Underground coal mine unitized support system and method for gob-side entry retaining with underground coal mine unitized support

Abstract

The present invention provides a unitized support system for underground coal mines and a method for leaving a roadway along the goaf with unitized supports in underground coal mines, belonging to the technical field of roadway support. The above-mentioned unitized support system for underground coal mines includes a support handling robot and unitized supports; the support handling robot includes a handling mechanism, a main frame, a cab, a hydraulic system, an emulsion liquid system, an engine assembly, and a crawler chassis assembly; the handling mechanism includes a bracket, a vertical lifting frame, a vertical driving part, a transverse moving platform, a transverse driving part, a support shovel plate, a rotating shaft, and a flipping driving part; a quick-connect valve for connecting with the emulsion liquid system and a shovel plate hole for the support shovel plate to pass through are provided on the unitized supports. The present invention solves the technical problems in the prior art that the handling of unitized supports uses winch traction, with complex operation, low efficiency, and potential safety hazards.

Description

Technical Field

[0001] The invention belongs to the technical field of roadway support, and particularly discloses a unit type support system for underground coal mines and a gob-side entry retaining method for unit type supports in underground coal mines. Background Art

[0002] In recent years, breakthrough progress has been made in the rapid tunneling system for underground coal mines in China. However, the imbalance between tunneling and mining is still one of the main factors restricting the safe and efficient mining of coal mines. In order to reduce the number of roadway drivages and alleviate the imbalance between tunneling and mining, the gob-side entry retaining technology with flexible formwork concrete can be adopted for the haulage gateway of the fully mechanized mining face. At present, this technology has been widely used in many modern coal mines. Currently, the gob-side entry retaining support technology with flexible formwork concrete usually adopts the support form of "one beam and four columns", which has problems such as single support form, low support strength for roadway surrounding rock, and poor safety. The unit type support has advantages such as high support strength and good stability, and can effectively protect the flexible formwork wall. However, currently, the unit type support is usually transported by winch traction, which has complex operation, low efficiency and potential safety hazards. Therefore, the problem of unit type support transportation has become the key factor restricting the popularization of unit type supports in the gob-side entry retaining technology. Summary of the Invention

[0003] The invention provides a unit type support system for underground coal mines and a gob-side entry retaining method for unit type supports in underground coal mines, so as to solve the technical problems in the prior art that the unit type support is transported by winch traction, with complex operation, low efficiency and potential safety hazards.

[0004] The above-mentioned unit type support system for underground coal mines includes a support handling robot and a unit type support; the support handling robot includes a handling mechanism, a main frame, a cab, a hydraulic system, an emulsion liquid system, an engine assembly and a crawler chassis assembly; the handling mechanism, the cab, the hydraulic system, the emulsion liquid system and the engine assembly are all arranged on the main frame, and the crawler chassis assembly is arranged on both sides of the main frame; the engine assembly provides power for the emulsion liquid system and the hydraulic system; the emulsion liquid system is used to supplement liquid for the unit type support and receive the return liquid of the unit type support; the hydraulic system provides power for the movement of the handling mechanism and the walking of the crawler chassis assembly; the handling mechanism includes a bracket, a vertical lifting frame, a vertical driving part, a transverse moving platform, a transverse driving part, a support shovel plate, a rotating shaft and a flipping driving part; the bracket is installed at the front end of the main frame; the vertical lifting frame is driven by the vertical driving part to slide up and down along the bracket; the transverse moving platform is driven by the transverse driving part to slide left and right along the vertical lifting frame; two support shovel plates are connected by the rotating shaft, the rotating shaft is rotatably installed on the transverse moving platform, and the flipping driving part drives the rotating shaft to rotate to make the support shovel plates flip left and right; a quick plug valve for connecting with the emulsion liquid system and a shovel plate hole for the support shovel plate to pass through are arranged on the unit type support.

[0005] Preferably, a rack and a rotating shaft mounting seat are arranged on the transverse moving platform. The rack is slidably arranged, and the rotating shaft mounting seats are symmetrically arranged on both sides of the rack. The rotating shaft is rotatably connected to the rotating shaft mounting seat, and a gear is arranged on the rotating shaft. The gear meshes with the rack. The turning driving part is a turning oil cylinder, which drives the rack to slide left and right through telescoping.

[0006] Preferably, two vertical grooves with opposite openings are arranged on the bracket. The vertical lifting frame includes a front frame and a rear frame fixed behind the front frame. Limiting wheels I and limiting wheels II are arranged on both the left and right sides of the rear frame. The axle of the limiting wheel I is arranged in the left-right direction, and the axle of the limiting wheel II is arranged in the front-rear direction. The rear frame is slidably fitted in the bracket, and the limiting wheels I and II are located in the vertical grooves.

[0007] Preferably, the vertical driving part is a lifting oil cylinder. The bracket includes two left and right side plates, a top plate, a bottom plate and a rear plate connecting the two side plates. The vertical grooves are arranged on the inner sides of the two side plates. The rear plate is connected to the main frame, and a lifting oil cylinder lower connecting ear is arranged on the bottom plate. The rear frame of the vertical lifting frame includes two side plates and a top plate connecting the side plates. The limiting wheels I and II are arranged on the outer sides of the two side plates, and a lifting oil cylinder upper connecting ear is arranged on the top plate. The two ends of the lifting oil cylinder are respectively rotatably connected to the lifting oil cylinder lower connecting ear and the lifting oil cylinder upper connecting ear.

[0008] Preferably, transverse grooves are arranged on the top surface, front surface and bottom surface of the front frame. The transverse moving platform includes a transverse connecting frame and a turning table. The transverse connecting frame includes a top plate, a bottom plate and a turning table mounting plate connecting the top plate and the bottom plate. Limiting wheels III are arranged on the bottom surface of the top plate and the top surface of the bottom plate, and a limiting wheel IV is arranged on the rear surface of the turning table mounting plate. The axle of the limiting wheel III is arranged in the up-down direction, and the axle of the limiting wheel IV is arranged in the front-rear direction. The limiting wheel III on the top plate is slidably fitted in the transverse groove on the top surface of the front frame, the limiting wheel III on the bottom plate is slidably fitted in the transverse groove on the bottom surface of the front frame, and the limiting wheel IV is slidably fitted in the transverse groove on the front surface of the front frame. The turning table is arranged in front of the turning table mounting plate. The support shovel plate, the rotating shaft, the rack, the rotating shaft mounting seat and the turning oil cylinder are all arranged on the turning table.

[0009] Preferably, the transverse driving part is a double-rod cylinder transversely arranged in the front frame. The piston rods on both sides are connected to both sides of the front frame. Two sprockets are respectively arranged on the upper and lower sides of the cylinder block. The axle of the sprocket is arranged in the up-down direction. The sprockets on the upper side are connected by an upper chain, and the sprockets on the lower side are connected by a lower chain. The front of the upper chain and the lower chain is connected to the rear of the turning table mounting plate through a front connecting block, and the rear of the upper chain and the lower chain is connected to the rear frame through a rear connecting block.

[0010] Preferably, telescopic legs and leg cylinders are provided on both sides of the bracket; upper connecting ears of the leg cylinder and connecting ears of the telescopic leg are provided on the outer side of the bracket side plate; the telescopic leg is rotatably connected to the connecting ear of the telescopic leg, and a lower connecting ear of the leg cylinder is provided on the telescopic leg; both ends of the leg cylinder are respectively rotatably connected to the upper connecting ear of the leg cylinder and the lower connecting ear of the leg cylinder.

[0011] Preferably, limiting grooves are respectively provided on the upper and lower sides of the support shovel plate; the unit support further includes a support roof beam, a column and a support base; the support roof beam is of a right-angle structure and is hinged to the column through a column socket; the support base is connected to the column through a pin shaft, and a shovel plate hole is provided on the support base; a quick-insert valve is arranged at the front outer side of the support base and is connected to the oil inlet and oil return ports of the column; the support shovel plate is inserted into the shovel plate hole, and the protrusions on both sides of the limiting groove are located on both sides of the shovel plate hole.

[0012] The present invention also provides a gob-side entry retaining method for a unit support in a coal mine underground, including the following steps:

[0013] S1, pouring a flexible mold wall in the roadway;

[0014] S2, arranging the unit supports in the above-mentioned unit support system for coal mine underground in sequence and extending them forward according to the setting time of the flexible mold wall, and playing a supporting role before the flexible mold wall solidifies;

[0015] S3, arranging the support handling robot in the above-mentioned unit support system for coal mine underground in the middle of the roadway, and along the pouring direction of the flexible mold wall, transporting the unit supports from back to front in sequence according to the solidification speed of the flexible mold wall.

[0016] Among them, step S3 includes the following steps:

[0017] T1, when the support handling robot travels to the front of the unit support to be transported, connect the emulsion system to the quick-insert valve on the unit support, operate the emulsion system to make the unit support contract, complete the preliminary handling preparation of the unit support, and separate the emulsion system from the unit support;

[0018] T2, turn the support shovel plate to the side where the unit support is located, slide the vertical lifting frame up and down until the heights of the two support shovel plates are aligned with the height of the shovel plate hole, then move the transverse platform closer to the side where the unit support is located, insert the two support shovel plates into the shovel plate hole, and then lift the vertical lifting frame upward to drive the unit support to move upward away from the ground, and move the transverse platform in the opposite direction to move the unit support to the middle position of the handling mechanism;

[0019] T3, the support handling robot moves forward until the unit support is transported to the designated position in the front, move the transverse platform closer to the side where the flexible mold wall is located, then move the vertical lifting frame downward, place the unit support on the ground, and move the transverse platform in the opposite direction to withdraw the two support shovel plates from the shovel plate hole;

[0020] T4. Connect the emulsion system to the quick-connect valve on the unit support for liquid replenishment. Raise the unit support until it contacts the roadway roof beam, then separate the emulsion system from the unit support to complete one movement operation of the unit support.

[0021] T5. Repeat steps T1 - T4.

[0022] The present invention has the following beneficial effects:

[0023] Compared with the prior art where the unit support is transported by winch traction, the present invention has obvious advantages. It is simple to operate, can effectively improve the transportation efficiency of the unit support, reduce labor intensity, ensure the safety during the transportation process of the unit support, achieve the purpose of automating personnel reduction and efficiency increase, solve the technical problems of complex operation, low efficiency and potential safety hazards in the prior art of transporting the unit support by winch traction, and has good social benefits for promoting the application of unit supports in coal mines underground. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 It is a schematic diagram of the bilateral layout of unit supports in a roadway;

[0026] Figure 2 It is a schematic diagram of the unilateral layout of unit supports in a roadway;

[0027] Figure 3 It is a schematic diagram of the structure of the support handling robot;

[0028] Figure 4 It is a schematic diagram of the structure of the handling mechanism;

[0029] Figure 5 It is a schematic diagram of the structure of the bracket;

[0030] Figure 6 It is a schematic diagram of the structure of the vertical lifting frame;

[0031] Figure 7 For Figure 6 Another view;

[0032] Figure 8 It is an arrangement diagram of the sprocket, chain and connecting block on the double-rod cylinder;

[0033] Figure 9 It is a schematic structural diagram of a transverse movement platform;

[0034] Figure 10 It is a schematic structural diagram of a unit type support;

[0035] Figure 11 It is a schematic diagram when the handling mechanism handles the unit type support.

[0036] In the figure: 100 - support handling robot; 101 - handling mechanism; 102 - main frame; 103 - cab; 104 - hydraulic system; 105 - emulsion system; 106 - engine assembly; 107 - crawler chassis assembly;

[0037] 101.1 - bracket; 101.2 - vertical lifting frame; 101.3 - transverse movement platform; 101.4 - support scraper; 101.5 - rotating shaft; 101.6 - rack; 101.7 - rotating shaft mounting seat; 101.8 - gear; 101.9 - tipping oil cylinder; 101.10 - vertical groove; 101.11 - front frame; 101.12 - rear frame; 101.13 - limit wheel Ⅰ; 101.14 - limit wheel Ⅱ; 101.15 - lifting oil cylinder; 101.16 - lower connecting ear of lifting oil cylinder; 101.17 - upper connecting ear of lifting oil cylinder; 101.18 - transverse groove; 101.19 - transverse movement connecting frame; 101.20 - tipping table; 101.21 - limit wheel Ⅲ; 101.22 - limit wheel Ⅳ; 101.23 - double-rod oil cylinder; 101.24 - sprocket; 101.25 - upper chain; 101.26 - lower chain; 101.27 - front connecting block; 101.28 - rear connecting block; 101.29 - telescopic support leg; 101.30 - support leg oil cylinder; 101.31 - upper connecting ear of support leg oil cylinder; 101.32 - telescopic support leg connecting ear; 101.33 - limit groove;

[0038] 200 - unit type support; 201 - quick-insert valve; 202 - support roof beam; 203 - column; 204 - support base; 205 - scraper hole;

[0039] 300 - roadway; 400 - flexible mold wall; 500 - coal wall. Specific implementation manners

[0040] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, rather than all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention. In the embodiments, the left and right of the support handling robot are transverse, the front and rear are longitudinal, and the up and down are vertical.

[0041] Embodiment 1

[0042] This embodiment provides a unitized support system for underground coal mines, including a support handling robot 100 and a unitized support 200.

[0043] The support handling robot 100 includes a handling mechanism 101, a main frame 102, a cab 103, a hydraulic system 104, an emulsion liquid system 105, an engine assembly 106, and a crawler chassis assembly 107; the handling mechanism 101, the cab 103, the hydraulic system 104, the emulsion liquid system 105, and the engine assembly 106 are all arranged on the main frame 102, and the crawler chassis assembly 107 is arranged on both sides of the main frame 102; the engine assembly 106 provides power for the emulsion liquid system 105 and the hydraulic system 104; the emulsion liquid system 105 is used to supplement liquid to the unitized support and receive the returned liquid from the unitized support; the hydraulic system 104 provides power for the operation of the handling mechanism 101 and the walking of the crawler chassis assembly 107.

[0044] The handling mechanism 101 includes a bracket 101.1, a vertical lifting frame 101.2, a vertical driving part, a transverse moving platform 101.3, a transverse driving part, a support shovel plate 101.4, a rotating shaft 101.5, and a flipping driving part; the bracket 101.1 is installed at the front end of the main frame 102; the vertical lifting frame 101.2 is driven by the vertical driving part to slide up and down along the bracket 101.1; the transverse moving platform 101.3 is driven by the transverse driving part to slide left and right along the vertical lifting frame 101.2; two support shovel plates 101.4 are connected through the rotating shaft 101.5, the rotating shaft 101.5 is rotatably installed on the transverse moving platform 101.3, and the flipping driving part drives the rotating shaft 101.5 to rotate to make the support shovel plate 101.4 flip left and right.

[0045] The unitized support 200 is provided with a quick-connect valve 201 for connecting with the emulsion liquid system 105 and a shovel plate hole 205 for the support shovel plate 101.4 to pass through.

[0046] Embodiment 2

[0047] On the basis of Embodiment 1, this embodiment optimizes the handling mechanism 101.

[0048] Preferably, the transverse moving platform 101.3 is provided with a rack 101.6 and a rotating shaft mounting seat 101.7, the rack 101.6 is slidably arranged, and the rotating shaft mounting seats 101.7 are symmetrically arranged on both sides of the rack 101.6; the rotating shaft 101.5 is rotatably connected with the rotating shaft mounting seat 101.7, a gear 101.8 is arranged on the rotating shaft 101.5, and the gear 101.8 meshes with the rack 101.6; the flipping driving part is a flipping oil cylinder 101.9, which drives the rack 101.6 to slide left and right through telescoping, so as to make the gear 101.8 rotate and make the support shovel plate 101.4 flip left and right.

[0049] Preferably, two vertical grooves 101.10 with opposite openings are provided on the bracket 101.1; the vertical lifting frame 101.2 includes a front frame 101.11 and a rear frame 101.12 fixed behind the front frame 101.11; limiting wheels I 101.13 and limiting wheels II 101.14 are provided on both the left and right sides of the rear frame 101.12. The axle of the limiting wheel I 101.13 is arranged in the left-right direction, and the axle of the limiting wheel II 101.14 is arranged in the front-rear direction. The rear frame 101.12 is slidably fitted in the bracket 101.1, and the limiting wheels I 101.13 and limiting wheels II 101.14 are located in the vertical groove 101.11. The limiting wheel I 101.13 is used to limit the front-back swing of the vertical lifting frame 101.2, and the limiting wheel II 101.14 is used to limit the left-right swing of the vertical lifting frame 101.2.

[0050] Preferably, the vertical driving part is a lifting oil cylinder 101.15; the bracket 101.1 includes two left and right side plates, and a top plate, a bottom plate and a rear plate connecting the two side plates. The vertical groove 101.10 is provided on the inner sides of the two side plates. The rear plate is connected to the main frame 102, and a lifting oil cylinder lower connecting ear 101.16 is provided on the bottom plate; the rear frame 101.12 of the vertical lifting frame 101.2 includes two side plates and a top plate connecting the side plates. The limiting wheels I 101.13 and limiting wheels II 101.14 are provided on the outer sides of the two side plates, and a lifting oil cylinder upper connecting ear 101.17 is provided on the top plate; both ends of the lifting oil cylinder 101.15 are rotatably connected to the lifting oil cylinder lower connecting ear 101.16 and the lifting oil cylinder upper connecting ear 101.17 respectively, and the up and down sliding of the vertical lifting frame 101.2 is realized by the telescopic movement of the lifting oil cylinder 101.15.

[0051] Preferably, transverse grooves 101.18 are provided on the top surface, front surface and bottom surface of the front frame 101.11; the transverse movement platform 101.3 includes a transverse movement connecting frame 101.19 and a turning platform 101.20; the transverse movement connecting frame 101.19 includes a top plate, a bottom plate and a turning platform mounting plate connecting the top plate and the bottom plate. Limiting wheels III 101.21 are provided on the bottom surface of the top plate and the top surface of the bottom plate, and a limiting wheel IV 101.22 is provided on the rear surface of the turning platform mounting plate. The axle of the limiting wheel III 101.21 is arranged in the up-down direction, and the axle of the limiting wheel IV 101.22 is arranged in the front-rear direction. The limiting wheel III 101.21 on the top plate is slidably fitted into the transverse groove 101.18 on the top surface of the front frame 101.11, the limiting wheel III 101.21 on the bottom plate is slidably fitted into the transverse groove 101.18 on the bottom surface of the front frame 101.11, and the limiting wheel IV 101.22 is slidably fitted into the transverse groove 101.18 on the front surface of the front frame 101.11. The limiting wheel III 101.21 is used to limit the front-rear swing of the transverse movement platform 101.3, and the limiting wheel IV 101.22 is used to limit the up-down swing of the transverse movement platform 101.3; the turning platform 101.20 is arranged in front of the turning platform mounting plate; the support shovel plate 101.4, the rotating shaft 101.5, the rack 101.6, the rotating shaft mounting seat 101.7 and the turning oil cylinder 101.9 are all arranged on the turning platform 101.20.

[0052] Preferably, the transverse driving part is a double-rod cylinder 101.23 transversely arranged in the front frame 101.11. The piston rods on both sides are connected to both sides of the front frame 101.11. Two sprockets 101.24 are respectively provided on the upper and lower sides of the cylinder block. The axle of the sprocket 101.24 is arranged in the up-down direction. The sprockets 101.24 on the upper side are connected by an upper chain 101.25, and the sprockets on the lower side are connected by a lower chain 101.26. The front surfaces of the upper chain 101.25 and the lower chain 101.26 are connected to the rear surface of the turning platform mounting plate through a front connecting block 101.27, and the rear surfaces of the upper chain 101.25 and the lower chain 101.26 are connected to the rear frame 101.12 through a rear connecting block 101.28. When the cylinder block moves transversely, the rear connecting block 101.28 is fixed, and the front connecting block 101.27 drives the transverse movement connecting frame 101.19 to achieve transverse movement multiplication.

[0053] Preferably, telescopic legs 101.29 and leg cylinders 101.30 are provided on both sides of the bracket 101.1; upper connecting ears 101.31 for leg cylinders and connecting ears 101.32 for telescopic legs are provided on the outer sides of the bracket side plates; the telescopic leg 101.29 is rotatably connected to the connecting ear 101.32 for the telescopic leg, and a lower connecting ear for the leg cylinder is provided on the telescopic leg 101.30; both ends of the leg cylinder 101.30 are respectively rotatably connected to the upper connecting ear 101.31 for the leg cylinder and the lower connecting ear for the leg cylinder. When handling the unitized support, ensure that the telescopic leg 101.29 is in contact with the ground, and contract the telescopic leg 101.29 after the unitized support is lifted to ensure the smooth operation of the unitized support during the handling process.

[0054] Preferably, limit grooves 101.33 are respectively provided on the upper and lower sides of the support scraper plate 101.4.

[0055] Embodiment 3

[0056] This embodiment provides the specific structure of the unitized support 200.

[0057] The unitized support 200 further includes a support top beam 202, a column 203, and a support base 204; the support top beam 202 has a right-angle structure and is hinged to the column 203 through a column socket; the support base 204 is connected to the column 203 through a pin shaft, and a scraper plate hole 205 is provided on the support base 204; the quick-insert valve 201 is arranged at the outer front part of the support base 204 and is connected to the oil inlet and return oil ports of the column 203; two support scraper plates 101.4 are inserted into the scraper plate hole 205, and the protrusions on both sides of the limit groove 101.33 are located on both sides of the scraper plate hole 205, effectively clamping the support base 204, which is beneficial to preventing the unitized support from moving forward, backward, left, or right, or even falling off during the handling process of the unitized support.

[0058] The support top beam 202 has a rotational freedom of ±10°, which has a higher adaptability to the cross-section of the roadway roof.

[0059] The unitized support 200 can adapt to different roadway heights according to the stroke of the column 203, and the matching design of the support handling robot 100 and the unitized support 200 can meet various roadway conditions.

[0060] Embodiment 4

[0061] This embodiment provides a method for leaving a roadway along the goaf for a unitized support in a coal mine, including the following steps:

[0062] S1, pour a flexible mold wall 400 in the roadway 300, and the flexible mold wall 400 has the characteristics of rapid roadway formation;

[0063] S2. Arrange the modular supports 200 in the above-mentioned underground coal mine modular support system successively forward along the setting time of the flexible diaphragm wall 400 to play a supporting role before the flexible diaphragm wall 400 sets. The modular supports 200 can be arranged on one side of the roadway 300 (i.e., close to the flexible diaphragm wall 400) or on both sides of the roadway 300 (i.e., one side close to the flexible diaphragm wall 400 and the other side in front of the coal wall 500). The interval between adjacent modular supports 200 is two meters, and they are arranged 100 - 120 meters ahead according to the setting time of the flexible diaphragm wall 400.

[0064] S3. Arrange the support handling robot 100 in the above-mentioned underground coal mine modular support system in the middle of the roadway 300, and successively transport the modular supports 200 from the back to the front along the pouring direction of the flexible diaphragm wall 400 according to the setting speed of the flexible diaphragm wall 400.

[0065] Among them, step S3 includes the following steps:

[0066] T1. The support handling robot 100 travels in front of the modular support 200 to be transported, the leg cylinder 101.30 extends, and the telescopic legs 101.29 open until the telescopic legs 101.29 contact the ground to ensure the stability of the support handling robot 100 during transportation. Connect the emulsion system 105 to the quick-connect valve 201 on the modular support 200, and operate the emulsion system 105 to contract the modular support 200 to complete the preliminary transportation preparation of the modular support 200, and then separate the emulsion system 105 from the modular support 200.

[0067] T2. The support shovel 101.4 flips to the side where the modular support 200 is located, and the vertical lifting frame 101.2 slides up and down until the heights of the two support shovels 101.4 are aligned with the height of the shovel holes 205. Then the transverse moving platform 101.3 moves closer to the side where the modular support 200 is located, inserts the two support shovels 101.4 into the shovel holes 205, and then the vertical lifting frame 101.2 lifts upward to drive the modular support 200 to move upward off the ground. The transverse moving platform 101.3 moves in the opposite direction to move the modular support 200 to the middle position of the handling mechanism 101.

[0068] T3. The leg cylinder 101.30 contracts to make the telescopic legs 101.29 contract to the original state. The support handling robot 100 moves forward until the modular support 200 is transported to the designated position in front. The transverse moving platform 101.3 moves closer to the side where the flexible diaphragm wall 400 is located, and then the vertical lifting frame 101.2 moves downward to place the modular support 200 on the ground. The transverse moving platform 101.3 moves in the opposite direction to withdraw the two support shovels 101.4 from the shovel holes 205.

[0069] T4. Connect the emulsion system 105 to the quick-insert valve 201 on the unit support 200 for liquid replenishment. Raise the unit support 200 until it contacts the roadway roof beam, then separate the emulsion system 105 from the unit support 200 to complete one moving operation of the unit support 200.

[0070] T5. Repeat steps T1 - T4.

[0071] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A unitary support system for underground coal mines, characterized in that, It includes a support handling robot and modular supports; The support handling robot includes a handling mechanism, a main frame, a cab, a hydraulic system, an emulsion liquid system, an engine assembly, and a crawler chassis assembly; The handling mechanism, the cab, the hydraulic system, the emulsion liquid system, and the engine assembly are all arranged on the main frame, and the crawler chassis assembly is arranged on both sides of the main frame; The engine assembly provides power for the emulsion liquid system and the hydraulic system; The emulsion liquid system is used to replenish the modular supports with liquid and receive the returned liquid from the modular supports; The hydraulic system provides power for the movement of the handling mechanism and the travel of the crawler chassis assembly; The handling mechanism includes a bracket, a vertical lifting frame, a vertical driving part, a transverse moving platform, a transverse driving part, a support shovel plate, a rotating shaft, and a flipping driving part; The bracket is installed at the front end of the main frame; The vertical lifting frame is driven by the vertical driving part to slide up and down along the bracket; The transverse moving platform is driven by the transverse driving part to slide left and right along the vertical lifting frame; The two support shovel plates are connected by a rotating shaft, the rotating shaft is rotatably installed on the transverse moving platform, and the flipping driving part drives the rotating shaft to rotate to make the support shovel plates flip left and right; Quick connectors for connecting with the emulsion liquid system and shovel plate holes for the support shovel plates to pass through are provided on the modular supports; A rack and a rotating shaft mounting seat are provided on the transverse moving platform, the rack is slidably arranged, and the rotating shaft mounting seats are symmetrically arranged on both sides of the rack; The rotating shaft is rotatably connected with the rotating shaft mounting seat, a gear is arranged on the rotating shaft, and the gear meshes with the rack; The flipping driving part is a flipping oil cylinder, which drives the rack to slide left and right by telescoping; Limit grooves are respectively arranged on the upper and lower sides of the support shovel plate; The modular support further includes a support top beam, a column, and a support base; The support top beam is in a right-angle structure and is hinged to the column through a column socket; The support base is connected to the column through a pin shaft, and the shovel plate hole is arranged on the support base; The quick connectors are arranged on the outer front part of the support base and are connected to the column oil inlet and the oil return port; The support shovel plate is inserted into the shovel plate hole, and the protrusions on both sides of the limit groove are located on both sides of the shovel plate hole.

2. The unitary support system for underground coal mines according to claim 1, characterized in that, Two vertical grooves with opposite openings are provided on the bracket; The vertical lifting frame includes a front frame and a rear frame fixed behind the front frame; Limit wheels Ⅰ and limit wheels Ⅱ are arranged on both the left and right sides of the rear frame. The axle of limit wheel Ⅰ is arranged in the left-right direction, the axle of limit wheel Ⅱ is arranged in the front-back direction, the rear frame is slidably fitted in the bracket, and limit wheels Ⅰ and limit wheels Ⅱ are located in the vertical grooves; 3. The unit type support system for underground coal mines according to claim 2, characterized in that, The vertical driving part is a lifting oil cylinder; The bracket includes two left and right side plates, as well as a top plate, a bottom plate, and a rear plate connecting the two side plates. The vertical grooves are arranged on the inner sides of the two side plates, the rear plate is connected to the main frame, and a lifting oil cylinder lower connecting ear is arranged on the bottom plate; The rear frame of the vertical lifting frame includes two side plates and a top plate connecting the side plates. Limit wheels Ⅰ and limit wheels Ⅱ are arranged on the outer sides of the two side plates, and a lifting oil cylinder upper connecting ear is arranged on the top plate; Both ends of the lifting oil cylinder are rotatably connected to the lifting oil cylinder lower connecting ear and the lifting oil cylinder upper connecting ear respectively.

4. The unitary support system for underground coal mines according to claim 3, wherein Horizontal grooves are arranged on the top surface, the front surface, and the bottom surface of the front frame; The transverse moving platform includes a transverse connecting frame and a flipping table; The transverse connection frame includes a top plate, a bottom plate, and a tilting table mounting plate connecting the top plate and the bottom plate. Limiting wheels III are provided on the bottom surface of the top plate and the top surface of the bottom plate, and a limiting wheel IV is provided at the rear of the tilting table mounting plate. The axle of the limiting wheel III is arranged in the vertical direction, and the axle of the limiting wheel IV is arranged in the front-rear direction. The limiting wheel III on the top plate is slidably fitted into the transverse groove on the top surface of the front frame, the limiting wheel III on the bottom plate is slidably fitted into the transverse groove on the bottom surface of the front frame, and the limiting wheel IV is slidably fitted into the transverse groove on the front surface of the front frame; The tilting table is arranged in front of the tilting table mounting plate; The support shovel plate, the rotating shaft, the rack, the rotating shaft mounting seat, and the tilting oil cylinder are all arranged on the tilting table.

5. The unitized support system for underground coal mines according to claim 4, characterized in that, The transverse driving part is a double-rod oil cylinder transversely arranged in the front frame. The piston rods on both sides are connected to both sides of the front frame. Two sprockets are respectively arranged on the upper and lower sides of the cylinder block. The axle of the sprocket is arranged in the vertical direction. The sprockets on the upper side are connected by an upper chain, and the sprockets on the lower side are connected by a lower chain. The front of the upper chain and the lower chain is connected to the rear of the tilting table mounting plate through a front connecting block, and the rear of the upper chain and the lower chain is connected to the rear frame through a rear connecting block.

6. The unitary support system for underground coal mines according to claim 5, wherein Both sides of the bracket are provided with telescopic support legs and support leg oil cylinders; On the outer side of the bracket side plate, there are support leg oil cylinder upper connecting ears and telescopic support leg connecting ears; The telescopic support leg is rotatably connected to the telescopic support leg connecting ear, and a support leg oil cylinder lower connecting ear is arranged on the telescopic support leg; Both ends of the support leg oil cylinder are respectively rotatably connected to the support leg oil cylinder upper connecting ear and the support leg oil cylinder lower connecting ear.

7. A gob-side entry retaining method for unit supports in underground coal mines, characterized in that, It includes the following steps: S1, pouring a flexible mold wall in the roadway; S2, arranging the unit supports in the underground coal mine unit support system according to any one of claims 1-6 in sequence forward along the setting time of the flexible mold wall, and playing a support role before the flexible mold wall solidifies; S3, arranging the support handling robot in the underground coal mine unit support system according to any one of claims 1-6 in the middle of the roadway, and moving the unit supports in sequence from the back to the front along the pouring direction of the flexible mold wall according to the solidification speed of the flexible mold wall.

8. The gob-side entry retaining method for the unit type support in the underground coal mine according to claim 7, characterized in that, Step S3 includes the following steps: T1, when the support handling robot travels to the front of the unit support to be moved, connect the emulsion system to the quick-connect valve on the unit support, operate the emulsion system to make the unit support contract, complete the preliminary handling preparation of the unit support, and separate the emulsion system from the unit support; T2, turn the support shovel plate to the side where the unit support is located, slide the vertical lifting frame up and down until the heights of the two support shovel plates are aligned with the height of the shovel plate holes, then move the transverse platform closer to the side where the unit support is located, insert the two support shovel plates into the shovel plate holes, and then lift the vertical lifting frame upward to drive the unit support to move upward away from the ground, and move the transverse platform in the opposite direction to move the unit support to the middle position of the handling mechanism; T3, the support handling robot moves forward until the unit support is moved to the designated position in the front, move the transverse platform closer to the side where the flexible mold wall is located, then move the vertical lifting frame downward, place the unit support on the ground, and move the transverse platform in the opposite direction to withdraw the two support shovel plates from the shovel plate holes; T4. Connect the emulsion liquid system to the quick-insert valve on the unit support for liquid supplement. Raise the unit support until it contacts the roadway roof beam, then separate the emulsion liquid system from the unit support to complete one unit support moving operation. T5. Repeat steps T1 - T4.

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