between them—the point where secondary damage may occur. If the force at this point is too great, exceeding its tolerance, secondary damage will result. Axial ultrasonic vibration can cause continuous, reciprocating compression or collision at the stress concentration point between the pin and pin hole, periodically changing the normal stress at the interface. By controlling the frequency and amplitude of the ultrasonic waves, this change, while not causing damage to the pin and pin hole, will create periodic stress changes at the stress concentration point, continuously generating elastic waves (acoustic emission response). The generation of elastic waves indicates abnormal stress. However, since the pin and pin hole are mostly interference fits or have some contact at their deformation points, a basic elastic wave with low intensity is naturally generated during the pushing process. In this case, even if damage occurs, it is relatively easy to repair and falls within the set normal range. If the elastic wave intensity suddenly increases, exceeds the basic range, or remains at a high level, it indicates that the stress abnormality has exceeded the set range. Continuing to push may cause more serious secondary damage or amplify existing and secondary damage, and the pushing should be stopped immediately.

[0046] Preferably, in S3, if no stress abnormality is detected between the pin and the hydraulic support or the detected stress abnormality is within the set range during the second pushing process of the pin, the pin is directly pushed out completely to complete the disassembly of the pin.

[0047] If an abnormal stress level exceeding the set range is detected, the position of the pin is dynamically adjusted: stop the pushing at the first end, maintain ultrasonic vibration, and apply a pushing force at the second end to retract the pin a certain distance until the abnormal stress disappears or decreases to within the set range. Then, rotate the pin to adjust its position. After adjusting to a certain angle, stop the rotation and the pushing at the second end, resume the pushing at the first end, and continue pushing the pin forward until it returns to its original position. If there is no abnormal stress after adjustment, or if it has decreased to within the set range, continue pushing the pin forward. If the abnormal stress problem persists after adjustment, repeat the above operation.

[0048] If a large stress anomaly is detected during rotation, it is considered that rotation in that direction should not continue. Rotation in that direction should be stopped immediately, and the pin should be rotated in the opposite direction for adjustment.

[0049] If repeated adjustments to the retractable and rotating pins are made within the adjustable range (including situations where rotation is impossible), but the abnormal stress cannot be eliminated or reduced to the set range, it is considered that the pin and / or pin hole is severely blocked or deformed. Disassembly of the pin can be stopped, and the hydraulic support moved to a manual disassembly area. The subsequent disassembly process will be determined manually. Manual disassembly may be time-consuming and inefficient. Alternatively, adjustments can be continued until the pin is adjusted to a position with lower abnormal stress, i.e., lower elastic wave intensity and less stress between the pin and pin hole. Increasing the thrust and ultrasonic vibration power will further push the pin out. While this may cause some secondary damage, the damage is relatively minor and the process is relatively faster.

[0050] This embodiment of a low-damage disassembly method for hydraulic support pins and structural components utilizes a powerful axial thrust applied to the pin during assembly. This quickly overcomes the high-strength connection force generated by the interference fit during pin assembly. Furthermore, for hydraulic support pin holes and pins that have been in long-term use and may become tightly connected due to wear, corrosion, etc., the axial thrust can also induce relative displacement between the pin and pin hole with minimal damage, facilitating pin disassembly.

[0051] At the same time, compared with the prior art, the thrust applied in the axial direction in this embodiment can further avoid the possibility of sudden breakage of the pin during the disassembly process, and avoid dangerous situations caused by sudden breakage of the pin, such as damage caused by the sudden retraction of the pin pulling device after the pin breaks, or injury to personnel or equipment caused by the flying fragments of the broken pin.

[0052] This embodiment also applies high-frequency ultrasonic vibration to the pin, causing the rust and impurities on the pin surface to loosen and peel off. This vibration not only acts on the pin surface but also travels along the metal to the connection between the pin and the hydraulic support, reducing the obstruction to pin disassembly caused by rust, dirt, and fastening impurities (such as tightly attached coal slag) at the connection point. This avoids the problem of the pin being difficult to disassemble due to excessive rust or blockage by impurities, or damage to hydraulic support components caused by forced disassembly.

[0053] Based on this, the axially applied ultrasonic vibration can continuously generate elastic waves at the stress concentration points between the pin and the pin hole, accurately and clearly reflecting the stress relationship between the pin and the pin hole. Since the high-frequency ultrasonic vibration in this embodiment is applied axially along the pin shaft, the waveform of the axially transmitted ultrasonic vibration is relatively simple. Its vibration energy has strong conductivity and low loss within the pin shaft, allowing it to be transmitted throughout the entire pin shaft. Detecting the stress concentration points in the entire pin shaft and pin hole ensures that the ultrasonic vibration can generate continuous and stable elastic waves at the stress concentration points, further improving the recognizability of the elastic waves and ensuring their stable identification. The superposition of the ultrasonic waves and the continuous, stable elastic waves they induce allows the detection component to more accurately identify abnormal elastic waves, improving the accuracy and response speed of identifying abnormal stress phenomena between the pin and the pin hole.

[0054] Furthermore, axial ultrasonic vibration can effectively reduce the tightness and connection effect of the interface between the pin and the pin hole through fretting friction, reducing the force required to push and rotate the pin. The axial ultrasonic vibration and axial thrust work together to stably and quickly disassemble the pin. Even without pretreatment (such as soaking and cleaning, or vibration table loosening), a good pin disassembly effect can be achieved, avoiding secondary damage that may be caused by forcibly disassembling the pin (such as damage to the pin and pin hole caused by vibration table loosening or direct high-frequency vibration impact).

[0055] If ultrasonic vibration is applied to the pin in a radial or inclined direction, its energy is relatively dispersed, the stress excitation efficiency is low, and it is difficult to generate stable superimposed elastic waves, resulting in poor detection and inaccurate identification. Furthermore, its poor transmission effect may prevent it from being effectively and with low loss transmitted throughout the pin, failing to effectively reduce the friction between the pin and the pin hole, thus making it impossible to adjust the pin, which is interference-fitted with the hydraulic support structure, by rotation.

[0056] This embodiment also adjusts the position of the pin by applying a thrust at the second end to retract the pin and cooperate with the rotating pin. This allows the pin to be pushed out without further damage by adjusting the relative position of the pin and the pin hole, finding a direction with a larger gap and a more suitable shape between the pin and the pin hole. This ensures that the bent or deformed part of the pin avoids the area of ​​severe deformation of the pin hole, thereby reducing jamming and allowing the pin to be disassembled smoothly. This improves the integrity of the disassembled pin and hydraulic support structure in this embodiment and avoids secondary damage during disassembly.

[0057] Preferably, if the pin cannot be successfully removed by repeated rotation and retraction under the action of ultrasound, it is considered that the pin and / or pin hole have suffered severe corrosion, deformation or other conditions. Continuing to remove it by mechanical means may cause serious damage and manual intervention is required. More flexible methods such as lubricant penetration or low temperature / high temperature treatment should be used to remove the pin to avoid damage to the hydraulic support components caused by mechanical disassembly.

[0058] Preferably, in S1-S4, the frequency of the ultrasonic vibration is in the range of 20-60kHz, more preferably in the range of 35-45kHz, and the amplitude is between 15-35μm, more preferably between 20-30μm. It is important to note that the elastic wave generated when stress is concentrated between the pin and the pin hole is generally a high-frequency wave, typically between 100-400kHz. To ensure accurate identification and effective excitation of the elastic wave, it is best to control the frequency of the ultrasonic vibration within the range of 35-45kHz. This avoids problems such as poor excitation effect due to excessively low ultrasonic frequency, unclear elastic wave, or partial obscuring of the elastic wave due to excessively high ultrasonic frequency, leading to decreased identifiability. Simultaneously, the amplitude of the ultrasonic vibration also needs to be controlled to avoid situations where the elastic wave cannot be identified due to excessively small amplitude or damage to the pin or pin hole due to excessively large amplitude.

[0059] Furthermore, if the amplitude of the ultrasonic vibration is less than 15μm, the friction-reducing effect of the ultrasonic wave may decrease, resulting in excessive friction between the interference-fit pin and the pin hole, making rotation impossible. Attempting to rotate in this situation may lead to failure to rotate or pin breakage. The ability to rotate can be determined by monitoring the ultrasonic and elastic waves during rotation. If necessary, the amplitude can be increased to allow the pin to rotate.

[0060] Meanwhile, controlling the frequency of ultrasonic vibration within the range of 35-45kHz can further prevent resonance in the pin or other parts of the hydraulic support, and avoid damage such as metal fatigue to the pin, pin hole or other components caused by uncontrollable resonance or excessive ultrasonic vibration.

[0061] Preferably, the total power of the ultrasonic vibration is in the range of 400-1200W, and more preferably in the range of 800-1200W. This ensures that the ultrasonic vibration has sufficient energy to vibrate the pin, effectively preventing loosening and corrosion, and reducing friction. Excessive ultrasonic power may cause abnormal heating at the contact point between the ultrasonic vibrator and the pin, leading to overheating or other problems.

[0062] More preferably, for smaller diameter pins that do not use an interference fit, the total power of the ultrasonic vibration is controlled within the range of 400-800W, preferably within the range of 400-600W. The connection between these pins and the pin holes is not tight, and disassembly can be completed without a large power. At the same time, it is avoided to place a high-power ultrasonic vibrator in a small pin hole to prevent overheating or excessive cost. If necessary, such as for small pins with a diameter of about 1-3cm, such as pins in small structural components like side guard plates or coal retaining plates, where it is inconvenient to simultaneously apply axial ultrasonic vibration and jacking force to the pin, ultrasonic vibration can be omitted, and it can be pushed out by jacking, or the ultrasonic vibrator can be placed at the pin hole at the first end of the pin to indirectly apply ultrasonic vibration and push it out. These small pins generally do not bear large stresses, and their wear and corrosion are generally small, so they generally do not cause significant secondary damage during disassembly.

[0063] Preferably, in S1, the duration of ultrasonic vibration is not less than 30 seconds, and more preferably not less than 60 seconds.

[0064] More preferably, in S1, the duration of ultrasonic vibration is 30 seconds, preferably not less than 60 seconds.

[0065] Preferably, in S2, during the first jacking process, the waveform of the sound wave transmitted through the pin is continuously monitored to determine the stress condition of the pin and the pin hole.

[0066] More preferably, in S2, if the second end of the pin is provided with a pre-set point for connection to the rotating mechanism, so that the pin can be rotated without first pushing it out a portion, then during the first push, the position of the pin is dynamically adjusted according to the stress in the pin and the pin hole, further avoiding damage to the pin and its connecting parts.

[0067] Preferably, in S2 and S3, the magnitude of the thrust needs to be adjustable according to the actual disassembly situation and progress of the pin. In the initial stage of pin disassembly, a small pressure is applied and gradually increased, combined with ultrasonic vibration. Once the pin begins to move, this thrust is maintained, slowly pushing the pin out. This ensures that the pin or pin hole is not damaged due to unstable increases in axial thrust during the initial disassembly. In subsequent processes, as the pin is pushed out to a greater length, the pressure is increased appropriately. This ensures both disassembly efficiency and quality without damaging the pin and related components due to excessive instantaneous force.

[0068] Preferably, in S3, the waveform (intensity) of the sound wave transmitted through the pin is continuously monitored by a detection component (the applied ultrasonic wave and the elastic wave it excites are transmitted through the pin to the pin hole via the pin) provided on the outer periphery of the pin hole at the second end of the pin, and the stress change between the pin and the pin hole is detected by the waveform of the sound wave.

[0069] Preferably, in S3 and / or S2, a detection component is also provided on the outer periphery of the pin hole at the first end of the pin shaft to monitor the acoustic signal. This component is compared and analyzed with the acoustic signal obtained from monitoring the outer periphery at the second end. This avoids the influence of noise waves that may be generated by the vibration of the hydraulic support caused by the pushing of the pin shaft and other environmental factors, thereby improving the sensitivity and accuracy of monitoring abnormal stress conditions.

[0070] More preferably, in S3, the detection device includes an array of acoustic emission sensors.

[0071] Preferably, in step S3, when adjusting the pin by rotation, the adjustment angle is between 5 and 15 degrees. When rotating the pin, the torque is gradually increased at a rate of 0.1-1 N·m / s until the pin begins to rotate, at which point the torque increase stops. Furthermore, due to deformation and wear of the disassembled pin, its shear resistance and other strengths will decrease to some extent. The torque during rotation should not exceed 50% of the shear resistance limit designed for the pin, thus preventing damage to the pin or other components during rotation.

[0072] Preferably, in step S3, when retracting the pin, the retraction distance is between 1-6 cm, and more preferably between 2-3 cm. Retracting the pin by an appropriate distance ensures that the stress concentration points of the pin and the pin hole are separated, while avoiding excessive retraction that would reduce pin disassembly efficiency and waste energy. At the same time, it further avoids excessive total retraction distances from multiple retractions, which would lead to increased wear and metal fatigue of the pin or pin hole.

[0073] Preferably, a rough cleaning process is included before S1. The rough cleaning process cleans the connection between the pin and the hydraulic support structure to prevent the accumulation of deposits at the connection from affecting the disassembly of the pin.

[0074] The preliminary cleaning process includes high-pressure water jet cleaning and brushing. For the preliminary cleaning of the hydraulic support, high-pressure water jets are first used to thoroughly rinse away dirt and grime from the structural components and pin connections, removing oil, slag, rust, and other adhering substances. After the high-pressure water jet cleaning, a roller brush or other type of cleaning brush is used to brush away any loosened or detached dirt and rust that remained on the surface of the hydraulic support components and pin connections after the high-pressure water jet cleaning.

[0075] High-pressure water jet cleaning differs from conventional high-pressure water jet cleaning. Through specially designed nozzles, it generates a high-speed, high-energy-density water jet. Utilizing the impact, shearing force, and cavitation effect of the water jet, it rapidly removes deposits, especially hard and stubborn dirt (such as metal oxide / rust layers and petrochemical scale), from the connection between the hydraulic support structure and the pin, achieving highly efficient cleaning of this area. Furthermore, compared to existing technologies, the diameter of the high-pressure water jet produced by the specific nozzle is smaller. By adjusting the nozzle angle, it can reach deep into the gaps between the components, achieving more comprehensive cleaning. In addition, while providing excellent cleaning results, high-pressure water jet cleaning requires less water.

[0076] Preferably, in the coarse cleaning process, the pressure of the high-pressure water jet is not less than 80 MPa, and more preferably not less than 100 MPa. The cleaning speed of the high-pressure water jet cleaning process does not exceed 20 cm / s, and more preferably not more than 10 cm / s.

[0077] More preferably, in the coarse cleaning process, the pressure of the high-pressure water jet is between 80MPa and 150MPa.

[0078] Preferably, the nozzle diameter of the high-pressure water jet is between 0.3mm and 0.1mm, and more preferably between 0.3mm and 0.6mm. The distance between the nozzle of the high-pressure water jet and the connection between the hydraulic support structure and the pin is between 10cm and 20cm.

[0079] The impact force of the high-pressure water jet is controlled by adjusting the pressure, nozzle diameter, and distance between the nozzle and the connection between the hydraulic support structure and the pin. This ensures that the high-pressure water jet has sufficient impact force to clean the deposits between the pin and the pin hole. It also prevents the impact force from being too high, which could damage or cause excessive wear at the connection between the hydraulic support structure and the pin, or too low, which could prevent the effective removal of deposits at the connection between the hydraulic support structure and the pin.

[0080] More preferably, in the rough cleaning process, after the brushing treatment, a high-pressure water jet treatment is performed to ensure that the surface of the obtained secondary components is free of obvious deposits.

[0081] More preferably, in the rough cleaning process, the hydraulic support structure and pin connection are treated alternately in the following sequence: high-pressure water jet cleaning - brushing - high-pressure water jet cleaning - brushing - high-pressure water jet cleaning. Multiple alternating sets of high-pressure water jet cleaning and brushing treatments are used during the rough cleaning process to improve the removal effect on more noticeable deposits. After the final brushing treatment, a final high-pressure water jet cleaning treatment is performed to finish, preventing any remaining deposits on the cleaning brush from transferring to the hydraulic support structure and pin connection, thus ensuring the final cleaning effect of the rough cleaning process.

[0082] More preferably, in the coarse cleaning process, when multiple sets of high-pressure water jet cleaning treatments are set, the nozzles of adjacent high-pressure water jet cleaning treatments are set at different angles when arranged in a ring. By varying the spray angle of the high-pressure water jets, the high-pressure water jets in different treatments can directly contact different positions at the connection between the hydraulic support structure and the pin shaft, thereby improving the cleaning effect.

[0083] By combining high-pressure water jet cleaning with brushing, this method, compared to existing high-pressure water jet flushing techniques, can more thoroughly remove rust, rust spots, and oil stains from the hydraulic support structural components and pin connections, especially from the gaps and holes at the connections. This effectively avoids the negative impact of these deposits on pin disassembly, such as deposits clogging the pin and pin hole causing severe pin obstruction, or hard deposits scratching the pin. It significantly increases the disassembly speed during subsequent pin disassembly, prevents secondary damage to the pin or hydraulic support structural components due to deposits during disassembly, and improves the utilization rate of hydraulic support parts.

[0084] Example 2:

[0085] This embodiment provides a hydraulic support intelligent disassembly device, including a pin disassembly frame. The pin disassembly frame includes a frame 1 and a vibrator pusher sleeve 2, a first detection component 3, a second detection component 4, a first hydraulic pusher 5, a second hydraulic pusher 6, and a rotary clamp 7, which are movably mounted on the frame 1 through different moving components.

[0086] Specifically, the vibrator push sleeve 2 is mounted on the frame 1, and the ultrasonic vibrator 8 is mounted on the linear motion output end of the vibrator push sleeve 2. The vibrator push sleeve 2 can drive the ultrasonic vibrator 8 to continuously abut against the first end of the pin 9 to be disassembled.

[0087] The first hydraulic pusher 5 is installed on the frame 1. The pushing end of the first hydraulic pusher 5 passes through the vibrator pusher sleeve 2 and abuts against the first end of the pin 9 to be disassembled, and is used to push the pin 9 to be disassembled.

[0088] The first detection component 3 is used to be set on the edge surface of the second end of the pin shaft 9 to be disassembled, corresponding to the pin hole.

[0089] The second hydraulic pusher 6 is mounted on the frame 1 and is used to retract the pin 9 to be disassembled.

[0090] The rotary clamp 7 is mounted on the frame 1 and is used to rotate the pin 9 to be disassembled.

[0091] Preferably, the vibrator pusher sleeve 2 is connected to the frame 1 via a first moving component 17, which can move the vibrator pusher sleeve 2 between the disassembly stations of multiple pins 9 to be disassembled. The first hydraulic pusher 5 is connected to the frame 1 via a second moving component 18, which can move the first hydraulic pusher 5 between the disassembly stations of multiple pins 9 to be disassembled. The first detection component 3 is connected to the frame 1 via a third moving component 19, which can move the first detection component 3 between the disassembly stations of multiple pins 9 to be disassembled. The second hydraulic pusher 6 is connected to the frame 1 via a fourth moving component 20, which can move the second hydraulic pusher 6 between the disassembly stations of multiple pins 9 to be disassembled. The rotary clamp 7 is connected to the frame 1 via a fifth moving component 21, which can move the rotary clamp 7 between the disassembly stations of multiple pins 9 to be disassembled.

[0092] Preferably, the first detection component 3 includes a first annular substrate and a plurality of acoustic emission sensors 23 fixedly connected to one side of the annular substrate. When disassembling the pin 9 to be disassembled, the side of the first detection component 3 with the acoustic emission sensors 23 can abut against the edge surface of the pin hole corresponding to the second end of the pin 9 to be disassembled, and the second end of the pin 9 to be disassembled can pass through the first detection component 3.

[0093] Preferably, the second detection component 4 includes a second annular substrate 22 and a plurality of acoustic emission sensors 23 fixedly connected to one side of the annular substrate 22. When disassembling the pin 9 to be disassembled, the side of the second detection component 3 with the acoustic emission sensors 23 can abut against the edge surface of the pin hole corresponding to the first end of the pin 9 to be disassembled, and the vibrator pusher sleeve 2 and the first hydraulic pusher 5 can pass through the second detection component 4 and abut against the first end of the pin.

[0094] Preferably, the second detection component 4 is connected to the frame 1 through the fifth and sixth moving components, and the sixth moving component is capable of moving the second detection component 4 between the disassembly stations of multiple disassembly pins 9 to be disassembled.

[0095] The vibrator push sleeve 2 includes a top plate 10, a bottom plate 11, and several telescopic rods 12 disposed between the top plate 10 and the bottom plate 11. Both the top plate 10 and the bottom plate 11 are annular structures with a circular through hole in the center. The telescopic rods 12 are fixedly connected to the annular structures of the top plate 10 and the bottom plate 11 at certain intervals (angles). The ultrasonic vibrator 8 is disposed on the side of the top plate 10 away from the telescopic rods 12. The ultrasonic vibrator 8 includes several ultrasonic transducers 13 and amplitude transformers 14 connected in series along the annular structure of the top plate 10. When disassembling the pin, the vibrator push sleeve 2 ensures that the ultrasonic vibrator 8 is always in contact with the first end of the pin 9 to be disassembled by adjusting the length of the telescopic rods 12, continuously applying stable ultrasonic vibration to the pin 9.

[0096] Preferably, the first hydraulic pusher 5 includes a hydraulic cylinder 15 and a telescopic push rod 16. The telescopic push rod 16 can pass through the annular structure of the top plate 10 and the bottom plate 11 to push the pin 9 to be disassembled.

[0097] In this embodiment, the intelligent hydraulic support disassembly device is used as follows: First, the ultrasonic vibrator 8 is brought into contact with the first end of the pin 9 to be disassembled by the vibrator pusher sleeve 2. Then, the first detection component 3 is brought into contact with the pin hole of the hydraulic support next to the second end of the pin 9 to be disassembled. The second detection component 4 is brought into contact with the pin hole of the hydraulic support next to the first end of the pin 9 to be disassembled. Then, the first hydraulic pusher 5 is controlled to make the telescopic pusher 16 pass through the annular structure of the top plate 10 and the bottom plate 11 and come into contact with the pin 9 to be disassembled.

[0098] Secondly, ultrasonic vibration is continuously applied along the axial direction of the pin 9 to be disassembled by the ultrasonic vibrator 8 for a certain period of time.

[0099] Subsequently, while maintaining ultrasonic vibration, the first jacking process is performed, gradually increasing the thrust of the first hydraulic jacking device 5 to push out the second end of the pin 9 to be disassembled. Simultaneously, the ultrasonic vibrator 8 is advanced via the vibrator pushing sleeve 2, ensuring that the ultrasonic vibrator 8 remains in contact with the pin 9. After a portion of the second end of the pin 9 is pushed out, the portion is held in place by a rotating clamp 7. A second jacking process is then performed. During this process, the waveform of the ultrasonic waves transmitted along the pin 9 is monitored in real time by the first detection component 3 and the second detection component 4, analyzing the stress between the pin 9 and the hydraulic support.

[0100] Finally, if no stress abnormality is detected between the pin 9 to be disassembled and the hydraulic support during the second jacking process, or if the detected stress abnormality is within the set range, the pin 9 to be disassembled is directly jacked out completely, completing the disassembly of the pin 9. If a stress abnormality exceeding the set range is detected, the pin 9 to be disassembled is adjusted: the jacking of the first hydraulic jack 5 is stopped and retracted, while the second hydraulic jack 6 is used to retract the pin 9 a certain distance until the stress abnormality disappears or decreases to the set range. Then, the position of the pin 9 to be disassembled is rotated and adjusted by the rotating clamp 7. After adjusting to a certain angle, the rotation is stopped, the first hydraulic jack 5 resumes operation, and the pin 9 to be disassembled is pushed back. If the stress abnormality problem still exists after adjustment, the above operation is repeated. The vibrator pusher sleeve 2 is adjusted synchronously according to the operation of the second hydraulic jack 6 during the above process to ensure that the ultrasonic vibrator 8 is always in contact with the pin 9 to be disassembled. If abnormal stress is detected during rotation, immediately stop rotating in that direction and continue rotating the pin 9 to be disassembled in the opposite direction for adjustment. If repeated adjustments are made within the rotatable adjustment range of the rotary clamp 7, but the abnormal stress cannot be eliminated or reduced to the set range, it is considered that the internal deformation of the pin 9 to be disassembled is severe. Disassembly of the pin 9 to be disassembled is stopped, and the hydraulic support is transferred to the manual disassembly area via the ground transfer system, where manual judgment is made on the subsequent disassembly process.

[0101] In this process, a vibrator pusher sleeve 2 is used to bring the ultrasonic vibrator 8 into contact with the pin 9 to be disassembled. Ultrasonic waves are applied to the pin 9 of the hydraulic support, making it easier to push out. A detection component collects the ultrasonic waves applied by the ultrasonic vibrator 8 and transmitted through the pin 9. The waveform of the sound waves is used to determine any abnormal stress phenomena that occur during the pushing out of the pin 9 and adjustments are made to prevent further deformation and damage to the pin 9 and to avoid irreversible damage to the pin hole of the hydraulic support during the removal of the pin 9. A clamp is used to hold the pushed-out portion of the pin 9. When the detection component detects abnormal stress, the position of the pin 9 is adjusted by the clamping device, and the angle of the pin 9 is temporarily adjusted for correction, facilitating the removal of the pin 9. Meanwhile, since there is even a vibrator push sleeve 2, it can dynamically adjust the position of the ultrasonic vibrator 8 according to the position of the pin 9 to be disassembled, ensuring that the ultrasonic vibrator 8 is always in contact with the first end of the pin 9 to be disassembled, ensuring the stability and effectiveness of the ultrasonic vibration application.

[0102] Preferably, the first detection component 3 and the second detection component 4 are respectively arranged around the outer periphery of the pin hole at the second end and the first end of the pin hole 9 to be disassembled. The first detection component 3 or the second detection component 4 includes at least four acoustic emission sensors 23. By connecting multiple acoustic emission sensors 23 in series to form an acoustic emission sensor array, the number of detection points is increased, and elastic wave and ultrasonic wave detection results are provided at multiple points, ensuring the sensitivity and accuracy of the disassembly device in this embodiment for elastic wave detection.

[0103] Preferably, the intelligent dismantling device for hydraulic supports in this embodiment is further provided with a coarse cleaning platform. The coarse cleaning platform includes a track conveying platform and high-pressure water jet cleaning devices and electric roller brush cleaning devices alternately arranged along the conveying direction of the track conveying platform.

[0104] More preferably, the high-pressure water jet cleaning device and the electric roller brush cleaning device are alternately arranged, with at least three high-pressure water jet cleaning devices and at least two electric roller brush cleaning devices.

[0105] The bottom of the coarse cleaning platform is also equipped with a wastewater recycling device and a slag separation device.

[0106] In the description of this invention, it should be understood that 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 indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0107] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; 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. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

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

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

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

Claims

1. A method for low-damage disassembly of hydraulic support pins and structural components, characterized in that, include: At the first end of the pin, ultrasonic vibration is continuously applied to the pin along the axial direction; at the same time as applying ultrasonic vibration, a thrust is applied to the pin from the first end along the axial direction to push the pin out. During the pushing process of the pin, the elastic waves excited by ultrasonic vibration in the pin and pin hole are detected in real time. When the elastic wave intensity exceeds the set range, the position of the pin is dynamically adjusted until the detected elastic wave intensity is within the set range. Then the pushing process of the pin continues until the pin is completely pushed out. The dynamic adjustment of the pin position includes: first retracting the pin a certain distance, then rotating the pin a certain angle, and then continuing to push the pin forward; when the elastic wave intensity exceeds the set range, repeat the above process until the elastic wave intensity is within the set range. The frequency of ultrasonic vibration is in the range of 35-45kHz, the amplitude is between 20-30μm, and the total power of ultrasonic vibration is in the range of 800-1200W. When retracting the pin, the retraction distance is between 1-6cm; the rotation angle is 20-30 degrees; when rotating the pin, increase the torque at a speed of 0.1-1N·m / s until the pin starts to rotate, and stop increasing the torque when the pin starts to rotate; the torque when the pin rotates should not exceed 50% of the shear resistance index of the pin design.

2. The low-damage disassembly method for hydraulic support pins and structural components as described in claim 1, characterized in that, Includes the following steps: S1: Apply ultrasonic vibration to the first end of the pin along the axial direction of the pin and continue for a set time. S2: After the ultrasonic vibration continues for a set time, maintain the ultrasonic vibration and apply a pushing force to the first end of the pin along the axial direction of the pin to perform the first pushing process on the pin, so that the second end of the pin extends out of the pin hole. S3: Continue ultrasonic vibration to perform a second push on the pin, completely ejecting the pin. During the second push, the elastic waves generated by the ultrasonic vibration on the pin and pin hole are detected in real time. When the elastic wave intensity exceeds the set range, the position of the pin is dynamically adjusted until the detected elastic wave intensity is within the set range. Then, the pin is pushed until it is completely ejected.

3. A disassembly apparatus for implementing the low-damage disassembly method for hydraulic support pins and structural components as described in any one of claims 1-2, characterized in that, It includes a frame (1), a vibrator push sleeve (2), a first detection component (3), a first hydraulic pusher (5), a second hydraulic pusher (6), a rotary clamp (7), and an ultrasonic vibrator (8). The vibrator push sleeve (2) is installed on the frame (1), and the ultrasonic vibrator (8) is installed on the linear motion output end of the vibrator push sleeve (2). The vibrator push sleeve (2) can drive the ultrasonic vibrator (8) to continuously abut against the first end of the pin (9) to be disassembled. The first hydraulic pusher (5) is installed on the frame (1). The pushing end of the first hydraulic pusher (5) passes through the vibrator pusher sleeve (2) and abuts against the first end of the pin (9) to be disassembled, for pushing the pin (9) to be disassembled. The first detection component (3) is used to be set on the edge surface of the second end of the pin shaft (9) to be disassembled, corresponding to the pin hole; The second hydraulic pusher (6) is mounted on the frame (1) and is used to retract the pin (9) to be disassembled. A rotary clamp (7) is mounted on the frame (1) and is used to rotate the pin (9) to be disassembled.

4. The disassembly device as described in claim 3, characterized in that, The vibrator push sleeve (2) is connected to the frame (1) via a first moving component (17), which can drive the vibrator push sleeve (2) to move between multiple disassembly stations of the pins (9) to be disassembled; the first hydraulic pusher (5) is connected to the frame (1) via a second moving component (18), which can drive the first hydraulic pusher (5) to move between multiple disassembly stations of the pins (9) to be disassembled; the first detection component (3) is connected to the frame (1) via a third moving component (19), which can drive the first hydraulic pusher (5) to move between multiple disassembly stations of the pins (9) to be disassembled; the first detection component (3) is connected to the frame (1) via a third moving component (19), which can drive the first hydraulic pusher (5) to move between multiple disassembly stations of the pins (9) to be disassembled; The component (19) can drive the first detection component (3) to move between the disassembly stations of multiple pins (9) to be disassembled; the second hydraulic pusher (6) is connected to the frame (1) through the fourth moving component (20), and the fourth moving component (20) can drive the second hydraulic pusher (6) to move between the disassembly stations of multiple pins (9) to be disassembled; the rotary clamp (7) is connected to the frame (1) through the fifth moving component (21), and the fifth moving component (21) can drive the rotary clamp (7) to move between the disassembly stations of multiple pins (9) to be disassembled.

5. The disassembly device as described in claim 3, characterized in that, The vibrator push sleeve (2) includes a top plate (10), a bottom plate (11), and several telescopic rods (12) disposed between the top plate (10) and the bottom plate (11). Both the top plate (10) and the bottom plate (11) are annular structures with through holes in the middle; the telescopic rods (12) are fixedly connected to the annular structures of the top plate (10) and the bottom plate (11) at certain intervals; The ultrasonic vibrator (8) is located on the side of the top plate (10) away from the telescopic rod (12).

6. The disassembly device as described in claim 5, characterized in that, The first hydraulic pusher (5) includes a hydraulic cylinder (15) and a telescopic push rod (16). The piston rod of the hydraulic cylinder (15) is fixedly connected to the telescopic push rod (16). The telescopic push rod (16) passes through the annular structure of the top plate (10) and the bottom plate (11) to abut against the first end of the pin (9) to be disassembled.

7. The disassembly device according to claim 3, characterized in that, The first detection component (3) includes a first annular substrate and a plurality of acoustic emission sensors (23) fixedly connected to one side of the first annular substrate. When disassembling the pin (9) to be disassembled, the side of the first detection component (3) with the acoustic emission sensor (23) can abut against the edge surface of the pin hole corresponding to the second end of the pin (9) to be disassembled, and the second end of the pin (9) to be disassembled can pass through the first detection component (3).

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