An asynchronous coupling leveling fully-mechanized roadway temporary support machine group

Abstract

The application is a fully mechanized roadway temporary support unit capable of asynchronous coupling leveling, and belongs to the field of fully mechanized excavation integration. The support unit comprises two four-column hydraulic supports in front and back, and the two hydraulic supports are connected through a ball hinge type push cylinder, so that multi-degree-of-freedom frame shifting in the form of push shifting and stepping can be realized in the temporary support process. A single hydraulic support comprises a top beam, a four-column part, a side support mechanism, a base and a push cylinder. In the application, the four-column part is connected with a ball hinge type structure of the roof, and a highest-point bidirectional asynchronous control system is designed for a single temporary support support to level the four columns of the single support in a non-horizontal roadway, and then a neighboring coupling cross controller is designed based on the self tracking error of a multi-cylinder driving system and the synchronization error of adjacent hydraulic cylinders to perform highest-point bidirectional asynchronous coupling leveling control of the four columns, so that safe, fast, stable and effective temporary support of the fully mechanized roadway under different geological conditions is realized, and the fully mechanized excavation efficiency and safety are improved.

Description

Technical Field

[0001] This invention belongs to the field of temporary support technology for fully mechanized tunnels in coal mines, and in particular relates to a temporary support unit for fully mechanized tunnels that can be asynchronously coupled and leveled. Background Technology

[0002] Imbalance between tunneling and support is a key factor restricting the operating rate of underground tunneling machines. In traditional tunneling processes, there is no temporary support equipment, there is unsupported work, and manual support accounts for more than half of the tunneling operation. The process is complicated and can no longer meet the requirements of underground roadway tunneling technology.

[0003] In recent years, many research institutions in my country have developed a variety of integrated tunneling, support, and anchoring systems adapted to different conditions. Among them, the method of using temporary support equipment for temporary support, which changes the tunneling and support operations from serial to parallel operations, has great application potential due to its safety and convenience.

[0004] However, during the temporary support process in fully mechanized tunnels, the harsh tunnel conditions and complex geological environment can easily cause temporary support equipment to tilt and experience uneven stress. Some existing temporary support equipment has a low level of intelligence and cannot adapt to different tunnel geological conditions, especially for the effective support of the roof and sidewalls of non-horizontal tunnels. This seriously affects the timely support and effective roof support provided by the temporary support equipment, thereby reducing the coordination between tunneling and support and the efficiency of tunnel excavation.

[0005] To address the aforementioned issues, this invention presents a four-column, bidirectional asynchronous coupling leveling unit for advanced tunneling, designed as a stepping-type temporary support unit. Its structure comprises front and rear supports. The temporary support unit features a push-pull automatic frame movement, exhibiting a high degree of intelligence and enabling asynchronous coupling leveling of the four columns. This ensures rapid, non-delamination support in both concave and convex roof and floor conditions. The unit is highly adaptable to various tunnel conditions, providing effective roof and sidewall support for tunnels under different working conditions, meeting the requirements of diverse and complex tunnel environments, and greatly enhancing the universality and safety of temporary tunnel support. Summary of the Invention

[0006] The present invention proposes a temporary support unit for fully mechanized tunnels that can be asynchronously coupled and leveled. The invention mainly includes two parts: (1) a multi-degree-of-freedom pushing and stepping temporary support unit with asynchronous telescopic control structure is designed, and (2) a four-column bidirectional asynchronous coupling leveling control system and method for the temporary support unit.

[0007] The main objective of this invention is to provide an intelligent, moving, stepping-type temporary support unit for tunneling faces that can provide timely and effective support for the roof and sidewalls under different geological conditions, especially in non-horizontal roadways. This improves the efficiency of temporary support and the adaptability of the support unit under different geological conditions, thereby achieving safe, fast, and effective temporary support.

[0008] To achieve the above objectives, the technical solution adopted in this invention is as follows:

[0009] The aforementioned push-stepping temporary support unit includes two four-column hydraulic supports at the front and rear. The two hydraulic supports are connected by a ball-joint push-stepping cylinder, which can realize multi-degree-of-freedom automatic frame movement in the form of push-stepping during the temporary support process, so as to meet the requirement that the front and rear bases can move on different horizontal planes when the roadway is depressed or protruding.

[0010] The aforementioned single four-column hydraulic support comprises five parts: a top beam, four columns, a side support mechanism, a base, and a pushing cylinder. The top beam is connected to the four columns via a ball joint structure, structurally allowing for asynchronous extension and retraction of the four columns and leveling of the top beam. The side support structure is a telescopic support structure consisting of a support hydraulic cylinder and a sliding arm. It comprises a side support hydraulic cylinder, a sliding arm, a sliding block, and a side support plate. The sliding arm is connected to the support plate and the side hydraulic cylinder via the sliding block, extending to both sides to support the sidewalls under the extension and retraction of the side support hydraulic cylinder.

[0011] The aforementioned four-column, step-by-step, bidirectional asynchronous coupling leveling control system and method are characterized by including a four-column, step-by-step, asynchronous leveling control system and a four-hydraulic-cylinder, adjacent cross-coupling control system. The two systems are combined to achieve rapid, stable, and non-separation support for a single support in a non-horizontal roadway.

[0012] The aforementioned four-column asynchronous leveling control system for each highest point is characterized by the following: a displacement sensor is installed in each of the four column cylinders of each support to detect the displacement and expansion of a single column; a strapdown inertial navigation sensor is installed under the top beam of each support to detect the positional changes of the top beam. The method of bidirectional asynchronous control for each highest point is as follows: when the four action points of the column hydraulic cylinder and its top beam are not on the same horizontal plane due to a non-horizontal base plate condition, one of the four action points must be at the highest position on the horizontal plane compared to the other three. At this time, the output displacement of the hydraulic cylinder corresponding to that action point is kept stationary, while the other three hydraulic cylinders rise to the horizontal height corresponding to this highest action point. This method achieves non-delamination support for a single support in a non-horizontal roadway.

[0013] The aforementioned four-cylinder adjacent cross-coupling control system is characterized by the fact that, in a multi-cylinder drive system, to improve control accuracy, it is necessary to consider both the tracking error of the hydraulic cylinder itself and the synchronization error between two adjacent hydraulic cylinders. An adjacent cross-coupling control structure is designed to control the four hydraulic cylinders as a whole. The output displacement calculation result of the hydraulic cylinder using a bidirectional asynchronous leveling control method with successive highest points is taken as the desired displacement signal input to the adjacent coupling controller, ensuring that the tracking error and synchronization error of the four columns are controlled within 2mm, meeting the attitude stability requirements of non-horizontal roadways, and achieving rapid and stable support.

[0014] Compared with the prior art, the asynchronously coupled and leveling temporary support unit for fully mechanized tunneling of the present invention has the following advantages:

[0015] (1) This invention addresses the problem of temporary support for fully mechanized tunnels by proposing a stepping temporary support unit for fully mechanized tunnels. The unit adopts a double-frame stepping structure with front and rear frames connected by ball joint type push cylinders, which can meet the multi-degree-of-freedom frame movement when the tunnel is depressed or protruding.

[0016] (2) The four columns and top beam of the single hydraulic support of the present invention are connected by a ball joint structure, which meets the requirements of asynchronous support structure when the base of the single support is not on the same reference plane. The side support structure is connected to the support plate and the side hydraulic cylinder through a slider arm, and extends to both sides for support under the extension and retraction of the side support hydraulic cylinder. The single support has extremely high adaptability to different geological conditions and roadways of different sizes and is extremely practical.

[0017] (3) The present invention designs a four-column bidirectional asynchronous coupling leveling control system and method for the proposed temporary support support for roadways. The system combines two control systems: the asynchronous leveling control system for each highest point and the four hydraulic cylinder adjacent cross coupling control system. This system enables rapid and stable support without delamination of a single support in a non-horizontal roadway, greatly improving the safety, adaptability and stability of temporary support for fully mechanized roadways.

[0018] The above description is merely an overview of the present invention. In order to facilitate implementation according to the specification and clearly illustrate the technical means of the present invention, the following are examples of preferred embodiments of the present invention, described in detail with reference to the accompanying drawings: Attached Figure Description

[0019] Figure 1 This is a structural schematic diagram of the temporary support unit of the present invention in its supported state.

[0020] Figure 2 This is a schematic diagram of the temporary support unit of the present invention when the front frame retracts and moves forward.

[0021] Figure 3 This is a schematic diagram of a single frame of the temporary support unit of the present invention.

[0022] Figure 4 This is a schematic diagram of the connection between the front and rear frames of the temporary support unit of the present invention.

[0023] Figure 5 This is a schematic diagram of the connection between the top beam and the four columns of the temporary support frame of the present invention.

[0024] Figure 6 This is a schematic diagram of the four-column bidirectional asynchronous coupling leveling control system and method for each highest point of the present invention.

[0025] Figure 7 This is a schematic diagram of the adjacent cross-coupling controller of the present invention.

[0026] In the picture:

[0027] 1. Temporary support unit front frame 2. Temporary support unit rear frame

[0028] 3. Top beam 4. Supporting columns

[0029] 5. Push cylinder 6. Front base

[0030] 7. Rear base 8. Side support hydraulic cylinder

[0031] 9. Slider arm 10. Slider

[0032] 11. Side support plate Detailed Implementation

[0033] To further illustrate the technical solutions adopted by the present invention to achieve the intended purpose, the following detailed description, in conjunction with the accompanying drawings and preferred embodiments, details the structure, specific implementation methods, and process of an asynchronously coupled and leveled temporary support unit for tunnel boring machines proposed by the present invention:

[0034] like Figure 1 The diagram shows the support structure of an asynchronously coupled leveling, step-type temporary support unit for tunnel boring machines according to the present invention. Figure 2 The diagram shows the temporary support unit's state when the front frame retracts and moves forward. One or more temporary support units can be set up individually to meet the needs of temporary support for roadways of different lengths. The temporary support unit consists of two four-column supports: a front frame (1) and a rear frame (2). The front frame and the rear frame are connected by a... Figure 4 The push-moving cylinder connection is shown. The structure of the single temporary support front frame (1) is as follows: Figure 3 As shown, its structure consists of a top beam (3), a support column (4), a pushing hydraulic cylinder (5), a base (6), and a side support mechanism; the side support mechanism consists of a hydraulic cylinder (8), a slider arm (9), a slider (10), and a side support plate (11).

[0035] The process flow of the push-step temporary support unit of the present invention is as follows: its normal support state is as follows: Figure 1 As shown, both the longitudinal and transverse directions are in an extended state, supporting the roof and the two sides respectively. As the tunnel moves forward, the hydraulic support column (4) of the front frame (1) of the temporary support is depressurized and retracted first. At the same time, the side support hydraulic cylinder retracts, causing the side support mechanism to disengage from the left and right sides, and the front frame is in a retracted state at this time. The rear frame supports the top and bottom plates in a fixed state. The pushing hydraulic cylinder extends, pushing the front frame (1) of the temporary support forward to achieve... Figure 2 Current working status, such as Figure 2 The diagram shows the temporary support unit during the retraction and forward movement of the front frame. Then, the front frame extends to support the top plate and two side panels, the rear frame descends and retracts, the hydraulic cylinders retract forward, driving the rear frame forward. After the rear frame moves forward, it extends its support, completing one frame relocation cycle. Figure 1 The support state is continuously cycled as the tunnel face moves forward.

[0036] like Figure 4 As shown, the hydraulic cylinder for pushing is connected to both the front frame base (6) and the rear frame base (7) by ball joints, ensuring that the front and rear supports can move freely in non-horizontal roadways. Figure 5 As shown, the supporting hydraulic cylinder column and the top plate of the support are connected by a ball joint, which ensures that the structural requirements of asynchronous movement of the four columns are met when the floor of the non-horizontal roadway is concave or convex.

[0037] A block diagram of a four-column, sequentially highest-point bidirectional asynchronous coupling leveling control system and method for the temporary support unit structure proposed in this invention is shown below. Figure 6 As shown, the following is a detailed introduction to the system and method:

[0038] First, a bidirectional asynchronous leveling system and method for each highest point is designed: When the four action points of the supporting column hydraulic cylinder and its top beam are not on the same horizontal plane due to the non-horizontal base plate condition, one of the four action points will be at the highest position on the horizontal plane compared to the other three. At this time, the output displacement of the supporting column hydraulic cylinder corresponding to the action point is kept stationary, while the other three supporting column hydraulic cylinders rise to the horizontal height corresponding to this highest action point. This is the bidirectional asynchronous support posture leveling for each highest point. During the posture leveling process, high-precision, long-stroke displacement sensors are installed in the lower chamber of the hydraulic cylinder to measure the output displacement information of each hydraulic cylinder, and strapdown inertial navigation sensors are installed on the lower end face of the top beam to detect the posture changes of the self-moving temporary support. The strapdown inertial navigation sensor transmits the resulting potential difference signal through the connecting circuit to the D / A converter. The decoded analog signal is then transmitted to the industrial control computer for calculation and output of the adjustment displacement of each hydraulic cylinder. Subsequently, the support controller changes the valve position to deliver high-pressure oil to the lower chamber of the hydraulic cylinder until the displacement sensor detects that the hydraulic cylinder displacement has reached the expected output displacement value calculated by the industrial control computer. At the same time, the oil in the upper chamber of the hydraulic cylinder enters the main return pipe through the control valve and returns to the liquid tank. Finally, each hydraulic cylinder rises to the highest point according to the displacement calculated by the industrial control computer, thus achieving non-delamination support of the temporary support.

[0039] In a non-horizontal tunnel environment, basic leveling is performed based on a bidirectional asynchronous control method that proceeds to the highest point. Then, an adjacent cross-coupling control structure driven by multiple hydraulic cylinders is designed to track and control both the tracking error of the multi-cylinder drive system itself and the synchronization error of adjacent hydraulic cylinders. This is referred to as the asynchronous coupling leveling control method for temporary supports. The adjacent cross-coupling control structure designed in this invention, driven by four hydraulic cylinders, is as follows: Figure 7 As shown, let y be the actual output displacement of the i-th support column hydraulic cylinder in the multi-cylinder drive system at a certain moment. i (t), the output displacements of the (i-1)th and (i+1)th adjacent hydraulic cylinders are respectively y i-1 (t) and y i+1 (t), the desired input signal r i (t) represents the desired displacement of the i-th supporting column hydraulic cylinder; then the tracking error e of this i-th hydraulic cylinder itself is... i (t)=r(t)-y i (t), the synchronization error e between the i-th hydraulic cylinder and its adjacent (i-1)-th hydraulic cylinder i,i-1 (t)=y i (t)-y i-1 (t), the synchronization error e between the i-th hydraulic cylinder and its adjacent (i+1)-th hydraulic cylinder i,i+1 (t)=y i (t)-y i+1(t) This structure controls the self-tracking error of the four-column hydraulic cylinder and the synchronization error of adjacent hydraulic cylinders. The error can be controlled within 2mm, which enables the temporary support to quickly and effectively support the roof and floor of roadways with different geological conditions, providing a reliable guarantee for safe and efficient underground operations in coal roadways.

[0040] The parts of this invention not described herein are common knowledge to those skilled in the art.

[0041] This invention has filed a patent protection claim for the technical solution. Any equivalent substitutions and modifications made without departing from the spirit and principles of this invention should be covered within the scope of this invention.

Claims

1. An asynchronous coupling leveling fully mechanized roadway temporary support machine group, characterized in that, The temporary support unit satisfies four-column asynchronous coupling leveling control and multi-degree-of-freedom pushing step-type frame shifting in structure, and is characterized in that the temporary support unit is provided with a four-column highest-point two-way asynchronous coupling leveling control system. The temporary support unit comprises front and rear four-column hydraulic supports, and the two hydraulic supports are connected through a ball hinge type pushing cylinder, so that multi-degree-of-freedom automatic frame shifting in the form of pushing step is realized in the temporary support process, and the front and rear support bases are moved on non-same horizontal planes when the roadway is concave or protruding; the structure of a single four-column hydraulic support comprises a top beam, a four-column part, a side support mechanism, a base and a pushing cylinder; the top beam is connected with the four columns through a ball hinge type structure, and satisfies asynchronous extension and retraction of the four columns and leveling of the top beam; the side support mechanism is a single hydraulic cylinder cooperating with a double slider arm telescopic support structure, and comprises a side support hydraulic cylinder, a slider arm, a slider and a side support plate; the slider arm is connected with the side support plate and the side support hydraulic cylinder through the slider, and is extended and supported to both sides under the extension and retraction of the hydraulic cylinder, so as to satisfy the support requirement of different sizes of roadway surrounding rocks; When the temporary support unit is in a supporting state, the side support hydraulic cylinder is obliquely arranged relative to the base; when the front frame is retracted and moved forward, the distance from the side support plate of the front frame to the plane of the front base is less than the distance from the side support plate of the rear frame to the plane of the rear base; A four-column highest-point two-way asynchronous coupling leveling control system and a four-hydraulic-cylinder system adjacent cross-coupling control system are adopted, and the two systems are combined to realize rapid and stable non-off-layer support of a single support in a non-horizontal roadway; A displacement sensor is arranged in each of the four column cylinders of a single support to detect the displacement extension and retraction of a single column, and a strapdown inertial navigation sensor is arranged below the top beam of each support to detect the position change of the top beam; the four-column highest-point two-way asynchronous coupling leveling control method is that when the four action points of the column hydraulic cylinder and the top beam are not on the same horizontal plane due to the non-horizontal floor condition, one of the four action points is at the highest position on the horizontal plane relative to the other three action points, at this time, the output displacement of the support column hydraulic cylinder corresponding to the action point is kept unchanged, and the other three support columns are raised to the horizontal height corresponding to the highest action point according to the position information detected by the inertial sensor, so that the system realizes non-off-layer support of a single support in a non-horizontal roadway.

2. The asynchronous-coupling-leveled mechanized mining gateway temporary support unit according to claim 1, characterized in that, The adjacent cross-coupling control structure under the driving of multiple hydraulic cylinders is used to track the self tracking error and the adjacent hydraulic cylinder synchronization error of the multiple cylinder driving system. The adjacent cross-coupling control principle is as follows: the actual output displacement of the i th support column hydraulic cylinder in the multiple cylinder driving system at a certain moment is yi (t), the output displacements of the i-1 th and i+1 th adjacent hydraulic cylinders are yi-1 (t) and yi+1 (t) respectively, and the expected input signal r i (t) is the expected displacement of the i th support column hydraulic cylinder. The self tracking error e i (t) of the i th hydraulic cylinder is r i (t)-yi (t), the synchronization error e i,i-1 (t) of the i th hydraulic cylinder and the i-1 th adjacent hydraulic cylinder is yi (t)-yi-1 (t), and the synchronization error e i,i+1 (t) of the i th hydraulic cylinder and the i+1 th adjacent hydraulic cylinder is yi (t)-yi+1 (t). The self tracking error and the adjacent hydraulic cylinder synchronization error of the four column hydraulic cylinders are controlled through the structure, and the error can be controlled within 2 mm.

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