Lifting type disassembling and assembling machine for underground ultra-large hydraulic support

Abstract

The utility model belongs to the technical field of coal mine underground equipment, and particularly relates to a lifting type disassembling and assembling machine of an underground ultra-large hydraulic support, which comprises a lower beam frame, four hydraulic telescopic stand columns, two variable-amplitude hydraulic cylinders and an upper beam frame, the lower beam frame comprises two bottom beams, the four hydraulic telescopic stand columns are arranged in pairs and are respectively arranged above the two bottom beams, and the two variable-amplitude hydraulic cylinders are arranged on the upper beam frame. Each hydraulic telescopic stand column comprises an outer cylinder barrel and an inner cylinder body, the bottom of the outer cylinder barrel is hinged to the bottom beam, the two variable-amplitude hydraulic cylinders are oppositely arranged left and right, and the upper end and the lower end of each variable-amplitude hydraulic cylinder are hinged to the middle of the outer cylinder barrel of the hydraulic telescopic stand column located on the front side and the front end of the bottom beam correspondingly; the upper beam frame comprises two longitudinal beams and two fixed cross beams, and the longitudinal beams are hinged to the tops of the inner cylinder bodies of the hydraulic telescopic stand columns. The multi-stage hydraulic cylinder is adopted to achieve step-by-step lifting, the requirement for different heights can be better met, and good adaptability to hydraulic supports of various specifications can be achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of underground coal mine equipment, in particular to a lifting and disassembling machine for an underground super-large hydraulic support. Background Art

[0002] With the development of the coal mining industry, ultra-large hydraulic supports for high mining heights have emerged in underground coal mines. For example, the 10-meter ultra-large intelligent hydraulic supports for high mining heights are used in Zhaogu No. 2 Mine. These hydraulic supports are large and heavy. Due to the limitations of the auxiliary shaft size and the lifting weight of the auxiliary shaft hoist, the hydraulic supports must often be disassembled and lowered underground (generally into three parts: a top beam, a shield beam, four connecting rods, and a base). After lowering, they are assembled in the underground loading chamber. Due to the limited space and complex environment underground, the assembly of ultra-large hydraulic supports faces many difficulties: first, the narrow roadway affects the assembly progress and cannot meet the production needs of the coal mine; second, the lifting tools are limited, generally using manual electric hoists, which are inefficient and pose serious safety risks.

[0003] Currently, there are two types of underground assembly machines. One is a gantry-type assembly machine, which has certain requirements for the roadway height and generally requires the loading chamber to be expanded. The other is an assembly machine designed specifically for a specific type of hydraulic support and cannot be used for hydraulic supports of other specifications. This has a narrow application range and low practicality.

[0004] Therefore, a lifting and disassembling machine for an underground super-large hydraulic support is urgently needed to solve the above problems. Utility Model Content

[0005] The jack-up plan is actuated by a hydraulic cylinder to move the hydraulic cylinder to move the hydraulic cylinder to move the support leg, and the hydraulic cylinder is actuated to move the hydraulic cylinder to move the support leg.

[0006] Optionally, a passive running wheel and an active running wheel are respectively provided at the front and rear ends of the bottom beam, and the active running wheel is driven to rotate by a hydraulic motor.

[0007] Specifically, a track is provided under each bottom beam, and the passive running wheel and the active running wheel are both slidably connected to the track; the passive running wheel and the active running wheel are both provided with a locking structure for locking the passive running wheel and the active running wheel.

[0008] Optionally, a working platform is provided above the front end of each bottom beam, the rear end of the working platform is hinged to the middle of the outer cylinder of the hydraulic telescopic column located on the front side, and two side-by-side connecting rods are hinged below the front end of the working platform, and the bottoms of the two connecting rods are hinged to the bottom beam.

[0009] Optionally, a plurality of parallel climbing poles are fixedly connected between the two connecting poles.

[0010] In particular, climbing poles facilitate workers climbing onto work platforms.

[0011] Optionally, a robotic arm is provided on the outside of each work platform, the bottom of the robotic arm is fixed on the bottom beam, a self-locking manual winch is provided on the robotic arm, and a guide wheel is provided on the top of the robotic arm. A traction rope is wrapped around the self-locking manual winch, and one end of the traction rope is passed around the guide wheel and fixedly connected to a grabbing device.

[0012] Specifically, a telescopic rod is provided at the lower part of the robotic arm, and the bottom of the telescopic rod is fixed on the bottom beam, which can be extended and retracted up and down; a horizontal rotation axis is provided in the middle part of the robotic arm, which can be rotated horizontally; the upper part of the robotic arm is an inclined beam, on which a self-locking manual winch is provided, and a guide wheel is provided on the top, and the height of the grabbing device can be adjusted by winding or unwinding the traction rope through the self-locking manual winch; the grabbing device is used to grab the pin shaft, and align the pin shaft with the pin shaft holes on the top beam, the four-link of the shield beam and the base, and then push the pin shaft into the pin shaft hole to complete the installation.

[0013] Optionally, the grasping device is a mechanical gripper or a permanent magnetic chuck.

[0014] Optionally, the upper beam frame is also provided with a movable beam, which is located between the two fixed beams. Two sliding sleeves are fixed to the left and right ends of the movable beam, and the two sliding sleeves are respectively slidably mounted on the two longitudinal beams. Both the fixed beam and the movable beam are provided with hooks.

[0015] Specifically, a positioning hole is provided on the sliding sleeve, and a positioning pin for fixing the sliding sleeve is provided in the positioning hole; two hooks are provided on the fixed beam and the movable beam located on the front side, for a total of four hooks.

[0016] Optionally, each bottom beam is provided with a plurality of positioning adjustment devices.

[0017] Specifically, the positioning and adjusting device is used to fine-tune the hydraulic support component hung under the hook to the left and right, so that it remains relative to another hydraulic support component on the flatbed truck below.

[0018] Optionally, the positioning adjustment device adopts a telescopic cylinder or an electric cylinder.

[0019] In addition, due to the high humidity underground, equipment is prone to rust, so key components of the disassembly and assembly machine are treated with anti-corrosion methods such as anti-rust paint and galvanizing. Because there is a lot of dust underground, it can easily enter the equipment and affect its normal operation. Sealing devices are installed in key parts of the equipment, such as the hydraulic circuit, to prevent dust from entering.

[0020] The present invention also includes other components that enable the normal use of a lifting and disassembling machine for an underground ultra-large hydraulic support, all of which are conventional technical means in the field. In addition, the devices or components not limited in the present invention all adopt conventional technical means in the field, such as hydraulic telescopic columns, variable-length hydraulic cylinders, hydraulic motors, mechanical arms, self-locking manual winches, mechanical grippers, permanent magnetic suction cups, telescopic cylinders, and electric cylinders, among which the hydraulic telescopic columns can adopt existing technical means, such as the disclosed invention patent with publication number CN201110331708.1, which discloses a hydraulic telescopic column in a light hydraulic support for a short-wall working surface. The variable-length hydraulic cylinder and telescopic cylinder can all adopt any hydraulic cylinder in the existing technology that can achieve telescopic function.

[0021] The working principle of the utility model is that a plurality of flatbed trucks for loading hydraulic support components are traveled between two tracks, and each flatbed truck is respectively loaded with hydraulic support components such as a top beam, a shielding beam four-link, and a base. The position of the base on the flatbed truck is adjusted (since the base is the benchmark for the entire assembly, flatness and symmetry can improve work efficiency), which requires left-right symmetry and flatness (the corresponding lifting holes are on the same horizontal plane); the hydraulic motor is started to move the lifting and disassembling machine to the position of the flatbed truck equipped with the shielding beam four-link; the hydraulic telescopic column and the variable amplitude hydraulic cylinder are controlled to retract to insert the four hooks into the four lifting holes of the shielding beam four-link to ensure that the insertion is reliable; the hydraulic telescopic column and the variable amplitude hydraulic cylinder are controlled to extend to lift the shielding beam four-link, the hydraulic motor is started to move the lifting and disassembling machine to the position of the flatbed truck equipped with the base, and the positioning adjustment device is controlled to extend or retract to fine-tune the shielding beam four-link to the left and right to align it with the bottom. The bases are relative to each other up and down, and the pin holes of the two are aligned; the worker goes up to the work platform, controls the mechanical arm to grab a pin, align it with the pin hole, and insert the pin; repeat the above steps until all the pins are inserted into the corresponding pin holes, and the assembly of the four-link protective beam is completed; start the hydraulic motor and move the lifting and disassembling machine to the position of the flatbed truck with the top beam; control the hydraulic telescopic column and the variable-length hydraulic cylinder to retract, so that the four hooks are inserted into the four lifting holes of the top beam to ensure that the insertion is reliable; control the hydraulic telescopic column and the variable-length hydraulic cylinder to extend, lift the top beam, start the hydraulic motor, and move the lifting and disassembling machine to the position of the flatbed truck where the base and the four-link protective beam have been assembled; control the mechanical arm to grab a pin, align it with the pin hole, and insert the pin; repeat the above steps until all the pins are inserted into the corresponding pin holes, and the assembly of the top beam is completed; after all the hydraulic support components are assembled, move the lifting and disassembling machine out of the assembly position.

[0022] The beneficial effects of the utility model are:

[0023] (1) It has good adaptability to hydraulic supports of various specifications, wide application range and high practicality.

[0024] (2) The use of multi-stage hydraulic cylinders to achieve gradual lifting can better adapt to the needs of different heights and reduce the height requirements of the loading chamber.

[0025] (3) While meeting the lifting and disassembly functions, the overall size of the disassembly machine should be minimized. For example, the dimensions of the lifting disassembly machine designed for the typical frame type (ZY12000 / 28 / 62) are: lowered state: 7300×3400×3100mm; raised state: 7300×3400×4254mm. Some structures are designed to be foldable to facilitate transportation and movement in narrow tunnels underground. For example, the hydraulic telescopic column can be retracted and folded when not in use to reduce the space occupied.

[0026] (4) Due to the modular design, it is more convenient to lower the hydraulic support into the well, assemble it underground, and move it underground.

[0027] (5) This device uses a three-axis robotic arm, which makes the operation of holes and pins more flexible and convenient, and further improves the assembly efficiency.

[0028] (6) Operation is more convenient and maintenance costs are further reduced.

[0029] (7) The equipment is more reliable and more suitable for safe production in coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0031] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0032] Figure 2 This is a schematic structural diagram of the lifting and disassembling machine in the embodiment of the utility model when lifting the four-link shield beam.

[0033] Figure 3 This is a schematic structural diagram of the lifting and disassembling machine in the embodiment of the utility model when assembling the four-link shield beam.

[0034] Figure 4 This is a schematic structural diagram of the lifting and disassembling machine in the embodiment of the present utility model when lifting the top beam.

[0035] Figure 5 This is a schematic structural diagram of the lifting and disassembling machine in an embodiment of the present utility model when assembling the top beam.

[0036] In the figure: 1. Bottom beam, 2. Hydraulic telescopic column, 3. Luffing hydraulic cylinder, 4. Upper beam, 5. Passive travel wheel, 6. Active travel wheel, 7. Outer cylinder, 8. Inner cylinder, 9. Working platform, 10. Connecting rod, 11. Robot arm, 12. Self-locking manual winch, 13. Guide wheel, 14. Towing rope, 15. Mechanical gripper, 16. Longitudinal beam, 17. Fixed beam, 18. Moving beam, 19. Sliding sleeve, 20. Hook, 21. Telescopic cylinder, 22. Top beam, 23. Four-link shield beam, 24. Base. DETAILED DESCRIPTION

[0037] The present invention is described below in conjunction with the accompanying drawings and specific embodiments of the present invention. The description herein is intended only to explain the present invention and is not intended to limit the present invention. Based on the embodiments of the present invention, any modifications, equivalent substitutions, improvements, etc. made by those skilled in the art without creative work to all other embodiments obtained based on the embodiments of the present invention shall be included within the scope of protection of the present invention.

[0038] Example

[0039] like Figure 1-5 As shown, the embodiment of the utility model provides a lifting and disassembling machine for an underground super-large hydraulic support, including a lower beam frame, four hydraulic telescopic columns 2, two variable amplitude hydraulic cylinders 3 and an upper beam frame 4. The lower beam frame includes two bottom beams 1 arranged opposite to each other on the left and right. The front and rear ends of the bottom beam 1 are respectively provided with a passive walking wheel 5 and an active walking wheel 6, and the active walking wheel 6 is driven to rotate by a hydraulic motor. A track is correspondingly provided under each bottom beam 1, and the passive walking wheel 5 and the active walking wheel 6 are both slidably connected to the track; the passive walking wheel 5 and the active walking wheel 6 are both provided with a locking structure for locking the passive walking wheel 5 and the active walking wheel 6.

[0040] Four hydraulic telescopic columns 2 are arranged in groups of two and are located above the two bottom beams 1. The hydraulic telescopic columns 2 include an outer cylinder 7 and an inner cylinder body 8 that is slidably sleeved in the outer cylinder 7, and the bottom of the outer cylinder 7 is hinged to the bottom beam 1; a working platform 9 is provided above the front end of each bottom beam 1, and the rear end of the working platform 9 is hinged to the middle part of the outer cylinder 7 of the hydraulic telescopic column 2 located on the front side. Two side-by-side connecting rods 10 are hinged below the front end of the working platform 9, and the bottoms of the two connecting rods 10 are hinged to the bottom beam 1. Several parallel climbing rods are fixedly connected between the two connecting rods 10, and the climbing rods facilitate workers to climb onto the working platform 9; a mechanical arm 11 is provided on the outside of each working platform 9, and the mechanical A telescopic rod is provided at the lower part of the arm 11, and the bottom of the telescopic rod is fixed on the bottom beam 1, which can be extended and retracted up and down; a horizontal rotation axis is provided in the middle of the mechanical arm 11, which can be rotated horizontally; the upper part of the mechanical arm 11 is an inclined beam, on which a self-locking manual winch 12 is provided, and a guide wheel 13 is provided on the top. A traction rope 14 is wound around the self-locking manual winch 12, and one end of the traction rope 14 is passed around the guide wheel 13 and fixedly connected to a mechanical gripper 15. The height of the mechanical gripper 15 can be adjusted by winding or unwinding the traction rope 14 with the self-locking manual winch 12; the mechanical gripper 15 is used to grab the pin shaft, and align the pin shaft with the pin shaft holes on the top beam 22, the shield beam four-link 23 and the base 24, and then push the pin shaft into the pin shaft hole to complete the installation.

[0041] The two luffing hydraulic cylinders 3 are arranged opposite to each other on the left and right sides, and the upper and lower ends of each luffing hydraulic cylinder 3 are respectively hinged to the middle part of the outer cylinder 7 of the hydraulic telescopic column 2 located on the front side and the front end of the bottom beam 1.

[0042] The upper beam frame 4 is arranged above the lower beam frame, and the upper beam frame 4 includes two longitudinal beams 16 arranged on the left and right, two fixed cross beams 17 fixedly connected between the two longitudinal beams 16, and a movable cross beam 18 located between the two fixed cross beams 17, and the longitudinal beam 16 is hinged to the top of the inner cylinder body 8 of the hydraulic telescopic column 2, and two sliding sleeves 19 are fixed to the left and right ends of the movable cross beam 18, and the two sliding sleeves 19 are respectively slidably sleeved on the two longitudinal beams 16, and the sliding sleeve 19 is provided with a positioning hole, and a positioning pin for fixing the sliding sleeve 19 is provided in the positioning hole; two hooks 20 are provided on the fixed cross beam 17 and the movable cross beam 18 located on the front side, for a total of four hooks 20.

[0043] In addition, each bottom beam 1 is provided with a plurality of telescopic cylinders 21, which are used to fine-tune the hydraulic support component hung under the hook 20 to the left and right, so that it remains relative to another hydraulic support component on the flatbed truck below.

[0044] The working principle of the utility model is that a plurality of flatbed trucks for loading hydraulic support components are driven between two tracks, and each flatbed truck is respectively loaded with hydraulic support components such as the top beam 22, the shield beam four-link 23, and the base 24. The position of the base 24 on the flatbed truck is adjusted (since the base 24 is the reference of the entire assembly, flatness and symmetry can improve work efficiency), and it is required to be symmetrical and flat (the corresponding lifting holes are on the same horizontal plane); the hydraulic motor is started, and the lifting disassembly and assembly machine is moved to the position where the shield beam four-link 23 is installed. 3 flatbed position; control the hydraulic telescopic column 2 and the luffing hydraulic cylinder 3 to retract, so that the four hooks 20 are inserted into the four lifting holes of the shield beam four-link 23, and ensure that the insertion is reliable; control the hydraulic telescopic column 2 and the luffing hydraulic cylinder 3 to extend, lift the shield beam four-link 23, start the hydraulic motor, move the lifting disassembly machine to the flatbed position with the base 24, and control the telescopic oil cylinder 21 to extend or retract the piston rod to fine-tune the shield beam four-link 23 left and right to align it with the bottom The bases 24 are placed opposite each other and the pin holes of the two are aligned; the worker goes up to the work platform 9, controls the mechanical arm 11 to grab a pin, aligns it with the pin hole, and inserts the pin; repeats the above steps until all the pins are inserted into the corresponding pin holes, completing the assembly of the four-link 23 of the shield beam; starts the hydraulic motor and moves the lifting disassembly machine to the position of the flatbed truck with the top beam 22; controls the hydraulic telescopic column 2 and the variable amplitude hydraulic cylinder 3 to retract, so that the four hooks 20 are inserted into the four lifting holes of the top beam 22 , make sure the insertion is reliable; operate the hydraulic telescopic column 2 and the variable amplitude hydraulic cylinder 3 to extend, lift the top beam 22, start the hydraulic motor, and move the lifting and disassembling machine to the position of the flatbed truck where the base 24 and the shield beam four-link 23 have been assembled; operate the mechanical arm 11 to grab a pin and align it with the pin hole, and insert the pin; repeat the above steps until all the pins are inserted into the corresponding pin holes to complete the assembly of the top beam 22; after all the hydraulic support components are assembled, move the lifting and disassembling machine out of the assembly position.

[0045] While the embodiments of the present invention have been described above, the above description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A lifting and disassembling machine for an underground super-large hydraulic support, comprising a lower beam, four hydraulic telescopic columns, two luffing hydraulic cylinders, and an upper beam, characterized in that: The lower beam frame includes two bottom beams arranged opposite to each other on the left and right, and four hydraulic telescopic columns are arranged in groups of two above the two bottom beams. The hydraulic telescopic columns include an outer cylinder and an inner cylinder body slidingly sleeved in the outer cylinder, and the bottom of the outer cylinder is hinged to the bottom beam. The two variable amplitude hydraulic cylinders are arranged opposite to each other on the left and right, and the upper and lower ends of each variable amplitude hydraulic cylinder are respectively hinged to the middle part of the outer cylinder of the hydraulic telescopic column located on the front side and the front end of the bottom beam. The upper beam frame is arranged above the lower beam frame, and the upper beam frame includes two longitudinal beams arranged on the left and right and two fixed cross beams fixedly connected between the two longitudinal beams, and the longitudinal beams are hinged to the top of the inner cylinder body of the hydraulic telescopic column.

2. The lifting and disassembling machine for an underground super-large hydraulic support according to claim 1 is characterized in that: Passive running wheels and active running wheels are respectively provided at the front and rear ends of the bottom beam, and the active running wheels are driven to rotate by a hydraulic motor.

3. The lifting and disassembling machine for an underground super-large hydraulic support according to claim 2 is characterized in that: A working platform is provided above the front end of each bottom beam, the rear end of the working platform is hinged to the middle part of the outer cylinder of the hydraulic telescopic column located on the front side, and two side-by-side connecting rods are hinged below the front end of the working platform, and the bottoms of the two connecting rods are hinged to the bottom beam.

4. The lifting and disassembling machine for an underground super-large hydraulic support according to claim 3 is characterized in that: A plurality of parallel climbing rods are fixedly connected between the two connecting rods.

5. The lifting and disassembling machine for an underground super-large hydraulic support according to claim 4 is characterized in that: A robotic arm is provided on the outside of each work platform. The bottom of the robotic arm is fixed on the bottom beam. A self-locking manual winch is provided on the robotic arm, and a guide wheel is provided on the top of the robotic arm. A traction rope is wrapped around the self-locking manual winch, and one end of the traction rope is passed around the guide wheel and fixedly connected to a grabbing device.

6. The lifting and disassembling machine for an underground super-large hydraulic support according to claim 5, characterized in that: The grasping device is a mechanical gripper or a permanent magnetic chuck.

7. The lifting and disassembling machine for an underground super-large hydraulic support according to claim 6 is characterized in that: The upper beam frame is also provided with a movable beam, which is located between two fixed beams. Two sliding sleeves are fixed on the left and right ends of the movable beam, and the two sliding sleeves are respectively slidably sleeved on the two longitudinal beams. Hooks are provided on both the fixed beam and the movable beam.

8. The lifting and disassembling machine for an underground super-large hydraulic support according to claim 7, characterized in that: Each bottom beam is respectively provided with a plurality of positioning adjustment devices.

9. The lifting and disassembling machine for an underground super-large hydraulic support according to claim 8, characterized in that: The positioning adjustment device adopts a telescopic cylinder or an electric cylinder.

Images