CN103899343B - Freedom degree parallel connection hydraulic support - Google Patents

Abstract

The invention discloses a three-degree-of-freedom parallel hydraulic support, which comprises a base, a front parallel support mechanism, a rear parallel support mechanism, a rear shielding device, a top beam and a telescopic beam. The parallel connection of the front parallel support mechanism and the rear parallel support mechanism is between the base and the top beam, and their structures are exactly the same, both of which are parallel mechanisms of 3-RPC structure; The base and the top beam are connected by hinges, and the lower end is provided with a bottom guard plate whose position and angle can be adjusted; there are top side guard plates on both sides of the top beam, and a telescopic beam is embedded inside the top beam. The head has a side guard. The invention can overcome the technical defects of the existing hydraulic support, can bear the load in the direction of the three degrees of freedom in the space including the lateral force, can avoid the occurrence of safety accidents such as the collapse of the frame, and improves the support stability of the hydraulic support and the surrounding environment. It also has the advantages of stable and reliable quality, convenient operation and maintenance, etc.

Description

Three degrees of freedom parallel hydraulic support

technical field

The invention relates to the technical field of mining machinery, in particular to a three-degree-of-freedom parallel hydraulic support capable of bearing lateral forces.

Background technique

Fully mechanized coal mining equipment consists of hydraulic supports, shearers and transporters. Hydraulic supports are the main equipment for comprehensive mechanized coal mining. The one-time investment accounts for more than 70% of the total cost of fully mechanized mining equipment. key. The top and bottom plates of the hydraulic support must adapt to the coal seam environment of the underground working face, provide a safe working space for the operator, and provide an effective power source for the mining and transportation equipment, which determines the normal advancing speed of the mining and transportation equipment. Therefore, the hydraulic support is the key equipment for the success or failure of the fully mechanized mining face to achieve high productivity and high efficiency.

During fully mechanized mining operations, the hydraulic supports are dispersedly arranged on the entire coal mining face to realize the processes of support, roof cutting, self-moving and pushing, etc. It is composed of a high-power shearer and a large-capacity flexible scraper conveyor Comprehensive mechanized equipment for mining face. During fully mechanized mining operations, hydraulic support is also a key factor for the success of fully mechanized caving mining technology in thick coal seams. The widely used hydraulic supports are all developed on the basis of the four-link hydraulic supports designed by the Soviets in the 1960s. However, due to the inclination angle of the coal seam and the geological structure, the pressure of the roof on the hydraulic support must have a lateral component. And the connection of the existing four-link type support column all adopts spherical hinges so that the support column and the top beam do not have the ability to bear the lateral force, and the lateral force is transmitted to the link mechanism through the shield beam, which causes the collapse. The root cause of the damage to the frame and support mechanism, so there are fundamental defects in the existing connecting rod type hydraulic support. Because the planar four-bar linkage mechanism has only one degree of freedom, the degree of freedom of the two parallel planar four-bar linkage mechanisms is -1, which belongs to the statically indeterminate mechanism, resulting in poor stability of the hydraulic support and limited support height. However, the geological structure of my country's coal mines is complex. In practical applications, due to the unevenness of the roof and the change of the inclination angle of the coal seam, a large additional load will be generated, resulting in major safety accidents such as damage to the shield beam, collapse and slide.

Since the invention of the four-link hydraulic support for more than 50 years, coal-producing countries in the world have carried out a lot of research and improvement work on the four-link hydraulic support. However, a series of problems such as the support stability based on the four-link hydraulic support, the adaptability to the roof and the controllability of the support have not been completely resolved. Therefore, it has become a worldwide problem to develop a hydraulic support with support stability, good adaptability and controllability to the roof. The problems of stability, adaptability to the roof and controllability of the support based on the four-link hydraulic support are not problems of structural design, but are caused by the principle defects of the four-link hydraulic support mechanism. The parallel mechanism has the characteristics of large structural rigidity, strong bearing capacity, small inertia, high positioning and motion accuracy, and the parallel mechanism has become the most suitable supporting mechanism for mining hydraulic supports, with its high stability and the most complete adaptability to roof movement, and The best mechanical properties in its own structure determine the advantages of high support height, high stability, light weight and fast movement of the parallel hydraulic support. In view of the principle defects existing in the current four-link hydraulic support, Professor Kou Ziming of Taiyuan University of Technology and his master student Wei Jin proposed to apply the parallel mechanism to the design of the hydraulic support, that is, to design a new type of hydraulic support based on the parallel mechanism. In order to solve a series of problems caused by the principle defects of the four-link hydraulic support, the design and research on the parallel hydraulic support in the early stage are mostly based on the six-degree-of-freedom parallel hydraulic support of the 6-SPS parallel mechanism, and the actual use of the underground working face of the coal mine The hydraulic support does not require six degrees of freedom. Excessive degrees of freedom not only complicate the structure of the hydraulic support, increase the difficulty of processing, and make it difficult to improve the machining accuracy, but also increase the manufacturing cost of the hydraulic support, and bring difficulties and inconveniences to control, operation and maintenance.

The use of a parallel mechanism with three translations and three degrees of freedom as the main support mechanism of the hydraulic support can realize limited specified pressure movement and effective bearing of the hydraulic support relative to the top and bottom plates. In addition to mainly bearing the vertical pressure exerted by the top and bottom plates on the hydraulic support, it also It can withstand the lateral force from other directions, which can effectively improve the supporting performance of the hydraulic support, improve the reliability, safety and stability of the support, avoid the occurrence of safety accidents such as damage to the cover beam, collapse and slide, and overcome the current situation. There are disadvantages of hydraulic supports, which will produce significant social benefits and huge economic benefits.

Contents of the invention

The object of the present invention is to provide a three-degree-of-freedom parallel hydraulic support capable of bearing lateral force, aiming at the shortcomings of the existing hydraulic support technology. The technical problem to be solved by the present invention is realized by the following technical solutions.

A three-degree-of-freedom parallel hydraulic support includes a base, a front parallel support mechanism, a rear parallel support mechanism, a rear cover device, a top beam and a telescopic beam. Wherein, the front end surface of the base is an arc-shaped surface, which facilitates the movement of the hydraulic support; a push rod is provided in the middle of the base for pushing the hydraulic support and the scraper conveyor working with the hydraulic support; There is a bottom connecting plate. The front parallel support mechanism and the rear parallel support mechanism are the main support mechanisms of the three-degree-of-freedom parallel hydraulic support, which are used to bear the vertical load and the lateral load in other directions acting on the base and the top beam by the surrounding rock; The structure of the front parallel support mechanism and the rear parallel support mechanism are exactly the same, both of which are three-translation three-degree-of-freedom parallel mechanisms of the 3-RPC structure; the front parallel support mechanism and the rear parallel support mechanism are connected in parallel between the base and the top. Between the beams, and the lower ends are symmetrically installed on the base, and the tops of the front parallel support mechanism and the rear parallel support mechanism are fixedly connected with the top beam. The rear cover device is mainly used to withstand the horizontal force of the hydraulic support and the pressure of the collapsed roof rock, and prevent the gangue falling from the goaf from entering the bottom of the hydraulic support, so as to ensure the safety of personnel and equipment under the hydraulic support; the described The rear shielding device can also bear the horizontal force from the roof and the roof beam at the same time, so as to improve the stability of the hydraulic support to control the roof; the rear shielding device is located at the rear end of the rear parallel support mechanism, and its front end and The base is connected by hinges, and its top is connected with the top beam by hinges. There are top side guard plates on both sides of the top beam, and a telescopic beam is embedded inside the top beam to extend the working space of the hydraulic support. The top beam is connected to the telescopic beam through a telescopic beam jack; The head has a side guard. The side protection board and the top side protection board are used to play the role of blocking gangue, anti-inverting adjustment frame and extending the left and right side of the hydraulic support to support the working range.

The rear protection device is composed of connecting lugs, front angle adjustment jacks, cover beams, rear angle adjustment jacks, bottom protection jacks, rear side protection plates and bottom protection plates. The lower end of the connection ear plates and the bottom connection plate pass through The upper end is connected with a hinge, and its upper end is provided with a sliding pin and is connected with the cover beam through a slidable hinge; the two ends of the front angle adjustment jack are respectively connected with the bottom connecting plate and the bottom guard plate through hinges; The top of the cover beam is connected to the top beam through a hinge, and an upper long waist hole and a lower long waist hole are arranged on the reinforcement plate inside the cover beam; the upper end of the rear angle adjustment jack is connected to the cover beam through a hinge connected with each other, the lower end of the rear angle adjustment jack is vacantly sleeved on the sliding pin shaft connecting the lug plate; the upper end of the bottom protection jack is connected with the shield beam through a hinge, and the lower end is provided with a sliding optical axis, and the The two ends of the sliding optical axis are placed in the lower long waist-shaped hole of the shielding beam, and the bottom guard plate is connected with the sliding optical axis through hinges; the rear guard plates are located on both sides of the shielding beam.

Both the front parallel support mechanism and the rear parallel support mechanism are composed of a fixed bottom plate, a movable top plate and three support chains connected between the fixed bottom plate and the movable top plate. The fixed bottom plate is fixedly connected to the base; the three support chains are connected in parallel between the fixed bottom plate and the movable top plate, and the three support chains are all single-open chains in series with RPC structure; the movable top plate and the The top beam is fixed. The supporting chain is composed of hinged lugs, double-acting hydraulic cylinders and double damping connecting seats. The hinged ear seat is installed on the fixed base plate; the lower end of the double-acting hydraulic cylinder is connected to the hinged ear seat through a hinge, and its upper end is connected to the double damping connecting seat through a cylinder pair, and the double-acting hydraulic cylinder The cylinder can choose two-stage telescopic double-acting hydraulic cylinder or three-stage telescopic double-acting hydraulic cylinder according to the needs of the supporting working height of the hydraulic support. The double damping connecting seat plays the role of the cylinder pair and applies damping along the axial direction of the cylindrical secondary. The double damping connecting seat includes a plurality of fixed plates, a damper and a center pin. The center pin It is located in the middle of the multi-position fixed plate and is fixedly connected with the multi-position fixed plate. There are two dampers and they are arranged symmetrically on both sides of the center pin. Both ends of the damper are connected to the multi-position fixed plate through hinges. connected.

In the front parallel support mechanism or the rear parallel support mechanism, the axes of the median pins at the top of the three support chains are arranged in an isosceles triangle, and the axes of the hinge holes of the hinge lugs at the bottom of the three support chains are It is also arranged in an isosceles triangle, and the axis of the middle pin shaft at the top on the same support chain is parallel to the axis of the hinged hole of the bottom hinged lug seat.

When in use, adjust the expansion and contraction length of the double-acting hydraulic cylinders of the three support chains of the front parallel support mechanism and the rear parallel support mechanism according to the actual needs of the supporting working surface, so that the top beam can be raised to withstand the top surrounding rock, and then adjust the telescopic beam jack , to make the telescopic beam stretch out, extend the working space of the hydraulic support, and then adjust the top side guard plate and the side guard plate to make them unfold respectively; The device is deployed backwards to withstand the surrounding rock at the rear, and then the rear side protection is unfolded, and then the telescopic length of the bottom protection jack is adjusted to move the sliding optical axis down to realize the translation of the bottom protection plate and extend the working space of the rear protection device. When the sliding optical axis moves down to the bottom end of the lower long waist-shaped hole of the cover beam, under the telescopic action of the front angle adjustment jack, the swing of the bottom guard plate around the axis of the sliding optical axis is realized; finally, in this working state, the The push rod of the base is stretched out to realize the function of pushing the scraper conveyor.

When the hydraulic support needs to be moved, adjust the telescopic length of the double-acting hydraulic cylinder, the telescopic beam jack, the rear angle adjustment jack, and the front angle adjustment jack, so that the top beam is lowered, the telescopic beam is retracted, the rear cover device is retracted, and the rear guard plate is retracted , and then put away the top side guard, the side guard, the rear side guard, and finally the push rod of the base is retracted to realize the function of moving the rack.

The beneficial effect of the present invention is that, compared with the existing technology, the present invention adopts two sets of three-translation and three-degree-of-freedom parallel mechanism 3-RPC as the main support mechanism of the three-degree-of-freedom parallel hydraulic support, which can realize the hydraulic support relative to the top and bottom plates. Realize limited specified pressure movement and effective bearing, not only can withstand the vertical pressure exerted by the top plate and the bottom plate on the hydraulic support, but also can bear the lateral force from other directions, which can effectively improve the supporting performance of the hydraulic support and improve the support performance. Reliability, safety and stability, avoid the occurrence of safety accidents such as cover beam damage, overturning and sliding, and overcome the shortcomings of the existing hydraulic support.

Description of drawings

Fig. 1 is the overall structural representation of the present invention;

Fig. 2 is the structural representation of rear protection device of the present invention;

Fig. 3 is a schematic diagram of the operation of the bottom guard of the rear protection device in a rotatable state;

Fig. 4 is the structural representation of front parallel support mechanism of the present invention;

Fig. 5 is the schematic diagram of the mechanism principle of the support chain of the front parallel support mechanism;

Fig. 6 is a structural schematic diagram of a double damping connection seat of a support chain;

Fig. 7 is a schematic diagram of the arrangement of three hinged lugs of the support chain on the fixed base;

Fig. 8 is a schematic diagram of the arrangement of three double damping connection seats of the support chain on the movable roof.

Detailed ways

In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments and illustrations.

As shown in Figure 1, Figure 2 and Figure 4, a three-degree-of-freedom parallel hydraulic support includes a base 1, a front parallel support mechanism 2, a rear parallel support mechanism 3, a rear shielding device 4, a top beam 5 and a telescopic beam 6. Wherein, the front end surface of the base 1 is an arc-shaped surface, which is convenient for the hydraulic support to move; a push rod 101 is provided at the middle position of the base 1, which is used to push the hydraulic support and the scraper conveyor working with the hydraulic support; The rear end is provided with bottom connecting plate 102. The front parallel support mechanism 2 and the rear parallel support mechanism 3 are the main support mechanisms of the three-degree-of-freedom parallel hydraulic support, which are used to bear the vertical load and other direction loads that the surrounding rock acts on between the base 1 and the top beam 5 Side load; the structure of the front parallel support mechanism 2 and the rear parallel support mechanism 3 is exactly the same, both of which are three-translation three-degree-of-freedom parallel mechanisms of the 3-RPC structure; the front parallel support mechanism 2 and the rear parallel support mechanism The mechanism 3 is connected in parallel between the base 1 and the top beam 5 , and its lower end is symmetrically installed on the base 1 . The rear cover device 4 is mainly used to withstand the horizontal force of the hydraulic support and the pressure of the collapsed roof rock, and prevent the gangue falling from the goaf from entering the bottom of the hydraulic support, so as to ensure the safety of personnel and equipment under the hydraulic support; The rear shielding device 4 can also bear the horizontal force from the top beam 5 at the same time, so as to improve the stability of the hydraulic support to control the roof; the rear shielding device 4 is located at the rear end of the rear parallel support mechanism 3, and Its front end is connected with the base 1 through a hinge, and its top is connected with the top beam 5 through a hinge. Top side guard plates 501 are provided on both sides of the top beam 5, and a telescopic beam 6 is embedded inside the top beam 5 to extend the working space of the hydraulic support. The top beam 5 connects with the telescopic beam jack 601 6 are connected; a side guard 602 is provided at the head of the telescopic beam 6 . The side guard plate 602 and the top side guard plate 501 are used to block the gangue, prevent the frame from falling down, and extend the left and right sides of the hydraulic support to support the working range.

The rear shielding device is composed of connecting lugs 401, front angle adjustment jacks 402, shielding beams 403, rear angle adjustment jacks 404, bottom protection jacks 405, rear side protection plates 406 and bottom protection plates 407. The connection lugs The lower end of 401 is connected with the bottom connecting plate 102 through a hinge, and its upper end is provided with a sliding pin 4011 and connected with the cover beam 403 through a slidable hinge; the two ends of the front angle adjustment jack 402 are respectively connected with the bottom The plate 102 and the bottom guard plate 407 are connected by a hinge; the top of the shield beam 403 is connected with the top beam 5 by a hinge, and the rib plate on the inside of the shield beam 403 is provided with an upper long waist-shaped hole 4031 and a lower long Waist-shaped hole 4032; the upper end of the rear angle adjustment jack 404 is connected to the cover beam 403 through a hinge, and the lower end of the rear angle adjustment jack 404 is vacantly sleeved on the sliding pin shaft 4011 connecting the ear plate 401; The upper end of the bottom jack 405 is connected to the shielding beam 403 through a hinge, and the lower end is provided with a sliding optical axis 4051, and the two ends of the sliding optical axis 4051 are placed in the lower oblong hole 4032 of the shielding beam 403, and the shielding The bottom plate 407 is connected to the sliding optical axis 4051 through a hinge; the rear side guard plate 406 is located on both sides of the shield beam 403 .

As shown in FIGS. 4 and 5 , the front parallel support mechanism 2 is composed of a fixed bottom plate 201 , a movable top plate 203 and three support chains 202 connected between the fixed bottom plate 201 and the movable top plate 203 . The fixed bottom plate 201 is fixedly connected with the base 1; the three support chains 202 are connected in parallel between the fixed bottom plate 201 and the movable top plate 203; the three support chains 202 are single-open chains in series with RPC structure; The movable roof 203 described above is fixedly connected with the roof beam 5 . The support chain 202 is composed of hinged lugs 2021 , double-acting hydraulic cylinders 2022 and double damping connecting seats 2023 . The hinged lug 2021 is installed on the fixed base plate 201; the lower end of the double-acting hydraulic cylinder 2022 is connected with the hinged lug 2021 through the rotation pair R, and its upper end is connected with the double damping connection seat 2023 through the cylinder pair C , the double-acting hydraulic cylinder 2022 is a two-stage telescopic double-acting hydraulic cylinder, as the mobile pair P in the parallel mechanism RPC; and the axis of the rotating pair R is parallel to the axis of the cylindrical pair C, so The axis of the moving pair P is perpendicular to the axis of the rotating pair R.

As shown in Figure 6, the double damping connection seat 2023 includes a multi-position fixed plate 20231, a damper 20232 and a center pin 20233, and the center pin 20233 is located at the middle position of the multi-position fixed plate 20231 and is in contact with The multi-position fixed plates 20231 are fixedly connected. There are two dampers 20232 symmetrically arranged on both sides of the center pin 20233. Both ends of the dampers 20232 are connected to the multi-position fixed plates 20231 through hinges.

As shown in Figure 7, the axes of the hinged holes of the hinged lugs 2021 at the bottom of the three support chains 202 are arranged in an isosceles triangle, that is, the axes of the revolving pairs R1, R2, and R3 on the three hinged lugs 2021 form a A small isosceles triangle, and the two angles θ1=θ2 of the small isosceles triangle.

As shown in Figure 8, in the front parallel support mechanism 2, the axes of the middle pin shafts 20233 at the top of the three support chains 202 are arranged in an isosceles triangle, that is, the axes of the three double damping connection seats 2023 The axes of the pair of cylinders C1, C2, and C3 form a large isosceles triangle, and the two angles of the large isosceles triangle Ф1=Ф2.

When in use, adjust the telescopic lengths of the double-acting hydraulic cylinders 2022 of the three supporting chains 202 of the front parallel support mechanism 2 and the rear parallel support mechanism 3 according to the actual needs of the supporting working face, so that the top beam 5 is raised to withstand the top surrounding rock, Then adjust the telescopic beam jack 601 to extend the telescopic beam 6 to extend the working space of the hydraulic support, and then adjust the top side guard plate 501 and the side guard plate 602 to expand respectively; then adjust the telescopic length of the jack 404 after adjusting the angle, The sliding pin shaft 4011 moves down, so that the rear shielding device 4 is deployed backwards to withstand the surrounding rock at the rear, and then the rear side shield 406 is unfolded, and then the telescopic length of the bottom protection jack 405 is adjusted, so that the sliding optical axis 4051 moves down , realize the translation of the floor guard 407, and extend the working space of the rear cover device. When the sliding optical axis 4051 moves down to the bottom end of the lower oblong hole 4032 of the cover beam 403, under the telescopic action of the front angle adjustment jack 402, Realize the swing of the base guard 407 around the axis of the sliding optical axis 4051; finally, in this working state, the push rod 101 of the base 1 is extended to realize the function of pushing the scraper conveyor.

When it is necessary to move the hydraulic support, adjust the telescopic length of the double-acting hydraulic cylinder 2022, the telescopic beam jack 601, the rear angle adjustment jack 404, and the front angle adjustment jack 402, so that the top beam 5 is lowered, the telescopic beam 6 is retracted, and the rear cover device 4 Retract and retract the rear guard 407, then retract the top side guard 501, the side guard 602, and the rear side guard 406, and finally the push rod 101 of the base 1 is retracted to realize the rack moving function.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments. What are described in the above-mentioned embodiments and the description only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have Variations and improvements are possible, which fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (3)

1. a freedom degree parallel connection hydraulic support, comprise base, front supporting mechanism in parallel, rear supporting mechanism in parallel, back screen device, back timber and extensible canopy, it is characterized in that: described pan frontward end face is arcwall face, and be provided with push rod in the centre position of base, be provided with end junction plate in the rear end of base; Described supporting mechanism front in parallel is identical with the structure of rear supporting mechanism in parallel, and its lower end symmetry is arranged on base, and the top of front supporting mechanism in parallel, rear supporting mechanism in parallel is all connected with back timber; Described back screen device is positioned at the rear end of rear supporting mechanism in parallel, and the front end of back screen device is connected by hinge with base, and the top of back screen device is connected by hinge with back timber; Be provided with top side backplate in the both sides of back timber, be embedded with extensible canopy in the inside of back timber, back timber is connected with extensible canopy by extensible canopy jack; Face guard is provided with at the head of extensible canopy;

Described back screen device forms by connecting otic placode, front angular adjustment jack, caving shield, rear angular adjustment jack, river bottom protection jack, rear side backplate and river bottom protection plate, the lower end of described connection otic placode is connected by hinge with end junction plate, and its upper end is provided with slippage bearing pin and is connected by slip hinge with caving shield; The two ends of described front angular adjustment jack are connected by hinge with end junction plate, river bottom protection plate respectively; The top of described caving shield is connected by hinge with back timber, and reinforcement gusset inside caving shield is provided with long waist shaped hole and lower long waist shaped hole; The upper end of described rear angular adjustment jack is connected by hinge with caving shield, and the lower end empty set of rear angular adjustment jack is on the slippage bearing pin connecting otic placode; The upper end of described river bottom protection jack is connected by hinge with caving shield, and its lower end is provided with slippage optical axis, and the two ends of described slippage optical axis are placed in the lower long waist shaped hole of caving shield, and river bottom protection plate is connected by hinge with slippage optical axis; Rear side backplate is positioned at the both sides of caving shield.

2. freedom degree parallel connection hydraulic support according to claim 1, it is characterized in that: described supporting mechanism front in parallel and rear supporting mechanism in parallel form by fixed base plate, movable panel and three support chain be connected between fixed base plate and movable panel, and described fixed base plate and base are connected; Described movable panel and back timber are connected; Described support chain is made up of hinged ear seat, double acting hydraulic cylinder and two damping Connection Block, described hinged ear seat is arranged on fixed base plate, the lower end of double acting hydraulic cylinder is connected by hinge with hinged ear seat, and its upper end is connected by cylindrical pair with two damping Connection Block; Described two damping Connection Blocks comprise multidigit fixed head, damper and meta bearing pin, described meta bearing pin is positioned at the centre position of multidigit fixed head and is connected with multidigit fixed head, described damper has two and is arranged symmetrically in the both sides of meta bearing pin, and the two ends of damper are all connected with multidigit fixed head by hinge.

3. freedom degree parallel connection hydraulic support according to claim 2, it is characterized in that: the axis of the meta bearing pin at three described support chain tops is that isosceles triangle is arranged, article three, the axis of the hinge hole of support chain bottom-hinged ear seat is also arranged in isosceles triangle, and the axis being parallel of the meta bearing pin of same support chain upper top is in the axis of the hinge hole of bottom-hinged ear seat.