A top coal caving control method based on a top coal caving support

Abstract

The application discloses a kind of based on top coal caving support's top coal caving control method, including base, roof beam, support oil cylinder, shield beam, tail beam, connecting rod group, first rod, second rod, tail beam drive, monitoring module and image module, support oil cylinder is installed between base and roof beam;The top side of shield beam is rotatably connected with roof beam, tail beam is rotatably connected in the bottom side of shield beam, one end of connecting rod group is rotatably connected with shield beam, the other end of connecting rod group is rotatably connected with base;The one end of first rod is rotatably connected with shield beam, the other end of first rod is rotatably connected with the one end of second rod, the other end of second rod is rotatably connected with tail beam, one end of tail beam drive is rotatably connected with shield beam, the other end of tail beam drive is rotatably connected with the junction of first rod and second rod;Monitoring module and image module are located in tail beam.The top coal caving control method of the application can avoid the problem of over-discharge and leakage during coal discharging, and improve the coal discharging quality and resource recovery rate.

Description

Technical Field

[0001] This invention relates to the field of coal mining technology, and more specifically, to a method for controlling top coal caving based on a top coal caving support. Background Technology

[0002] Fully mechanized top coal caving is a major breakthrough in my country's thick coal seam mining technology. It has gained widespread recognition in recent years because it can achieve high production and efficiency, facilitates rational and centralized production, makes roof management easier, has a high single-yield rate, and low energy consumption.

[0003] However, the top coal caving process has always had certain problems. First, the operation of the conventional top coal caving process is simple. Setting the size and time of the coal caving opening by physical observation or work experience alone can lead to problems such as over-caving or under-caving. In addition, it is difficult to improve the resource recovery rate and the quality of coal caving needs to be improved.

[0004] Secondly, it is difficult to achieve precise coal release coordination control at the working face. The size of the coal release opening of the support cannot be adjusted in a timely manner according to the thickness of the upper coal seam and the dynamic information changes during the mining process, resulting in uneven coal release. Summary of the Invention

[0005] The present invention aims to at least partially solve one of the technical problems in the related art.

[0006] Therefore, this invention proposes a top coal caving control method based on a top coal caving support. This top coal caving control method based on a top coal caving support can avoid the problems of over-caving and under-caving during the coal caving process, improve the coal caving quality and resource recovery rate, and also avoid the situation where uneven coal caving is easily caused by uneven coal seam thickness.

[0007] The top coal caving control method based on a top coal caving support according to an embodiment of the present invention, wherein the top coal caving support includes:

[0008] The base, the top beam, and a plurality of supporting hydraulic cylinders are provided, wherein the plurality of supporting hydraulic cylinders are installed between the base and the top beam and are used to support the top beam;

[0009] The shield beam, tail beam, and linkage assembly are provided. The top side of the shield beam is rotatably connected to the top beam, the tail beam is rotatably connected to the bottom side of the shield beam and is telescopically adjustable, one end of the linkage assembly is rotatably connected to the shield beam, and the other end of the linkage assembly is rotatably connected to the base.

[0010] The first rod, the second rod, and the tail beam drive are connected as follows: one end of the first rod is rotatably connected to the shield beam, the other end of the first rod is rotatably connected to one end of the second rod, the other end of the second rod is rotatably connected to the tail beam, one end of the tail beam drive is rotatably connected to the shield beam, and the other end of the tail beam drive is rotatably connected to the connection between the first rod and the second rod.

[0011] The monitoring module and the image module are both located on the tail beam. The monitoring module is used to measure the thickness of the coal seam above the top coal caving support, and the image module is used to identify coal gangue.

[0012] The top coal caving control method includes the following steps:

[0013] S1: The monitoring module transmits and receives monitoring signals to the overburden, and obtains coal seam thickness information by using the differential feedback of different overburden layers through the monitoring signals;

[0014] S2: Determine the extension and retraction amount of the tail beam and the extension and retraction amount driven by the tail beam based on the obtained coal seam thickness information;

[0015] S3: Adjust both the tail beam and the tail beam drive to the determined extension / retraction amount to control the size of the coal discharge port of the tail beam;

[0016] S4: During the coal discharge process, the extension and retraction of the tail beam and the tail beam drive are monitored. At the same time, the image module collects image information of the coal gangue at the coal discharge port and determines the gangue content through the image information. If the proportion of the gangue content exceeds a set threshold, the coal discharge port is reduced or closed by adjusting the extension and retraction of the tail beam and the tail beam drive.

[0017] In some embodiments, the linkage assembly includes at least two front links and one rear link, wherein the at least two front links are disposed on the front side of the rear link and are spaced apart in the width direction of the base, and the at least two front links are arranged symmetrically about the rear link;

[0018] The first rod, the second rod, and the tail beam drive form a drive mechanism. There are two drive mechanisms. The rear connecting rod is located between the two drive mechanisms, and the two drive mechanisms are symmetrically arranged about the rear connecting rod.

[0019] In some embodiments, the tail boom includes:

[0020] A fixed beam and a movable beam are provided, wherein the fixed beam is rotatably connected to the shield beam, the second rod is rotatably connected to the fixed beam, and the movable beam is slidably assembled onto the fixed beam;

[0021] A telescopic drive is provided, with one end of the telescopic drive rotatably connected to the fixed beam and the other end of the telescopic drive rotatably connected to the movable beam. The telescopic drive is used to drive the movable beam to slide relative to the fixed beam to achieve the telescopic adjustment of the tail beam.

[0022] In some embodiments, the fixed beam includes a plurality of ear plates, which are spaced apart along the width direction of the fixed beam. The end of the second rod is rotatably fitted between two adjacent ear plates. An assembly groove is defined between two adjacent ear seats. The movable beam is provided with a box body, which is slidably fitted into a portion of the assembly groove.

[0023] In some embodiments, there are three assembly slots, including a first slot and two second slots. The first slot is located between the two second slots. The fixed beam is provided with a main lug and two auxiliary lugs. The main lug and the two auxiliary lugs are rotatably connected to the shield beam. The main lug is located between the two auxiliary lugs and is sealed at one end of the first slot. The two auxiliary lugs are correspondingly sealed at one end of the two second slots. The movable beam is provided with two boxes, and the two boxes are correspondingly slidably assembled in the two second slots.

[0024] In some embodiments, there are two telescopic drives, which are arranged at intervals in the width direction of the tail beam. Both telescopic drives are assembled in the first groove, and an inner stiffening plate is provided in the first groove. The inner stiffening plate is located between the two telescopic drives, and both telescopic drives are rotatably connected to the inner stiffening plate.

[0025] In some embodiments, the fixing base includes two movable cover plates and two fixed cover plates. The two movable cover plates are detachably sealed at the opening of the first groove and are arranged sequentially in the width direction of the first groove. The mating positions of the two movable cover plates are detachably connected to the inner rib plate.

[0026] Both of the fixed cover plates are fixed between the corresponding two ear plates, and the two fixed cover plates seal the openings of the two second grooves one by one, while the two movable cover plates are located between the two fixed cover plates.

[0027] In some embodiments, the movable beam includes an end plate, insert teeth, and a rock-blocking plate. The end plate is connected to the ends of the two boxes. Multiple insert teeth are provided, and the multiple insert teeth are evenly distributed on the side of the end plate away from the box. The rock-blocking plate is connected to the end plate and bends and extends to one side of the fixed beam. The rock-blocking plate is slidably assembled with the fixed beam.

[0028] In some embodiments, the baffle plate includes a plurality of plate portions extending toward the fixed beam, the plurality of plate portions being spaced apart along the width direction of the fixed beam, the fixed beam being provided with a plurality of blocks, each block having an opening, and at least a portion of the plate portions being slidably fitted into the openings of the plurality of blocks in a one-to-one correspondence.

[0029] In some embodiments, the following steps are also included in the use:

[0030] There are multiple top coal caving supports, and the coal seam thickness information above each top coal caving support is obtained through the monitoring module;

[0031] Numerical simulation is performed based on the coal seam thickness information obtained by each monitoring module. The continuous thickness distribution of the coal seam above the working face is obtained through the numerical simulation. The extension and retraction of the tail beam and the tail beam drive are corrected based on the coal seam thickness above each top coal caving support.

[0032] Beneficial effects: The top coal caving control method based on the top coal caving support of the present invention can avoid the problems of over-caving and under-caving during the coal caving process, improve the coal caving quality and resource recovery rate, and also avoid the situation where uneven coal caving is easily caused by uneven coal seam thickness. Attached Figure Description

[0033] Figure 1 This is a three-dimensional schematic diagram of the rear side of the top coal caving support according to an embodiment of the present invention.

[0034] Figure 2 This is a front perspective view of the top coal caving support according to an embodiment of the present invention.

[0035] Figure 3 This is a schematic diagram of the retracted and extended states of the tail beam according to an embodiment of the present invention.

[0036] Figure 4 This is a schematic diagram of the left side of the top coal caving support according to an embodiment of the present invention.

[0037] Figure 5 This is a rear-view top view of the top coal caving support according to an embodiment of the present invention.

[0038] Figure 6 This is a schematic diagram of the bottom side of the tail beam of the top coal caving support according to an embodiment of the present invention.

[0039] Figure 7 This is a schematic diagram of the top side of the tail beam of the top coal caving support according to an embodiment of the present invention.

[0040] Figure 8 This is a schematic diagram of the coal release process of the top coal caving support according to an embodiment of the present invention.

[0041] Figure 9 This is a schematic diagram of the thickness of the coal seam above different top coal caving supports according to an embodiment of the present invention.

[0042] Figure 10 This is a system integration block diagram of the top coal caving support according to an embodiment of the present invention.

[0043] Figure 11 This is a system block diagram of the control system of the top coal caving support according to an embodiment of the present invention.

[0044] Figure 12 This is a schematic diagram illustrating the principle of adjusting the size of the coal discharge opening of the top coal caving support according to an embodiment of the present invention.

[0045] Figure label:

[0046] 100 top coal caving support;

[0047] Base 1;

[0048] Top beam 2;

[0049] Support cylinder 3;

[0050] 4. Protective beam; 41. Hinged seat;

[0051] Tail beam 5; Fixed beam 51; Ear plate 511; First groove 512; Second groove 513; Main ear seat 514; Auxiliary ear seat 515; Side stiffener plate 516; Inner stiffener plate 517; Movable cover plate 518; Fixed cover plate 519; Stop block 5110; Movable beam 52; Box body 521; End plate 522; Insert tooth 523; Barrier plate 524; Plate part 5241; Connecting plate 525; Telescopic drive 53;

[0052] Linkage 6; Front link 61; Rear link 62;

[0053] First shot: 7;

[0054] Second shot 8;

[0055] Tail beam drive 9;

[0056] 200 rear scraper conveyor;

[0057] Coal seam 300;

[0058] Gangue layer 400. Detailed Implementation

[0059] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0060] The top coal caving control method of this invention is implemented based on the top coal caving support 100, such as... Figure 1and Figure 2 As shown, the top coal caving support 100 includes a base 1, a top beam 2, multiple support cylinders 3, a shield beam 4, a tail beam 5, a connecting rod group 6, a first rod 7, a second rod 8, a tail beam drive 9, a monitoring module, and an image module.

[0061] Multiple supporting hydraulic cylinders 3 are installed between the base 1 and the top beam 2 and are used to support the top beam 2. For example, as Figure 1 and Figure 2 As shown, the top beam 2 and the base 1 are arranged opposite each other in the vertical direction. The support cylinder 3 is a hydraulic cylinder. There can be two support cylinders 3. The two support cylinders 3 can be arranged at intervals in the horizontal direction. The top end of each support cylinder 3 can be hinged to the top beam 2, and the bottom end of each support cylinder 3 can be hinged to the base 1.

[0062] The top side of the protective beam 4 is rotatably connected to the top beam 2, and the tail beam 5 is rotatably connected to the bottom side of the protective beam 4. The tail beam 5 is also telescopically adjustable. Figure 3 As shown, the tail beam 5 can include two parts: a fixed beam 51 and a movable beam 52. The fixed beam 51 can be hinged to the bottom end of the shield beam 4, and the movable beam 52 can be slidably mounted on the fixed beam 51. In use, the movable beam 52 can slide and adjust relative to the fixed beam 51, thereby allowing the tail beam 5 to switch to the retracted state. Figure 3 The state shown in Figure (a) can also switch the tail beam 5 to the extended state, that is... Figure 3 The state of the diagram in (b).

[0063] The top end of the linkage assembly 6 is rotatably connected to the protective beam 4, and the bottom end of the linkage assembly 6 is rotatably connected to the base 1. For example, as... Figure 1 and Figure 2 As shown, the linkage assembly 6 may include a front linkage 61 and a rear linkage 62. The front linkage 61 may be located in front of the rear linkage 62. The upper and lower ends of the front linkage 61 and the rear linkage 62 may be hinged to the shield beam 4 and the base 1, respectively. In use, the linkage assembly 6 can enhance the stability of the extension and retraction adjustment of the support cylinder 3.

[0064] like Figure 4 As shown, one end of the first rod 7 is rotatably connected to the shield beam 4, and the other end of the first rod 7 is rotatably connected to one end of the second rod 8. For example, the bottom side of the shield beam 4 can be integrally formed with a hinge seat 41, the front end of the first rod 7 can be hingedly assembled with the hinge seat 41, and the rear end of the first rod 7 can be hingedly assembled with the front end of the second rod 8.

[0065] The other end of the second rod 8 is rotatably connected to the tail beam 5, one end of the tail beam drive 9 is rotatably connected to the shield beam 4, and the other end of the tail beam drive 9 is rotatably connected to the connection point between the first rod 7 and the second rod 8. For example, Figure 4As shown, the rear end of the second rod 8 can be hinged to the fixed beam 51 of the tail beam 5, the tail beam drive 9 can be a hydraulic cylinder, the top end of the tail beam drive 9 can be hinged to the shield beam 4, and the bottom end of the tail beam drive 9 can be hinged to the hinge joint of the first rod 7 and the second rod 8. That is, the corresponding ends of the tail beam drive 9, the first rod 7, and the second rod 8 are all hinged together.

[0066] In use, the extension and retraction of the tail beam drive 9 can cause the hinge joint of the first rod 7 and the second rod 8 to move up and down. For example, when the tail beam drive 9 extends, the rear end of the second rod 8 swings upward, thereby driving the tail beam 5 to swing upward and block the coal discharge port. When the tail beam drive 9 retracts, the rear end of the second rod 8 swings downward, thereby driving the tail beam 5 to swing downward and release the blockage of the coal discharge port.

[0067] Both the monitoring module and the image module are located on the tail beam 5. The monitoring module is used to measure the thickness of the coal seam 300 mm above the top coal caving support 100, and the image module is used to identify coal gangue. Specifically, the monitoring module can be a vibration acceleration sensor, which measures the thickness of the coal seam 300 mm above the top coal caving support 100. The image module can be a high-definition camera, which acquires images of falling coal gangue. The image information can then be analyzed by an image analysis module to determine the proportion of gangue in the coal gangue.

[0068] Based on the aforementioned top coal caving support 100, the top coal caving control method of this embodiment of the invention includes the following steps:

[0069] S1: The monitoring module transmits and receives monitoring signals to and from the overburden. It obtains coal seam 300 thickness information by analyzing the differential feedback from different overburden layers. For example, since both the coal seam 300 and the rock strata are layered, the monitoring module can transmit monitoring signals to the overburden like a ground-penetrating radar. These signals can penetrate the coal seam 300 and the rock strata. Due to differences in reflectivity and vibration frequency between the coal seam 300 and the rock strata, the reflected monitoring signals will reflect these differences. This difference allows for the measurement and monitoring of the coal seam 300 thickness.

[0070] S2: Determine the extension / retraction amount of the tail beam 5 and the tail beam drive 9 based on the obtained coal seam 300 thickness information. Specifically, after the thickness of the coal seam 300 is determined, the extension / retraction amount of the tail beam 5 and the tail beam drive 9 can be adjusted according to the determined thickness. These adjustments can adjust the size of the coal discharge opening, thereby controlling the coal discharge rate under different coal seam 300 thicknesses.

[0071] S3: Adjust both the tail beam 5 and the tail beam drive 9 to a determined extension / retraction amount to control the size of the coal discharge opening of the tail beam 5. This allows for the adjustment and control of the coal discharge speed of each top coal caving support 100, which helps ensure the coordinated operation of multiple top coal caving supports 100 during the coal discharge process.

[0072] S4: During the coal feeding process, the extension and retraction of the tail beam 5 and the tail beam drive 9 are monitored. For example, corresponding stroke sensors can be installed on the tail beam 5 and the tail beam drive 9. The extension and retraction of the tail beam 5 and the tail beam drive 9 can be monitored in real time by means of the stroke sensors, which makes it easier to determine the location and shape of the tail beam 5 and the tail beam drive 9 and to make it easier to adjust them in place.

[0073] Simultaneously, the image module collects image information of the coal and gangue at the coal discharge port, determines the gangue content based on the image information, and if the proportion of gangue content exceeds a set threshold, the extension and retraction of the tail beam 5 and tail beam drive 9 are adjusted to reduce or close the coal discharge port. Thus, the image module can correct the coal discharge rate of the coal discharge port and close it in a timely manner, thereby ensuring overall resource recovery efficiency.

[0074] In some embodiments, the linkage group 6 includes at least two front links 61 and a rear link 62. The at least two front links 61 are located on the front side of the rear link 62 and are spaced apart in the width direction of the base 1. The at least two front links 61 are symmetrically arranged about the rear link 62.

[0075] For example, such as Figure 5 As shown, there can be two front links 61, which can be arranged parallel to each other in the left and right direction. There is only one rear link 62, which can be located in the middle of the two front links 61 in the left and right direction. Thus, clearance space can be formed on the left and right sides of the rear link 62, which facilitates the installation and arrangement of the subsequent drive mechanism.

[0076] like Figure 5 As shown, the first rod 7, the second rod 8, and the tail beam drive 9 form a drive mechanism. There are two drive mechanisms, each installed within the corresponding clearance space. The rear connecting rod 62 is located between the two drive mechanisms, and the two drive mechanisms are symmetrically arranged about the rear connecting rod 62. This ensures the structural strength of the tail beam drive 9 and the stability of its left and right sides.

[0077] In some embodiments, such as Figure 5 As shown, the tail beam 5 includes a fixed beam 51, a movable beam 52 and a telescopic drive 53. The fixed beam 51 is rotatably connected to the shield beam 4, the second rod 8 is rotatably connected to the fixed beam 51, and the movable beam 52 is slidably assembled on the fixed beam 51.

[0078] The telescopic drive 53 can be a telescopic hydraulic cylinder. One end of the telescopic drive 53 is rotatably connected to the fixed beam 51, and the other end of the telescopic drive 53 is rotatably connected to the movable beam 52. The telescopic drive 53 is used to drive the movable beam 52 to slide relative to the fixed beam 51, thereby realizing the telescopic adjustment of the tail beam 5.

[0079] In some embodiments, the fixed beam 51 includes a plurality of ear plates 511, which are spaced apart along the width direction of the fixed beam 51, for example, as Figure 6 As shown, four ear plates 511 can be provided, and the four ear plates 511 can be arranged in parallel and spaced apart in the left and right direction. The end of the second rod 8 is rotatably mounted between two adjacent ear plates 511. For example, the four ear plates 511 can be paired up in twos, and the ends of the second rods 8 of the two drive mechanisms can be hingedly mounted between the corresponding pair of ear plates 511.

[0080] It should be noted that, as Figure 5 As shown, the arrangement of the ear plate 511 and the aforementioned hinge seat 41 facilitates the rotational assembly of the first rod 7 and the second rod 8, and also allows for a certain distance between the first rod 7 and the second rod 8 and the shield beam 4, thereby preventing the first rod 7 and the second rod 8 from getting close to the shield beam 4 or the tail beam 5 and causing interference.

[0081] Each pair of adjacent ear seats restricts the formation of an assembly groove. The movable beam 52 is equipped with a box 521, which slides and is assembled within a portion of the assembly groove. For example... Figure 6 As shown, the box body 521 can be a box-shaped structure formed by welding horizontal and vertical stiffeners. The box body 521 can slide and fit in the corresponding assembly slot. The blocking and limiting of the box body 521 and the slot wall of the assembly slot can enhance the guidance and structural strength of the assembly.

[0082] In some embodiments, such as Figure 6 As shown, there are three assembly slots, including a first slot 512 and two second slots 513. The first slot 512 is located between the two second slots 513. The fixed beam 51 is provided with a main lug 514 and two auxiliary lugs 515. The main lug 514 and the two auxiliary lugs 515 can be integrally formed on the fixed beam 51. The main lug 514 and the two auxiliary lugs 515 are rotatably connected to the shield beam 4, thereby ensuring the structural stability of the rotating assembly.

[0083] The main ear seat 514 is located between two auxiliary ear seats 515, and the main ear seat 514 is sealed at one end of the first groove 512. The two auxiliary ear seats 515 are correspondingly sealed at one end of the two second grooves 513. The movable beam 52 is provided with two boxes 521, and the two boxes 521 are correspondingly slidably assembled in the two second grooves 513. This ensures the structural stability of the assembly of the movable seat and the fixed seat.

[0084] In some embodiments, such as Figure 6 As shown, there are two telescopic drives 53, which are arranged at intervals in the width direction (left-right direction) of the tail beam 5. Both telescopic drives 53 are assembled in the first groove 512. The first groove 512 is provided with an inner stiffening plate 517, which is located between the two telescopic drives 53. Both telescopic drives 53 are rotatably connected to the inner stiffening plate 517. Specifically, a pivot can be fixed between the inner stiffening plate 517 and the corresponding ear plate 511. The ends of the telescopic drives 53 can be rotatably assembled on the outer periphery of the pivot.

[0085] In some embodiments, such as Figure 6 As shown, the fixed base includes two movable cover plates 518 and two fixed cover plates 519. Both movable cover plates 518 are detachably sealed at the opening of the first groove 512 and are arranged sequentially along the width of the first groove 512. The mating positions of both movable cover plates 518 are detachably connected to the inner rib plate 517. For example, one side of the movable cover plate 518 can be connected and fixed to the corresponding ear plate 511 using bolts or other fasteners, and the other side of the movable cover plate 518 can be connected and fixed to the inner rib plate 517 using fasteners.

[0086] The movable cover 518 can shield and protect the telescopic drive 53. Furthermore, when the telescopic drive 53 is damaged, the movable cover 518 can be removed, which facilitates the inspection and replacement of the telescopic drive 53.

[0087] Both fixed cover plates 519 are fixed between the corresponding two ear plates 511, and the two fixed cover plates 519 seal the openings of the two second grooves 513 one by one. The two movable cover plates 518 are located between the two fixed cover plates 519. Thus, a stop and limit can be formed between the fixed cover plates 519 and the housing 521, thereby preventing the housing 521 from coming out of the openings of the corresponding second grooves 513 and ensuring the structural stability of the sliding assembly.

[0088] It should be noted that the box body 521 can be T-shaped, that is, the width of the part of the box body 521 away from the fixed beam 51 is larger, so that the box body 521 can form a stepped structure. In use, the stepped structure can block the ear plate 511, thereby limiting the extension and retraction of the movable beam 52 and the fixed beam 51.

[0089] In some embodiments, such as Figure 6 As shown, a connecting plate 525 can be provided between the two boxes 521, which can enhance the overall structural strength.

[0090] In some embodiments, such as Figure 6As shown, the fixed beam 51 also includes two side stiffener plates 516. The two side stiffener plates 516 can be integrally formed on the left and right sides of the fixed beam 51 respectively. The four ear plates 511 mentioned above are all located between the two side stiffener plates 516. The side stiffener plates 516 can enhance the structural strength.

[0091] In some embodiments, such as Figure 6 and Figure 7 As shown, the movable beam 52 includes an end plate 522, insert teeth 523, and a retaining plate 524. The end plate 522 is connected to the ends of the two boxes 521. Multiple insert teeth 523 are provided, and the multiple insert teeth 523 are evenly distributed on the side of the end plate 522 away from the box 521. In use, the insert teeth 523 can be inserted into the bottom plate, thereby enhancing the stability of the tail beam 5.

[0092] The rock-blocking plate 524 is connected to the end plate 522 and extends and bends towards one side of the fixed beam 51, and the rock-blocking plate 524 is slidably assembled with the fixed beam 51. For example, the rock-blocking plate 524 can be connected to one long side of the end plate 522 or integrally formed, and the rock-blocking plate 524 can wrap around the top side of the fixed beam 51 and be slidably assembled with the fixed beam 51. When the movable beam 52 slides relative to the fixed beam 51, the rock-blocking plate 524 will also slide relative to the fixed beam 51. Thus, on the one hand, the structural stability of the assembly of the movable beam 52 and the fixed beam 51 can be enhanced, and on the other hand, the function of blocking coal and gangue can be fully satisfied.

[0093] In some embodiments, such as Figure 7 As shown, the rock-blocking plate 524 includes a plurality of plate portions 5241 extending toward the fixed beam 51. The plurality of plate portions 5241 are arranged at intervals along the width direction of the fixed beam 51. For example, two plate portions 5241 may be provided. The two plate portions 5241 can be separated by slots in the rock-blocking plate 524, that is, each plate portion 5241 has a slot on both the left and right sides.

[0094] The fixed beam 51 is provided with multiple stops 5110, each stop 5110 having an opening, and at least a portion of the plate portion 5241 is slidably fitted into the openings of the multiple stops 5110 in a corresponding manner. For example, as Figure 7 As shown, there can be two stop blocks 5110. The two stop blocks 5110 can be annular and can be fixed on the fixed beam 51. The two plate parts 5241 can be slidably assembled into the openings of the two stop blocks 5110 in a corresponding manner. This can avoid the situation where the gap between the stop plate 524 and the fixed beam 51 is too large, and can also enhance the stability of the sliding assembly.

[0095] In some embodiments, the following steps are also included in the use:

[0096] There are multiple top coal caving supports 100, and the thickness information of the coal seam 300 above each top coal caving support 100 is obtained through a monitoring module. For example... Figure 9 As shown, Figure 9 Supports A, B, C, and D are all independent top coal caving supports 100. Each top coal caving support 100 can be equipped with a monitoring module, which can collect information on the coal seam thickness 300 of the top coal caving support 100.

[0097] Numerical simulations are performed based on the coal seam 300 thickness information acquired by each monitoring module. For example, the coal seam 300 thickness information collected by each monitoring module can be input into the corresponding simulation software. The simulation software can then simulate the undulations of the coal seam 300, that is, obtain the continuous thickness distribution of the coal seam 300 above the working face through numerical simulation. The extension and retraction of the tail beam 5 and tail beam drive 9 are then adjusted according to the coal seam 300 thickness above each top coal caving support 100. This further ensures that a suitable coal caving speed is used for different coal seam 300 thicknesses.

[0098] The following describes a specific example of an embodiment of the present invention.

[0099] The top coal caving support 100 includes a tail beam 5, a shield beam 4, a rear connecting rod 62, a front connecting rod 61, a support cylinder 3, a base 1, a top beam 2, a tail beam 5 jack (equivalent to tail beam drive 9), a rear long rod (equivalent to the first rod 7), and a rear short rod (equivalent to the second rod 8), etc.

[0100] The base 1 serves as a support and a moving element. The two ends of the rear connecting rod 62 and the front connecting rod 61 are connected to the base 1 and the shield beam 4, respectively. The four parts form a single-degree-of-freedom four-bar linkage mechanism, which is used to adjust the posture of the hydraulic support. The upper and lower ends of the support cylinder 3 are connected to the column socket of the base 1 and the column cap of the top beam 2, respectively. The connection part can be regarded as a hinge point. The tail of the top beam 2 is hinged to the front end of the shield beam 4.

[0101] The tail beam 5, tail beam 5 jack, rear long rod, and rear short rod constitute a four-bar linkage. One end of the rear long rod is hinged to the shield beam 4 via a lug, and the other end is hinged together with the rear short rod and the push rod end of the tail beam 5 jack. The fixed end of the tail beam 5 jack is hinged to the shield beam 4. The other end of the rear short rod is hinged to the short rod lug (equivalent to lug plate 511).

[0102] The tail beam 5 includes a fixed beam 51 and a movable beam 52. The fixed beam 51 includes a tail beam box body 521, and the movable beam 52 can be a plug plate. The tail beam box body 521 includes a short rod lug, an auxiliary hinge lug (equivalent to a secondary lug 515), a main hinge lug (equivalent to a main lug 514), a top plate, side stiffener plates 516, a plug plate jack (equivalent to a telescopic drive 53), a connecting cover plate (equivalent to a fixed cover plate 519), a movable cover plate 518, an inner stiffener plate 517, and a stop block 5110.

[0103] The connection relationships of the above components and equipment are as follows: two pairs of short rod lugs are fixedly connected to the top plate, and two auxiliary hinge lugs are fixedly connected to the top plate, with their sides reinforced with lug plate 511. The main hinge lug is also fixedly connected to the top plate, with its sides reinforced with lug plate 511; the auxiliary hinge lugs and main hinge lugs are hinged to the tail beam 5 at the tail end of the top beam 2 via pins; the main stiffening plate is fixedly connected to both sides of the top plate for reinforcement; one end of each of the two insert jacks is fixed between the short rod lugs and the pin holes of the inner stiffening plate 517 via pins; the connecting cover plate is fixedly connected to two adjacent short rod lugs on the side for connection and fixation; the movable cover plate 518 is connected to the short rod lugs and the inner stiffening plate 517 via detachable bolts for connection, fixation, and protection of the insert jacks; the inner stiffening plate 517 is fixedly connected to the top plate; and the two stops 5110 are fixedly connected to the top plate.

[0104] The insert plate (movable beam 52) includes an insert plate box 521, a connecting plate 525, insert plate lugs, an end plate 522, insert teeth 523, and a rock-blocking plate 524. The connection relationship between each component and equipment is as follows: the insert plate box 521 is a hollow box 521 spliced ​​from longitudinal stiffening plates and transverse stiffening plates; the connecting plate 525 is fixedly connected between the insert plate boxes 521; two pairs of insert plate lugs are fixedly connected to the connecting plate 525 and the end plate 522 for hinged connection of the insert plate jack push rod end; the end plate 522 is fixedly connected to the insert plate box 521 and the connecting plate 525; multiple insert teeth 523 are fixedly connected to the end plate 522; one end of the rock-blocking plate 524 is fixedly connected to the end plate 522, and the other end is slidably constrained in the opening of the stop block 5110.

[0105] Reference Figure 8 (a) At the beginning of the coal discharge stage, the base 1 provides support, and the support cylinder 3 extends, driving the top beam 2 and the shield beam 4 to rise through the hinge point. The rear connecting rod 62 and the front connecting rod 61 play a stabilizing role. The top beam 2 and the shield beam 4 are equipped with balancing jacks to adjust the posture of the top beam 2 so that it fits better with the upper coal seam 300. The piston rods of a pair of tail beam 5 jacks extend simultaneously, driving the rear long rod and the rear short rod to move through the hinge point until the tail beam 5 jacks extend to their maximum stroke. Driven by the rear short rod, the tail beam 5 swings backward around its hinge point with the shield beam 4 to its maximum angle. Finally, the tail beam 5 jacks are locked in one direction, and the tail beam 5 remains in the maximum swing state.

[0106] Then, a pair of insert plate jacks extend, driving the insert plates to extend within the tail beam box 521 via the connecting insert plate lugs. The insert teeth 523 insert into the coal seam 300. The insert plate box 521 acts as a guide between the short rod lugs. Simultaneously, the rock-blocking plate 524 slides and is constrained on the stop block 5110, also serving a guiding function. At this time, due to the rock pressure, the coal seam 300 and the rock-blocking layer 400 settle together, compacting onto the tail beam 5, shield beam 4, and top beam 2 of the top coal release hydraulic support. The tail beam 5 supports the upper coal seam 300 at this time, and the rock-blocking plate 524 serves to prevent leakage of coal / rock.

[0107] Reference Figure 8 (b) During the coal discharge process, a pair of insert plate jacks retract, driving the insert plates to retract within the tail beam box 521 via the connecting insert plate lugs. The insert plate box 521 acts as a retraction guide between the short rod lugs, and the insert plates eventually retract completely. Immediately afterwards, the piston rod of the tail beam 5 jack retracts, driving the rear long rod and rear short rod to move through the hinge point until the tail beam 5 jack returns to its initial state. Driven by the rear short rod, the tail beam 5 swings forward to its maximum angle around its hinge point with the shield beam 4. At this moment, due to rock pressure, the coal seam 300 and the gangue layer 400 settle together. The coal seam 300 falls first, and since there is no obstruction from the tail beam 5, the coal blocks fall smoothly onto the scraper conveyor below.

[0108] Reference Figure 8 (c) After coal discharge is completed and the upper coal seam 300 has completely collapsed and the gangue begins to fall, the piston rod of the 5-kilometer tail beam jack extends, repeating the process. Figure 8 (a) In the final stage, the insert plate extends, and the coal feeding process ends.

[0109] The top coal caving support 100 in this embodiment of the invention also includes multiple sensors, which mainly include a rope stroke sensor A, a rope stroke sensor B, a vibration acceleration sensor (equivalent to a monitoring module), and a high-definition camera (equivalent to an image module).

[0110] The connections of each part are as follows: The rope stroke sensor A is fixed to the digital cylinder of the actuator tail beam 5 (equivalent to the tail beam drive 9) for accurate stroke measurement; the rope stroke sensor B is fixed to the digital cylinder of the insert plate (equivalent to the telescopic drive 53) for accurate stroke measurement. The vibration acceleration sensor is fixed to the hydraulic support tail beam 5 to measure the 300mm thickness of the coal seam above the hydraulic support; the high-definition camera is fixed to the lower part of the hydraulic support tail beam 5 for coal and gangue identification.

[0111] like Figure 11As shown, the controller mainly includes a central processing unit (CPU), a program editing module, a data storage module, a fault diagnosis module, and a remote communication module. The CPU is used for data processing and command issuance; the program editing module is used for timely program correction and dynamic adjustment; the data storage module is used for storing and retrieving various types of information; the fault diagnosis module is used for monitoring abnormal physical information; and the remote communication module is used for wireless communication with the outside world.

[0112] In addition, such as Figure 10 As shown, the auxiliary components of the coal discharge process include a rear scraper conveyor 200 and a rear chute mechanism. The rear scraper conveyor 200 collects the discharged top coal and transports it promptly. The rear chute mechanism is fixed between the hydraulic support base 1 and the rear scraper conveyor 200 and is used to pull the rear scraper conveyor 200 during face advancement. The power unit includes a power supply system and a hydraulic supply system. The power supply system supplies power to components such as sensors, controllers, and solenoid directional valves. The hydraulic supply system provides hydraulic power to the tail beam 5 digital cylinder and other cylinders of the hydraulic support.

[0113] When using, refer to Figure 10 Vibration acceleration sensors fixed to the tail beam 5 of each hydraulic support measure the thickness of the coal seam 300 mm above the hydraulic support. The results are then used by a central processing unit and program editing module to perform numerical simulations, obtaining the continuous thickness distribution of the coal seam 300 mm above the working face. This allows for the calculation of the amount of coal above each hydraulic support (group), enabling adjustments to the size of the coal discharge opening of each hydraulic support (group) while maintaining the same coal discharge time. This also adjusts the coal discharge speed of different hydraulic supports (groups), ensuring a uniform and stable coal discharge process. This avoids problems such as over-discharge or under-discharge that can occur when the coal discharge openings of the hydraulic supports (groups) are of uniform size.

[0114] Reference Figure 11 , Figure 12 The working process of the control system of the top coal caving support 100 is as follows:

[0115] First, before coal feeding begins, the vibration acceleration sensor on the tail beam 5 of the support measures the thickness of the upper coal layer 300 on the hydraulic support. The central processing unit and program editing module perform numerical simulation to obtain the continuous thickness distribution of the upper coal layer 300 on the working face. Then, the amount of coal above each hydraulic support (set) is calculated. Then, through logical calculation by the program editing module, the extension length of the digital cylinder of the tail beam 5 and the digital cylinder of the insert plate is calculated, thereby controlling the size of the coal feeding port of the tail beam 5.

[0116] Second, when coal feeding begins, the beam digital cylinder and the slide plate digital cylinder, according to the instructions issued by the central processor, are quickly adjusted to the designated position by the electro-hydraulic directional valve group. At this time, the size of the coal feeding port of each support (group) is slightly different, so as to achieve precise coal feeding and coordinated control.

[0117] Third, during the coal feeding process, the rope stroke sensor A is fixed to the digital cylinder of the actuator tail beam 5 for accurate stroke measurement and information feedback, and the rope stroke sensor B is fixed to the digital cylinder of the insertion plate for accurate stroke measurement and information feedback. Each pair of hydraulic supports is equipped with a high-definition camera fixed to the lower part of the hydraulic support tail beam 5 for coal and gangue identification, assisting in observing the coal feeding process and compensating for errors in coal thickness and coal feeding control caused by the vibration acceleration sensor. If the gangue content exceeds a certain proportion, it is promptly fed back to the central processor, which then adjusts the coal feeding opening size accordingly. Simultaneously, information such as coal feeding volume and support posture is transmitted in real-time to the centralized control platform via a remote communication module. The centralized control platform can also remotely and manually operate the electro-hydraulic directional valve group to control the hydraulic supports.

[0118] Beneficial effects: The top coal caving control method based on the top coal caving support 100 of the present invention can avoid the problems of over-caving and under-caving during the coal caving process, improve the coal caving quality and resource recovery rate, and also avoid the situation where uneven coal caving is easily caused by uneven coal seam thickness 300.

[0119] The present invention provides a top coal caving support 100, which adopts a four-bar linkage tail beam 5 control mechanism. The device has a tail beam 5, a tail beam 5 jack, a rear long rod, and a rear short rod. These four parts constitute a four-bar linkage mechanism, which avoids the dead point of the mechanism during operation, improves the flexibility of tail beam 5 posture adjustment, reduces the working resistance of tail beam 5 jack, and improves the stability and safety of hydraulic support.

[0120] The present invention provides a top coal caving support 100, which employs a double-layer detachable tail beam 5 mechanism. The tail beam box 521 and the insert plate together form the tail beam 5 mechanism. The insert plate is inserted between the short rod lugs through the insert plate box 521; on the other hand, it is slidably constrained on the stop block 5110 by the rock-blocking plate 524. This allows the insert plate to extend and retract within the tail beam box 521.

[0121] The present invention provides a tail-end top coal caving hydraulic support, which adopts a movable cover plate 518 connected by bolts. When the insert jack is damaged, the movable cover plate 518 can be easily removed for jack repair and replacement, which has good structural innovation.

[0122] The present invention discloses a tail-end top coal caving hydraulic support, which adopts a single rear connecting rod 62 arrangement. While ensuring the stability of the support, it saves space reasonably and provides space for the installation of the tail beam 5 jack, rear long rod, and rear short rod mechanism, which has good structural innovation.

[0123] The present invention provides a tail-end top coal caving hydraulic support, which adopts a movable rock-blocking plate 524 structure. One end is fixed to the insert plate end plate 522, and the other end is slidably constrained in the opening of the stop block 5110. When the insert plate extends or retracts, it can achieve the function of blocking rock.

[0124] The present invention provides a tail-end top coal caving hydraulic support, which has high support efficiency, reasonable design, flexible mechanism, large load-bearing capacity, simple control and low cost.

[0125] The precise top coal caving control method of the present invention adopts the combined effect of multiple technologies such as high-definition cameras and vibration acceleration sensors, which effectively improves the accuracy of coal and gangue identification and the quality of coal caving.

[0126] The precise top coal caving control method of the present invention adopts a multi-support coordinated control coal caving method, which can reasonably adjust the coal caving speed according to the 300mm thickness difference of the top coal seam of different supports, so that the coal caving process is stable and precise, and greatly reduces the phenomenon of uneven coal caving.

[0127] The top coal caving control method of the present invention adopts a digital hydraulic cylinder with a rope stroke sensor in the execution unit, which can intuitively display and set the hydraulic cylinder pushing stroke, greatly improving the attitude adjustment accuracy of the tail beam 5 and enhancing the accuracy of coal caving control.

[0128] The top coal caving control method of the present invention adopts a flexible dynamic program editing module, which calculates the extension and retraction strokes of the beam digital cylinder and the insert plate digital cylinder in a timely manner according to the coal caving time and coal caving quantity requirements, and introduces optimization parameters in this process to ensure the stability of the hydraulic support in terms of force and posture while meeting the coal caving control opening size.

[0129] The top coal caving control method of the present invention accurately calculates the amount of coal to be caved, thereby solving the problems of missed or excessive caving due to experience-based operation in the top coal caving process and improving resource utilization.

[0130] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0131] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0132] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0133] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0134] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0135] Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. A method for controlling top coal caving based on a top coal caving support, characterized in that, The top coal caving support includes: The base, the top beam, and a plurality of supporting hydraulic cylinders are provided, wherein the plurality of supporting hydraulic cylinders are installed between the base and the top beam and are used to support the top beam; The shield beam, tail beam, and linkage assembly are provided. The top side of the shield beam is rotatably connected to the top beam, the tail beam is rotatably connected to the bottom side of the shield beam and is telescopically adjustable, one end of the linkage assembly is rotatably connected to the shield beam, and the other end of the linkage assembly is rotatably connected to the base. The first rod, the second rod, and the tail beam drive are connected as follows: one end of the first rod is rotatably connected to the shield beam, the other end of the first rod is rotatably connected to one end of the second rod, the other end of the second rod is rotatably connected to the tail beam, one end of the tail beam drive is rotatably connected to the shield beam, and the other end of the tail beam drive is rotatably connected to the connection between the first rod and the second rod. The linkage assembly includes at least two front links and one rear link. The at least two front links are located on the front side of the rear link and are spaced apart in the width direction of the base. The at least two front links are arranged symmetrically about the rear link. The first rod, the second rod, and the tail beam drive form a drive mechanism. There are two drive mechanisms. The rear connecting rod is located between the two drive mechanisms, and the two drive mechanisms are symmetrically arranged about the rear connecting rod. The tail beam includes: A fixed beam and a movable beam are provided, wherein the fixed beam is rotatably connected to the shield beam, the second rod is rotatably connected to the fixed beam, and the movable beam is slidably assembled onto the fixed beam; A telescopic drive is provided, with one end of the telescopic drive rotatably connected to the fixed beam and the other end of the telescopic drive rotatably connected to the movable beam. The telescopic drive is used to drive the movable beam to slide relative to the fixed beam to achieve the telescopic adjustment of the tail beam. The fixed beam includes multiple ear plates, which are spaced apart along the width direction of the fixed beam. The end of the second rod is rotatably fitted between two adjacent ear plates, and an assembly groove is defined between each two adjacent ear plates. The movable beam is provided with a box, which is slidably fitted into part of the assembly groove. There are three assembly slots, including one first slot and two second slots. The first slot is located between the two second slots. The fixed beam is provided with a main lug and two auxiliary lugs. The main lug and the two auxiliary lugs are rotatably connected to the shield beam. The main lug is located between the two auxiliary lugs and is sealed at one end of the first slot. The two auxiliary lugs are correspondingly sealed at one end of the two second slots. The movable beam is provided with two boxes, and the two boxes are correspondingly slidably assembled in the two second slots. The monitoring module and the image module are both located on the tail beam. The monitoring module is used to measure the thickness of the coal seam above the top coal caving support, and the image module is used to identify coal gangue. The top coal caving control method includes the following steps: S1: The monitoring module transmits and receives monitoring signals to the overburden, and obtains coal seam thickness information by using the differential feedback of different overburden layers through the monitoring signals; S2: Determine the extension and retraction of the tail beam and the extension and retraction driven by the tail beam based on the obtained coal seam thickness information; S3: Adjust both the tail beam and the tail beam drive to the determined extension / retraction amount to control the size of the coal discharge port of the tail beam; S4: During the coal discharge process, the extension and retraction of the tail beam and the tail beam drive are monitored. At the same time, the image module collects image information of the coal gangue at the coal discharge port and determines the gangue content through the image information. If the proportion of the gangue content exceeds a set threshold, the coal discharge port is reduced or closed by adjusting the extension and retraction of the tail beam and the tail beam drive.

2. The top coal caving control method based on a top coal caving support according to claim 1, characterized in that, Two telescopic drives are provided, and the two telescopic drives are arranged at intervals in the width direction of the tail beam. Both telescopic drives are assembled in the first groove. The first groove is provided with an inner stiffening plate, which is located between the two telescopic drives, and both telescopic drives are rotatably connected to the inner stiffening plate.

3. The top coal caving control method based on a top coal caving support according to claim 2, characterized in that, The fixed beam includes two movable cover plates and two fixed cover plates. The two movable cover plates are detachably sealed at the opening of the first groove and are arranged sequentially in the width direction of the first groove. The mating positions of the two movable cover plates are detachably connected to the inner stiffening plate. Both of the fixed cover plates are fixed between the corresponding two ear plates, and the two fixed cover plates seal the openings of the two second grooves one by one, while the two movable cover plates are located between the two fixed cover plates.

4. The top coal caving control method based on a top coal caving support according to claim 1, characterized in that, The movable beam includes an end plate, insert teeth, and a rock-blocking plate. The end plate is connected to the ends of the two boxes. Multiple insert teeth are provided, and the multiple insert teeth are evenly distributed on the side of the end plate away from the box. The rock-blocking plate is connected to the end plate and bends and extends to one side of the fixed beam. The rock-blocking plate is slidably assembled with the fixed beam.

5. The top coal caving control method based on a top coal caving support according to claim 4, characterized in that, The baffle plate includes a plurality of plate portions extending toward the fixed beam. The plurality of plate portions are spaced apart along the width direction of the fixed beam. The fixed beam is provided with a plurality of blocks, each of which has an opening. At least a portion of the plate portions are slidably fitted into the openings of the plurality of blocks in a one-to-one correspondence.

6. The top-coal caving control method based on a top-coal caving support according to any one of claims 1-5, characterized in that, The following steps are also included in its use: There are multiple top coal caving supports, and the coal seam thickness information above each top coal caving support is obtained through the monitoring module; Numerical simulation is performed based on the coal seam thickness information obtained by each monitoring module. The continuous thickness distribution of the coal seam above the working face is obtained through the numerical simulation. The extension and retraction of the tail beam and the tail beam drive are corrected based on the coal seam thickness above each top coal caving support.

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