Coal mining construction filling support

Abstract

The invention discloses a filling support for coal mining construction, and belongs to the technical field of coal mine filling mining equipment, a lengthened rear tail beam is movably arranged at the rear part of a six-column support main body, and a conveyor for carrying precast blocks is arranged below the lengthened rear tail beam, so that the precast blocks are transported on a working surface at a long distance; the rear portion of the six-column support body base is connected with a mechanical arm which is matched with the conveyor to take down the precast blocks and construct the filling wall, the conveyor and the mechanical arm are provided with a stabilizing mechanism a and a stabilizing mechanism b which provide force opposite to the connecting direction of the precast blocks correspondingly, and therefore the precast blocks can be assisted to be accurately grabbed by the mechanical arm and placed to construct the filling wall after being transported. A plurality of mechanical arms are arranged on the working face for parallel operation, efficient wall construction is achieved, and it is ensured that working face coal mining and wall construction do not affect each other.

Description

Technical Field

[0001] This invention relates to the field of coal mine backfilling mining equipment technology, specifically to a coal mine mining structure backfilling support. Background Technology

[0002] Coal mine backfilling has been widely used to solve the problems of goaf collapse and coal-based solid waste discharge. However, in order to improve the rock strata control effect, solid backfilling mining requires the compaction of coal gangue to ensure the backfilling effect, while paste backfilling mining requires slowing down the advance speed to ensure the solidification of cementing slurry. This makes it difficult to increase the output of backfilling mining face, which has certain limitations on the application of this technology.

[0003] The prior art disclosed in CN111075505A describes a method for segmented backfilling mining of fully mechanized coal mining faces. This method includes determining the spacing of isolation walls based on measured data of mine pressure at the fully mechanized mining face, determining the support strength and dimensions of the isolation walls based on roof pressure, and conducting segmented coal mining operations based on the fully mechanized mining face. After advancing the coal mining operation to the distance equal to the spacing of the isolation walls at the current stage, the isolation walls are constructed by fixing backfill bags to the rear of the supports used in the coal mining operations and filling the backfill bags with material. This allows the constructed isolation walls to effectively support the roof above the solid coal before the fully mechanized mining face advances to the roof and applies pressure, thus preventing roof collapse. However, constructing the isolation walls on-site using backfill bags or molds is time-consuming, and the constructed isolation walls have a long solidification time and require multiple manual curing processes. Ultimately, due to continuous roof deformation, the newly formed isolation walls differ significantly from the initial design, greatly reducing their effectiveness. Summary of the Invention

[0004] Technical Problem: To address the shortcomings of existing technologies, a coal mine filling support structure is provided. This structure utilizes precast blocks with a certain strength to construct the filling wall, eliminating the time spent on compaction or waiting for the slurry to solidify. Simultaneously, a conveyor is used to quickly transport the precast blocks, and a stabilizing mechanism facilitates the positioning and gripping of the robotic arm, effectively improving filling efficiency and reducing the impact on coal mining efficiency.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A coal mine filling support structure includes a six-column support body. An extended rear tail beam is movably installed at the rear of the six-column support body. Below the extended rear tail beam is a conveyor for transporting precast blocks, which is unaffected by the extension and retraction of the extended rear tail beam, enabling long-distance transport of precast blocks at the working face. A robotic arm is connected to the rear of the base of the six-column support body, which works with the conveyor to remove precast blocks and construct a filling wall. The conveyor and the robotic arm are respectively equipped with stabilizing mechanism a and stabilizing mechanism b, which provide a force in the opposite direction to the connection with the precast blocks, thereby assisting the robotic arm in accurately grasping and placing the precast blocks to construct the filling wall after transport.

[0006] Furthermore, the top center of the precast block is provided with a #1 ear hook, and the center of the side wall is provided with a #2 ear hook; the top and bottom of the precast block are also provided with matching concave and convex structures, which facilitates rapid assembly to form an infill wall.

[0007] Furthermore, a hook #1 is provided below the conveyor to match the hook #1 on the top of the precast block. A stabilizing mechanism a is provided around the hook #1. The stabilizing mechanism a includes four hydraulic cylinders #1 that are evenly spaced around the hook #1. After the conveyor is connected to the hook #1 on the top of the precast block, the precast block is fixed by the four hydraulic cylinders #1, which makes it easy for the robotic arm to grasp it accurately.

[0008] Furthermore, the robotic arm includes a base, an upper arm, and a lower arm. The base is equipped with a guide rail and a laser rangefinder. The upper arm and lower arm are movably connected by an elbow hinge. The front end of the lower arm is equipped with an end gripper. The rear end of the upper arm is movably connected to a sliding shoe via a shoulder hinge. The sliding shoe matches the guide rail on the base and can move on the guide rail. The base is telescopically connected to the rear of the six-column support body via a #3 hydraulic cylinder. The center of the end gripper is equipped with a #2 hook that matches the #2 ear hook on the side wall of the precast block. A stabilizing mechanism b is provided around the #2 hook. The stabilizing mechanism b includes four #2 hydraulic cylinders evenly spaced around the #2 hook. The robotic arm is hooked to the #2 ear hook on the side wall of the precast block via the #2 hook and stabilized by the #2 hydraulic cylinders, and then the filling wall is precisely constructed.

[0009] Furthermore, the length of the extended tail beam is 1.2m to 2m. The extension length of the extended tail beam is adjusted according to the extension of the base to ensure that the base is covered under the beam throughout the entire process, preventing falling debris from burying the base and guide rails, which would make it difficult for the robotic arm to move in the y-direction. Specifically, the conveyor extends and retracts by one step distance of 0.8m through hydraulic cylinder #4 and matches with the adjacent conveyor to ensure that all conveyor bodies on the working face are in a straight line, preventing jamming during the transportation of precast blocks. The extension and retraction of the extended tail beam and the conveyor should be independent of each other. The extension and retraction of the extended tail beam is used to match the extension and retraction of the base to ensure that the base is covered under the beam throughout the entire process, preventing falling debris from burying the base and guide rails, which would make it difficult for the robotic arm to move in the y-direction.

[0010] Furthermore, the steps for the robotic arm's end effector to grasp and stabilize the precast block are as follows: S1: The robotic arm moves the gripping device to the left side of the precast block being transported below the conveyor, and uses hook #2 to hook hook #2 ear to apply a force in the -X direction to the precast block. F 2. Apply a force in the X direction to the precast block using four hydraulic cylinders. f 2. Stabilize the precast blocks to enable the robotic arm to stably grasp them; S2: The conveyor lifts four No. 1 hydraulic cylinders; S3: Extend the robotic arm and apply force in the Z direction to the precast block. f 3. Lift the precast block to disengage the No. 1 ear hook from the No. 1 hook, thereby removing the precast block from the conveyor.

[0011] A method for constructing a backfill support in coal mine mining includes the following steps: S1: As the coal mining machine cuts coal, the supports advance one by one with the machine. At the same time, the conveyor is pushed backward using hydraulic cylinder #4. After all the supports have moved, all the conveyors are pulled forward one step distance at the same time. S2: During the suspension of precast blocks, the transfer robotic arm positioned at the end of the tunnel automatically senses the tunnel belt conveyor and its operating status. After analysis by the cloud platform, it commands the transfer robotic arm to grab the precast block from the belt, adjusts the robotic arm's posture to suspend the precast block onto hook #1 of the conveyor, and matches and connects hook #1 with lug #1, applying force in the Z direction to the precast block. F 1. Finally, the cloud platform controls the extension of four No. 1 hydraulic cylinders, applying a force in the -Z direction to the precast block. f 1. Use stable precast blocks to prevent them from swaying and causing danger during transportation; S3: During the construction of the filling wall, the cloud platform, through the constructed working face spatial coordinate system, identifies that after the conveyor transports the precast blocks to the set filling point, it controls the robotic arm to grab the precast blocks and uses hydraulic cylinder #2 to stabilize them. Then, it controls hydraulic cylinder #1 to retract, and the robotic arm removes the precast blocks from the conveyor. The cloud platform uses image recognition to identify the position of the placed precast blocks and determines the landing point of the robotic arm grabbing the precast blocks, so that the concave and convex structures between the upper and lower precast blocks are fitted together and the horizontal adjacent precast blocks are flat, ensuring the stability of the constructed filling wall. In this process, in order to ensure the smooth and non-interfering connection between coal mining and wall construction, several robotic arms are arranged along the guide rail according to the mining connection situation, and different robotic arms simultaneously carry out the post-construction wall building operation.

[0012] Furthermore, when the cloud platform detects that the robotic arm needs to extend to its limit through the laser rangefinder, it controls the #3 hydraulic cylinder to push the base while simultaneously adjusting the #4 hydraulic cylinder to extend the extended tail beam to protect the base and guide rail.

[0013] The beneficial effects of this invention are as follows: The support disclosed in this invention can quickly transport precast blocks used to construct filling walls, and is equipped with a working robotic arm. A stabilizing mechanism is set on the end gripping device of the conveyor and the robotic arm, so that the precast blocks can be effectively stabilized when they are gripped and assembled by the robotic arm, which facilitates the operation of the robotic arm. Compared with solid filling or paste filling technology, this method avoids the mutual interference between mining and filling while treating large amounts of coal-based solid waste and controlling the movement of rock strata, thus improving the efficiency of coal mining and filling. The support can better serve this method and is conducive to the promotion of filling mining technology. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of a coal mine mining and filling support structure in an embodiment of the present invention.

[0015] Figure 2 This is a schematic diagram of the mechanical arm and end gripping device for constructing a filling support in a coal mine, as shown in the embodiment of the invention.

[0016] Figure 3 This is a schematic diagram of the process of the end gripping device gripping the precast block in an embodiment of the invention.

[0017] Figure 4 This is a schematic diagram of the coal mine mining construction and filling support conveyor structure in an embodiment of the invention.

[0018] Figure 5 This is a schematic diagram of the ultimate extension state of the coal mine mining structure filling support in an embodiment of the invention.

[0019] Figure 6 This is a schematic diagram of the simultaneous operation of multiple robotic arms in a coal mine mining and filling support structure according to an embodiment of the invention.

[0020] Explanation of reference numerals in the attached drawings: 1-Six-column support body, 2-Extended rear tail beam, 3-Conveyor, 4-Mechanical arm, 5-Precast block, 6-Base, 7-Guide rail, 8-Slipper, 9-Shoulder hinge, 10-Large arm, 11-Elbow hinge, 12-Small arm, 13-End gripping device, 14-Hook #2, 15-Hydraulic cylinder #2, 16-Hydraulic cylinder #3, 17-Hydraulic cylinder #1, 18-Hook #1, 19-Ear hook #1, 20-Ear hook #2, 21-Hydraulic cylinder #4, 22-Laser rangefinder. Detailed Implementation

[0021] The method of the present invention will be further described below with reference to the accompanying drawings: This invention discloses a coal mine filling support structure, suitable for mines with high production requirements and good control over rock strata movement. Coal mining employs fully mechanized mining technology, and prefabricated coal-based solid waste blocks are used to construct filling spaces in the goaf.

[0022] This invention discloses a coal mine backfilling support system. An extended rear tail beam is movably installed at the rear of the six-column support body. Below the extended tail beam is a conveyor for transporting precast blocks, enabling long-distance transport of precast blocks across the working face. A robotic arm, working in conjunction with the conveyor, is connected to the rear of the six-column support body base to remove the precast blocks and construct the backfill wall. The conveyor and robotic arm are respectively equipped with stabilizing mechanisms a and b, providing a force in the opposite direction to the connection with the precast blocks, thereby assisting the robotic arm in accurately grasping and placing the precast blocks after transport to construct the backfill wall. Multiple robotic arms can be deployed in parallel at the working face to achieve efficient wall construction, ensuring that coal mining and wall construction do not interfere with each other.

[0023] like Figure 1 As shown, specifically, the present invention includes a six-column support body 1, with an extended rear tail beam 2 movably provided at the rear of the six-column support body 1. Below the extended rear tail beam 2 is a conveyor 3 for transporting precast blocks 5, which is not affected by the extension and retraction of the extended rear tail beam 2. A No. 1 hook 18 is installed on every other section of the conveyor. Adjacent conveyors 3 can be combined to transport precast blocks 5 over long distances on the working surface. A robotic arm 4 is connected to the rear of the base of the six-column support body 1, which works with the conveyor 3 to remove precast blocks 5 and construct filling walls. The conveyor 3 and the robotic arm 4 are respectively provided with a stabilizing mechanism a and a stabilizing mechanism b that provide a force in the opposite direction to the connection direction of the precast blocks 5, thereby assisting the robotic arm 4 in accurately grasping and placing the precast blocks 5 after transportation to construct filling walls.

[0024] like Figure 1 The precast block 5 shown has a #1 ear hook 1 on the top and a #2 ear hook 20 on the side wall. The precast block 5 has a concave-convex structure on the top and bottom for easy splicing and assembly.

[0025] like Figure 2 The robotic arm 4 shown includes a base 6, a large arm 10, and a small arm 12. The base 6 is equipped with a guide rail 7 and a laser rangefinder 22. The large arm 10 and the small arm 12 are movably connected by an elbow hinge 11. The front end of the small arm 12 is equipped with an end gripping device 13. The rear end of the large arm 10 is movably connected to a sliding shoe 8 by a shoulder hinge 9. The sliding shoe 8 matches the guide rail 7 on the base 6 and can move on the guide rail 7. The base 6 is telescopically connected to the rear of the six-column support body 1 via a hydraulic cylinder 16. The end gripping device 13 includes a hook 14 and a stabilizing mechanism b. The stabilizing mechanism b consists of four rectangularly distributed hydraulic cylinders 15. The hook 14 is located at the center of the four hydraulic cylinders 15. The robotic arm 4 is hooked to the ear hook 20 on the side wall of the precast block 5 via the hook 14 and works with the hydraulic cylinders 15 to stably transport the precast block 5.

[0026] like Figure 3 The end effector 13 of the robotic arm shown grasps the precast block 5 in the following steps: S1: The robotic arm moves the gripping device to a suitable position, and hook #2 (14) hooks hook #2 (20), applying a force in the -X direction to the precast block. F 2. Four hydraulic cylinders 15 apply a force in the X direction to the precast block. f 2. Used to stabilize precast blocks, such as Figure 3 As shown on the left; S2: Lift hydraulic cylinder #17, as follows Figure 3 As shown in the middle; S3: Extend the robotic arm and apply a force in the Z direction to the precast block. f 3. The precast block can be removed by lifting it, as shown below. Figure 3 As shown on the right.

[0027] like Figure 1 , Figure 5 The length of the extended tail beam 2 shown is 1.2~2m. Its telescopic length is adjusted according to the telescopic extension of the base 6 to ensure that the base 6 is covered under the beam throughout the entire process, preventing falling debris from burying the base and guide rail 7, which would make it difficult for the robotic arm 4 to move in the y-direction. The conveyor 3 extends and retracts by one step (0.8m) through hydraulic cylinder 21 #4 to ensure that the entire conveyor 3 body on the working surface is in a straight line, preventing jamming during the transportation of precast blocks 5.

[0028] like Figure 4 The connection mechanism between the conveyor 3 and the transported precast block 5 includes a stabilizing mechanism a and a #1 hook 18. The stabilizing mechanism a includes four rectangularly distributed #1 hydraulic cylinders 17. The #1 hook 18 is located at the center of the four #1 hydraulic cylinders 17 and matches the #1 ear hook 19 on the top of the precast block 5.

[0029] like Figure 5 and Figure 6 As shown, the filling process involved in constructing a filling support for coal mine mining includes: S1: As the coal mining machine cuts coal, the supports move forward one by one with the machine. At the same time, hydraulic cylinder 21 pushes the conveyor 3 backward. After all the supports have moved, all the conveyors 3 are pulled forward one step distance. S2: During the suspension of precast block 5, the transfer robotic arm 4 at the end of the tunnel automatically senses the operating status of the tunnel belt conveyor and the support conveyor 3. After analysis by the cloud platform, it commands the transfer robotic arm 4 to grab the precast block 5 on the belt, and then adjusts the position of the robotic arm 4 to suspend the precast block 5 on the conveyor's #1 hook 18, so that the #1 hook 18 matches and connects with the #1 ear hook 19, giving the precast block 5 a force in the Z direction. F 1. Finally, the cloud platform commands hydraulic cylinder #17 to extend, applying a force in the -Z direction to precast block 5. f 1. Stabilize precast blocks 5; S3: During the construction of the filling wall, the cloud platform, through the constructed working surface spatial coordinate system, identifies that after the conveyor 3 transports the precast block 5 to the set filling point, it commands the No. 1 hydraulic cylinder 17 to automatically retract and controls the robotic arm 4 to grab the precast block 5. The cloud platform, through image recognition of the position of the placed precast block 5, determines the landing point of the robotic arm 4 to grab the precast block 5, so that the concave and convex structures between the upper and lower precast blocks 5 are fitted together and the horizontal adjacent precast blocks are flat, thereby ensuring the stability of the constructed filling wall. In this process, in order to ensure the smooth and non-interfering connection of coal mining and wall construction, several robotic arms 4 are arranged along the guide rail 7 according to the mining connection situation. The cloud platform should simultaneously control the movement of all robotic arms 4 to avoid mutual interference between robotic arms 4. After the robotic arm 4 grabs the precast block 5, the stabilizing mechanism b moves inward toward the precast block 5 system to fix the precast block 5 and prevent it from shaking. The stabilizing mechanism a on the conveyor 3 is released, and the robotic arm removes the precast block 5 from the conveyor 3. Then, according to the positioning, the precast block is placed in the preset position and assembled with other precast blocks 5. With the help of the stabilizing mechanism b, the precast block 5 will not be displaced or shaken during the movement, thereby greatly improving the working accuracy of the robotic arm. S4: When the cloud platform detects that the robotic arm needs to extend to its limit through the laser rangefinder, it commands hydraulic cylinder #3 16 to push the base 6 while adjusting the extension of the tail beam to protect the base and guide rail.

Claims

1. A coal mining construction filling support, comprising a six-column support body (1), characterized in that: An extended rear tail beam (2) is provided at the rear of the six-column support body (1). A conveyor (3) is provided below the extended rear tail beam (2) to transport the precast blocks (5) without being affected by the extension and retraction of the extended rear tail beam (2), so as to realize the long-distance transportation of the precast blocks (5) on the working surface. A robotic arm (4) is connected to the rear of the base of the six-column support body (1) to cooperate with the conveyor (3) to remove the precast blocks (5) and construct the filling wall. The conveyor (3) and the robotic arm (4) are respectively provided with a stabilizing mechanism a and a stabilizing mechanism b that provide a reverse force in the direction of connection with the precast blocks (5), so as to assist the precast blocks (5) to be accurately grasped and placed by the robotic arm (4) after transportation to construct the filling wall.

2. The coal mining construction filling support according to claim 1, characterized in that: The top center of the precast block (5) is provided with a #1 ear hook (19), and the center of the side wall is provided with a #2 ear hook (20); the top and bottom of the precast block (5) are also provided with matching concave and convex structures, which facilitates quick assembly to form a filling wall.

3. A coal mining construction filling support according to claim 2, characterised in that: Below the conveyor (3) is a hook (18) that matches the ear hook (19) on the top of the precast block (5). A stabilizing mechanism a is provided around the hook (18). The stabilizing mechanism a includes four hydraulic cylinders (17) arranged at equal intervals around the hook (18). After the conveyor (3) is connected to the ear hook (19) on the top of the precast block (5) through the hook (18), the precast block (5) is fixed by the four hydraulic cylinders (17) to facilitate the accurate gripping of the robotic arm (4).

4. A coal mining construction filling support according to claim 3, characterised in that: The robotic arm (4) includes a base (6), an upper arm (10), and a lower arm (12). The base (6) is equipped with a guide rail (7) and a laser rangefinder (22). The upper arm (10) and the lower arm (12) are movably connected by an elbow hinge (11). The front end of the lower arm (12) is equipped with an end gripping device (13). The rear end of the upper arm (10) is movably connected to a sliding shoe (8) by a shoulder hinge (9). The sliding shoe (8) matches the guide rail (7) on the base (6) and can move on the guide rail (7). The base (6) is connected to a six-column system via a hydraulic cylinder (16) #3. The support body (1) is telescopically connected at the rear; the end gripping device (13) is provided with a 2# hook (14) that matches the 2# ear hook (20) on the side wall of the precast block (5). A stabilizing mechanism b is provided around the 2# hook (14). The stabilizing mechanism b includes four 2# hydraulic cylinders (15) arranged at equal intervals around the 2# hook (14). The robotic arm (4) is connected to the 2# ear hook (20) on the side wall of the precast block (5) through the 2# hook (14) and the precast block (5) is stably connected by the 2# hydraulic cylinders (15). Then, the filling wall is precisely constructed.

5. A coal mine mining structure filling support according to claim 4, characterized in that: The length of the extended tail beam (2) is 1.2m~2m. The extension length of the extended tail beam (2) is adjusted according to the extension of the base (6) to ensure that the base (6) is covered under the beam throughout the process, preventing the falling coal from burying the base (6) and the guide rail (7), which would make it difficult for the robotic arm (4) to move in the y direction. Specifically: the conveyor (3) extends and retracts by a step distance of 0.8m through the 4# hydraulic cylinder (21) and matches the adjacent conveyor (3) to ensure that all conveyor (3) bodies on the working surface are on a straight line to prevent the precast blocks (5) from getting stuck during transportation; the extension and retraction of the extended tail beam (2) and the conveyor (3) should extend and retract independently. The extension and retraction of the extended tail beam (2) is used to match the extension and retraction of the base (6) to ensure that the base (6) is covered under the beam throughout the process, preventing the falling coal from burying the base (6) and the guide rail (7), which would make it difficult for the robotic arm (4) to move in the y direction.

6. A coal mine mining structure filling support according to claim 5, characterized in that: The steps of the end-effector (13) of the robotic arm (4) gripping and stabilizing the precast block (5) are as follows: S1: The robotic arm (4) moves the gripping device (13) to the left side of the precast block (5) being transported below the conveyor (3), and uses hook #2 (14) to hook hook #2 (20) to give the precast block (5) a force in the -X direction. F 2. A force in the X direction is applied to the precast block using four hydraulic cylinders (15). f 2. Stabilize the precast block (5) to achieve stable gripping of the precast block (5) by the robotic arm (4); S2: Conveyor (3) lifts four No. 1 hydraulic cylinders (17); S3: Extend the robotic arm (4) and apply a force in the Z direction to the precast block (5). f 3. Lift the precast block (5) so that the 1# ear hook (19) of the precast block (5) is disengaged from the 1# hook (18), thereby removing the precast block (5) from the conveyor (3).

7. A method for constructing and filling a coal mine mining support as described in claims 1-6, characterized in that, The steps are as follows: S1: As the coal mining machine cuts coal, the supports move forward one by one with the machine. At the same time, the conveyor (3) is pushed backward by the No. 4 hydraulic cylinder (21). After all the supports have moved, all the conveyors are pulled forward by one step distance. S2: During the suspension of the precast block (5), the transfer robot arm (4) arranged at the end of the roadway automatically senses the operating status of the roadway belt conveyor and the conveyor (3). After analysis by the cloud platform, it commands the transfer robot arm (4) to grab the precast block (5) on the belt and adjust the position of the robot arm (4) to suspend the precast block (5) on the 1# hook (18) of the conveyor (3), so that the 1# hook (18) matches and connects with the 1# ear hook (19), giving the precast block (5) a force in the Z direction. F 1. Finally, the cloud platform controls the extension of four No. 1 hydraulic cylinders (17), giving the precast block a force in the -Z direction. f 1. Stabilize the precast blocks (5) to prevent them from shaking and causing danger during transportation; S3: During the construction of the filling wall, the cloud platform identifies the precast block (5) transported to the set filling point by the conveyor (3) through the constructed working surface spatial coordinate system. It then controls the robotic arm (4) to grab the precast block (5) and stabilizes it with the 2# hydraulic cylinder (15). Then, it controls the 1# hydraulic cylinder (17) to retract, and the robotic arm (4) removes the precast block (5) from the conveyor (3). The cloud platform identifies the position of the placed precast block (5) through image recognition and determines the landing point of the robotic arm (4) to grab the precast block, so that the concave and convex structures between the upper and lower precast blocks (5) are fitted together and the horizontal adjacent precast blocks are flat, ensuring the stability of the constructed filling wall. In this process, in order to ensure that the coal mining-wall construction is smooth and does not interfere with each other, several robotic arms (4) are arranged along the guide rail (7) according to the mining and excavation continuity. Different robotic arms (4) carry out the post-construction wall construction operation at the same time.

8. The working method according to claim 7, characterized in that, When the cloud platform detects that the robotic arm (4) needs to extend to its limit through the laser rangefinder, it controls the #3 hydraulic cylinder (16) to push the base (6) while adjusting the #4 hydraulic cylinder (21) to extend the extended tail beam (2) to protect the base and guide rail.

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