Intelligent stepping self-moving and automatic net laying temporary supporting system and method

Abstract

The invention discloses an intelligent stepping self-moving and automatic net laying temporary supporting system and method. According to the system, a rolling supporting and jacking device comprises a front moving supporting mechanism, a rear moving supporting mechanism and a transverse telescopic driving hydraulic cylinder; the front moving supporting mechanism comprises a front supporting frame, a front rolling supporting and jacking mechanism, a front frame supporting leg and a front self-adaptive supporting adjusting unit. The rear moving supporting mechanism comprises a rear supporting frame and a rear rolling supporting and jacking mechanism. The rear frame longitudinal beam and the rear supporting frame comprise a rear frame front cross beam, a rear frame rear cross beam, rear frame supporting legs and a rear self-adaptive supporting adjusting unit; the auxiliary net rolling mechanism is connected between the front ends of the two front rolling supporting and jacking mechanisms; the net rolling mechanism is connected between the upper ends of the pair of front frame supporting legs on the front side. The method comprises the steps of initial data collection and environment analysis; positioning and preliminary supporting of the rolling supporting and jacking device; preparing for laying a grating net; intelligent net laying and stepping supporting work cooperatively; resetting the system; by means of the system and method, synchronous operation of temporary supporting and net laying can be achieved, and the operation efficiency is remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent equipment, and specifically relates to an intelligent self-moving and automatic mesh-laying temporary support system and method. Background Art

[0002] The surrounding rock of coal mine tunnels in my country is mostly in a medium stable or unstable state. The tunnel excavation top distance is small, and temporary support operations are required after the tunnel boring machine has excavated a short distance. The temporary support construction time accounts for a large proportion, and it cannot be operated in parallel with the excavation process, which is the main reason for the extremely low efficiency of tunnel excavation.

[0003] Before the development of temporary support equipment, temporary support and mesh laying for domestic coal mine tunnel excavation generally required manual operation after the tunnel boring machine withdrew. There were mainly three types of temporary support methods: front exploration beam, point column, and single column plus plate beam. The above methods had many problems such as low support strength, high labor intensity, long occupation time, low excavation efficiency, poor construction quality, and high risk of support operation. After the development of temporary support equipment, the application of temporary support equipment effectively improved the defects of manual operation and increased the excavation speed. At present, temporary support equipment mainly includes airborne temporary support device, shield self-moving temporary support device and stepping self-moving temporary support device: (1) Airborne temporary support device needs to be installed on the tunnel boring machine for operation, which will first increase the height of the tunnel boring equipment and affect the operator's line of sight, thereby limiting the scope of application of the tunnel boring machine. Secondly, when the tunnel boring machine cuts the rock wall, high-frequency vibration will be generated, and the vibration will be transmitted to the roof, which is easy to damage the roof. Furthermore, the device can only support the local roof area near the location of the tunnel boring machine, and cannot form temporary support for the entire empty roof area. In addition, when the anchor net support is being carried out, the workers are still working under the empty roof, which poses a great safety hazard. (2) The shield self-moving temporary support device consists of several rows of shield devices, which rely on the shield transport vehicle to move forward on the conveying track and provide temporary support by supporting the bottom. Although this device avoids the cyclic load on the roof, it has too many action links and a very complex structure. In addition, the leg-type bottom support structure may not be able to achieve the expected function due to the unevenness of the bottom plate. (3) The walking self-moving temporary support device is driven by a hydraulic system to achieve walking self-moving temporary support. The early walking self-moving equipment had many defects. First, during the walking movement, the device would repeatedly load and unload the roof, which could easily cause damage to the roof. Secondly, the problem of deviation often occurs during the walking movement, and the workload of manual auxiliary adjustment is large. Secondly, the current self-propelled temporary support device has complex structure, bloated equipment, complex structure, frequent failures, large space occupation, large interference and other problems. In the process of moving, it is affected by the flatness of the tunnel floor and difficult to walk.

[0004] Field applications have shown that the walking self-moving support is the most promising temporary support method. Through continuous improvements to the early walking self-moving support, the current walking self-moving support has gradually matured, but it still has some shortcomings: first, it has poor adaptability to the undulating support conditions of the roof, and the temporary support effect is not ideal; second, it cannot be effectively combined with the mesh laying operation, making the temporary support and mesh laying operations relatively independent, reducing the operating efficiency. Summary of the invention

[0005] In view of the problems existing in the above-mentioned prior art, the present invention provides an intelligent step-by-step, self-moving, automatic mesh-laying temporary support system and method. The system has a high degree of intelligence and an ideal support effect. It can effectively adapt to the undulating working conditions of the roof. At the same time, it can effectively combine temporary support operations with mesh-laying operations, and can realize the synchronous operation of temporary support and mesh-laying, which significantly improves the operating efficiency. The method has a simple implementation process, an ideal support effect, a high operating safety factor, can flexibly adapt to complex geological conditions, and can effectively ensure the stability of the tunnel, thereby providing reliable protection for coal mine production operations.

[0006] In order to achieve the above-mentioned object, the present invention provides an intelligent step-by-step self-moving and automatic net-laying temporary support system, comprising a rolling top support device, an auxiliary net-rolling mechanism, a net-rolling mechanism, a grille net and a main control unit;

[0007] The rolling support device comprises a front movable support mechanism, a rear movable support mechanism and a transverse telescopic driving hydraulic cylinder;

[0008] The front movable support mechanism includes a front support frame, a front rolling support mechanism, a front frame support leg and a front adaptive support adjustment unit; the front support frame includes a front frame front crossbeam, a front frame rear crossbeam and a front frame longitudinal beam; the front frame front crossbeam and the front frame rear crossbeam are distributed side by side front and back; the front frame front crossbeam has two corresponding front installation grooves at the upper part of both ends in the length direction, and a front camera, a front laser radar sensor, and a front temperature, humidity and gas concentration sensor group are installed on the front side end surface; the upper part of the front frame rear crossbeam has two rear installation grooves at the positions corresponding to the two front installation grooves. Three front guide grooves are provided in the central area and the two end areas of the part between the two rear installation grooves; the two front frame longitudinal beams are distributed side by side on the left and right, and the front ends of the two are respectively fixedly installed in the two front installation grooves on the front cross beam of the front frame, and the rear ends of the two are respectively fixedly installed in the two rear installation grooves on the rear cross beam of the front frame; the two front frame longitudinal beams are provided with two guide slide grooves on the upper part of the adjacent side; the number of the front rolling support mechanism is four, and they are evenly installed on the upper end of the front support frame along the left and right directions; the front rolling support mechanism includes a support bottom plate, auxiliary support legs and a support unit; the support The length direction of the support base extends along the front-to-back direction and is arranged horizontally; the auxiliary support leg is a telescopic hydraulic cylinder, the cylinder of which is located at the upper part, and the upper end of the auxiliary support leg is rotatably connected to the lower end center of the support base through an electric hinge; multiple groups of top support units are fixedly connected to the upper end surface of the support base in sequence along the length direction; the top support unit is composed of three support bodies that are adjacent to each other in sequence along the left-right direction; the support body includes a support cylinder, a roller support, a roller and a pressure sensor, the base of the support cylinder is vertically fixedly installed on the support base, and the lower end of the roller support is fixedly connected At the end of the piston rod of the supporting oil cylinder, the roller is rotatably mounted on the upper end of the roller support through the rotating shaft at its center, and the pressure sensor is mounted between the lower end of the roller support and the end of the piston rod of the supporting oil cylinder, and is used to collect the pressure signal borne by the roller support; the front frame support leg is a telescopic hydraulic cylinder, and its cylinder barrel is located at the upper part; the two pairs of front frame support legs are distributed in a front-to-back interval, and the front pair of front frame support legs are relatively fixedly mounted on the left and right ends of the lower end surface of the front cross beam of the front frame, and the rear pair of front frame support legs are relatively fixedly mounted on the left and right ends of the lower end surface of the rear cross beam of the front frame;

[0009] The front adaptive support adjustment unit includes four front support adjustment components, which are respectively arranged on four front frame support legs. The front support adjustment components include a front support displacement sensor, a front support pressure sensor, a front electric rotating support, a front tilt angle sensor, an electromagnetic reversing valve, a transmission module and a microprocessor; the front support displacement sensor is connected to the piston rod of the front frame support leg to collect the telescopic displacement signal of the front frame support leg, the front support pressure sensor is connected to the rodless cavity of the front frame support leg to collect the pressure signal in the rodless cavity of the front frame support leg, the front electric rotating support includes a rotatable support foot and a front support foot drive motor; the rotatable The rotatable support foot 1 is hingedly connected to the end of the piston rod of the front frame support leg, the front support foot drive motor is installed on one side of the piston rod end of the front frame support leg, and its output shaft is connected to the rotating shaft of the rotatable support foot 1, which is used to drive the rotatable support foot 1 to rotate relative to the front frame support leg; the front inclination angle sensor is installed on the rotatable support foot 1, which is used to collect the inclination angle signal of the rotatable support foot 1; the oil inlet of the electromagnetic reversing valve 1 is connected to the high-pressure oil source, and the working oil port is connected to the front frame support leg; the microprocessor 1 is respectively connected to the front support displacement sensor, the front support pressure sensor, the front inclination angle sensor, the front support foot drive motor, the electromagnetic reversing valve 1 and the transmission module 1;

[0010] The rear movable support mechanism includes a rear support frame and a rear rolling support mechanism; the rear frame longitudinal beam and the rear support frame include a rear frame front crossbeam, a rear frame rear crossbeam, a rear frame support leg and a rear adaptive support adjustment unit; the two rear frame longitudinal beams are slidably mounted in two guide slide grooves in the two front frame longitudinal beams respectively; the rear frame front crossbeam and the rear frame rear crossbeam are arranged side by side on the front and rear sides of the front frame rear crossbeam; the upper part of the rear frame front crossbeam is provided with two rear guide grooves corresponding to the positions of the two front rolling support mechanisms close to the center area, and the two ends in the length direction are fixedly connected to the front ends of the two front frame longitudinal beams respectively; the rear side end surface of the rear crossbeam of the rear frame is equipped with a rear camera and a rear laser radar The rear temperature and humidity sensor and the gas concentration sensor group are respectively fixedly connected to the rear ends of the two front frame longitudinal beams at both ends in the length direction; the structure of the rear rolling support mechanism is the same as that of the front rolling support mechanism; the number of the rear rolling support mechanisms is three, and they are respectively corresponding to the top of the three front guide grooves, and at the same time, they are fixedly installed side by side on the upper end of the rear support frame, and the rear frame support legs are telescopic hydraulic cylinders, and their cylinder barrels are located at the upper part; the two pairs of rear frame support legs are distributed front and back at intervals, and the front pair of rear frame support legs are relatively fixedly installed on the left and right ends of the lower end surface of the front cross beam of the rear frame, and the rear pair of rear frame support legs are relatively fixedly installed on the left and right ends of the lower end surface of the rear cross beam of the rear frame;

[0011] The rear adaptive support adjustment unit includes four rear support adjustment components, and the four rear support adjustment components are respectively arranged on the four rear frame support legs. The rear support adjustment components include a rear support displacement sensor, a rear support pressure sensor, a rear electric rotating support, a rear inclination angle sensor, a second electromagnetic reversing valve, a second transmission module and a second microprocessor; the rear support displacement sensor is connected to the piston rod of the rear frame support leg, and is used to collect the telescopic displacement signal of the rear frame support leg; the rear support pressure sensor is connected to the rodless cavity of the rear frame support leg, and is used to collect the pressure signal in the rodless cavity of the rear frame support leg; the rear electric rotating support includes a rotatable supporting foot and a rear supporting foot driving motor; the rotatable The second rotatable supporting foot is hingedly connected to the end of the piston rod of the rear frame supporting leg, and the rear supporting foot driving motor is installed on one side of the piston rod end of the rear frame supporting leg, and its output shaft is connected to the rotating shaft of the second rotatable supporting foot, and is used to drive the second rotatable supporting foot to rotate relative to the rear frame supporting leg; the rear inclination angle sensor is installed on the second rotatable supporting foot, and is used to collect the inclination angle signal of the second rotatable supporting foot; the oil inlet of the second electromagnetic reversing valve is connected to the high-pressure oil source, and its working oil port is connected to the rear frame supporting leg; the second microprocessor is respectively connected to the rear support displacement sensor, the rear support pressure sensor, the rear inclination angle sensor, the rear supporting foot driving motor, the second electromagnetic reversing valve and the second transmission module;

[0012] Two transverse telescopic driving hydraulic cylinders are relatively distributed on the outer sides of the two rear frame longitudinal beams, and their bases are connected to the rear end surfaces of the two front frame longitudinal beams through two front connecting seats, and their piston rod ends are connected to the outer sides of the rear sections of the two rear frame longitudinal beams through rear connecting seats;

[0013] The auxiliary net rolling mechanism is fixedly connected between the front ends of the two front rolling support mechanisms located in the middle, and the front end surface of the auxiliary net rolling mechanism is an arc-shaped structure. At the same time, the auxiliary net rolling mechanism is equipped with a deviation adjustment device that can move along its length direction;

[0014] The net rolling mechanism comprises a net rolling drum and a net rolling drive motor, wherein the net rolling drum is rotatably connected between the upper ends of a pair of front frame support legs at the front side through two short shafts at both ends of the net rolling drum, and the net rolling drive motor is installed on a front frame support leg at the front side, and its output shaft is connected to a short shaft of the net rolling drum;

[0015] The main body of the grid net is wound on the net-rolling drum of the net-rolling mechanism, and the free end of the grid net is wound around the auxiliary net-rolling mechanism and reaches the upper end surface of the rolling top supporting device;

[0016] The main control unit includes a first electromagnetic reversing valve group, a second electromagnetic reversing valve group, a third electromagnetic reversing valve group, a fourth electromagnetic reversing valve group, a display screen, a wireless communication module and a controller; the oil inlet of the first electromagnetic reversing valve group is connected to a high-pressure oil source, and its working oil port is connected to multiple supporting oil cylinders through high-pressure pipelines; the oil inlet of the second electromagnetic reversing valve group is connected to a high-pressure oil source, and its working oil port is connected to two lateral telescopic driving hydraulic cylinders through high-pressure pipelines; the oil inlet of the third electromagnetic reversing valve group is connected to a high-pressure oil source, and its working oil port is connected to the front rolling support top The auxiliary support leg in the mechanism is connected, the oil inlet of the fourth electromagnetic reversing valve group is connected to the high-pressure oil source, and its working oil port is connected to the auxiliary support leg in the rear rolling support mechanism; the display screen is installed on the rear frame longitudinal beam on one side; the wireless communication module one is respectively connected to the transmission module one and the transmission module two; the controller is respectively connected to the pressure sensor, the front camera, the front laser radar sensor, the front temperature, humidity and gas concentration sensor group, the rear camera, the rear laser radar sensor, the rear temperature, humidity and gas concentration sensor group, the rolling net drive motor, the deviation adjustment device and the electric hinge.

[0017] Furthermore, in order to enable the roller to have good recovery ability and supporting performance, the roller is made of NBR nitrile rubber; in order to obtain good tensile and compressive properties to ensure long-term support in harsh environments, the grille mesh is made of high-strength polymer material.

[0018] Furthermore, in order to facilitate installation and disassembly, a mounting hole with an internal thread structure is opened at the lower end of the roller support; an external thread structure is opened at the end of the piston rod of the supporting cylinder, and is fixedly inserted into the mounting hole through threaded fitting.

[0019] Furthermore, in order to fully obtain image data of the working environment, the front camera and the rear camera are both panoramic cameras.

[0020] Furthermore, in order to be able to observe the support progress and tunnel pressure distribution in real time on the ground, a ground monitoring center is also included, and the ground monitoring center includes a data processor, a wireless communication module 2 and a display; the wireless communication module 2 is connected to the wireless communication module 1; the data processor is respectively connected to the wireless communication module 2 and the display.

[0021] Furthermore, in order to be able to intuitively and effectively remind relevant personnel by means of an alarm when an abnormality occurs, the main control unit also includes an alarm module, which is installed on the rear frame longitudinal beam on one side and is connected to the controller.

[0022] In the present invention, by installing a front camera, a front laser radar sensor, a front temperature and humidity and a gas concentration sensor group on the front side end face of the front cross beam of the front frame, it is convenient to obtain the front environment image data in real time, and can sense the front obstacle situation, the front temperature and humidity situation and the front gas concentration situation. In this way, not only can the deformation of the surrounding rock be analyzed according to the front environment image data, but also it can be judged whether there is an abnormal situation according to the environmental data, so as to effectively ensure the safety of electromechanical equipment and personnel. By installing a rear camera, a rear laser radar sensor, a rear temperature and humidity and a gas concentration sensor group on the rear side end face of the rear cross beam of the rear frame, it is convenient to obtain the rear environment image data in real time, and can sense the rear obstacle situation, the rear temperature and humidity situation and the rear gas concentration situation. In this way, not only can the deformation of the surrounding rock be analyzed according to the rear environment image data, but also it can be judged whether there is an abnormal situation according to the environmental data, so as to effectively ensure the safety of electromechanical equipment and personnel. The front cross beam of the front frame is provided with two front mounting grooves, and the rear cross beam of the front frame is provided with two rear mounting grooves, so that the two front frame longitudinal beams can be fixedly assembled in the two front mounting grooves and the two rear mounting grooves. At the same time, a pair of guide slide grooves are provided on the opposite sides of the two front frame longitudinal beams, so that the two rear frame longitudinal beams can be slidably assembled in the pair of guide slide grooves. On this basis, the front cross beam of the rear frame and the rear cross beam of the rear frame are respectively fixedly connected between the front and rear ends of the two rear frame longitudinal beams, so that the rear support frame can have a sliding space in the front and rear directions relative to the front support frame, and at the same time, it can be ensured that the two will not completely separate from each other. Three front guide grooves are provided in the middle section of the rear cross beam of the front frame, so that the auxiliary support legs connected to the three rear rolling support mechanisms can pass smoothly during the sliding process. Two rear guide grooves are provided in the middle section of the front cross beam of the rear frame, so that the auxiliary support legs connected to the two front rolling support mechanisms in the middle can pass smoothly during the sliding process. Four front rolling support mechanisms are fixed on the top of the front support frame, and three rolling support mechanisms are fixed on the top of the rear support frame. The four front rolling support mechanisms and three rolling support mechanisms that are staggered can be used to reliably support the top plate. Multiple support units are set on the top of the length direction of the front and rear rolling support mechanisms, and each support unit is composed of three support bodies distributed side by side. At the same time, each support body is composed of a support cylinder, a roller support fixed to the end of the piston rod of the support cylinder, and a roller rotatably installed on the roller support. In this way, for each front and rear rolling support mechanism, the heights of the three support bodies in the width direction and the multiple support bodies in the length direction can be the same or different, so as to flexibly adapt to the ups and downs of the top plate. The upper end of the support body is a roller, and the rotation characteristics of the roller can be fully utilized to flexibly adapt to the ups and downs of the top plate, further increasing the adaptability.Two pairs of front and rear frame support legs are connected to the lower part of the front and rear support frames, and the front and rear frame support legs are telescopic hydraulic cylinders. In this way, the front and rear support frames can have reliable self-supporting capabilities. At the same time, when one support frame is in a supporting state and the other support frame is in a non-supporting state, the mutual sliding between the two can be conveniently realized. The auxiliary support legs are connected to the lower part of each rolling support mechanism through an electric hinge. At the same time, the auxiliary support legs are telescopic hydraulic cylinders. The auxiliary support legs can be selectively placed in a folding state and a supporting state according to different situations. In this way, the sliding process of the front and rear mobile support mechanisms will not interfere with each other in the folding state. At the same time, the stability of the front and rear mobile support mechanisms can be effectively increased in the supporting state. The two transverse telescopic driving hydraulic cylinders are respectively connected to the two front frame longitudinal beams and the rear frame longitudinal beams, so that the two transverse telescopic driving hydraulic cylinders can be used to quickly and efficiently drive the front and rear support frames to slide against each other, thereby realizing the self-moving action of walking. Each support leg is equipped with a support adjustment component, which can facilitate the real-time perception of the displacement data, pressure data and inclination data of each support leg. In this way, the support leg can be controlled to perform telescopic action according to the displacement data and pressure data to adapt to the current support working condition. At the same time, it can also be convenient to use the inclination data to feedback control the action of the support leg drive motor to automatically adjust the rotatable support leg to a suitable support angle, so that each support leg has adaptive support adjustment capability. The auxiliary rolling net mechanism is fixedly connected between the front ends of the two front rolling support mechanisms, and the front side end surface thereof is an arc structure, which can achieve the guiding effect on the grille net. At the same time, a deviation adjustment device is provided on the auxiliary rolling net mechanism, which can make timely adjustments when the grille net deviates, ensuring the efficient and accurate laying of the grille net. The rolling net mechanism is installed between the upper parts of a pair of front frame support legs on the front side, which can facilitate the automatic release operation of the grille net. In this way, the automatic laying operation of the follow-up grille net is performed in cooperation with the self-moving action of the front and rear moving support mechanisms. By providing a pressure sensor in each support body, it is possible to obtain pressure data of each support point, thereby facilitating the real-time perception of the pressure distribution of the tunnel roof.

[0023] The system is highly intelligent and has ideal support effects. It can effectively adapt to the undulating conditions of the roof. At the same time, it can effectively combine temporary support operations with mesh laying operations, and can realize the synchronous operation of temporary support and mesh laying, which significantly improves the operating efficiency.

[0024] The present invention also provides a control method for an intelligent step-by-step self-moving and automatic net-laying temporary support system, which adopts an intelligent step-by-step self-moving and automatic net-laying temporary support system, and comprises the following steps:

[0025] Step 1: Initial data collection and environmental analysis;

[0026] S11: Use the front camera to collect front environment image data in real time and send it to the controller; use the front laser radar sensor to collect front obstacle signals in real time and send them to the controller; use the front temperature, humidity and gas concentration sensor group to collect front side temperature and humidity signals and front side gas concentration signals in real time and send them to the controller; use the rear camera to collect rear environment image data in real time and send it to the controller; use the rear laser radar sensor to collect rear obstacle signals in real time and send them to the controller; use the rear temperature, humidity and gas concentration sensor group to collect rear side temperature, humidity signals and rear side gas concentration signals in real time and send them to the controller;

[0027] S12: The controller processes the front environment image data and the rear environment image data based on the machine learning optimization algorithm, analyzes the stability of the tunnel roof and the surrounding rock based on the processing result data, and generates initial support parameters; the controller obtains the front temperature and humidity data and the front gas concentration data according to the front temperature and humidity signal and the front gas concentration signal received in real time, and when any one of the data exceeds the corresponding set threshold, controls the alarm module to perform an alarm action, and at the same time, sends an alarm reminder message to the display screen; at the same time, the controller obtains the rear temperature and humidity data and the rear gas concentration data according to the rear temperature and humidity signal and the rear gas concentration signal received in real time, and when any one of the data exceeds the corresponding set threshold, controls the alarm module to perform an alarm action, and at the same time, sends an alarm reminder message to the display screen;

[0028] Step 2: Positioning and preliminary support of the rolling support device;

[0029] S21: controlling the first electromagnetic reversing valve group to operate according to the initial support parameters, adjusting the extension and contraction ranges of the correspondingly controlled multiple support cylinders, so that the support heights of the corresponding multiple support bodies on the front rolling support mechanism and the corresponding multiple support bodies on the rear rolling support mechanism adapt to the fluctuation of the roof, and preliminarily establishing temporary support;

[0030] S22: Using the pressure sensor on the support body to collect the pressure signal in real time, and send it to the controller, the controller obtains the pressure data of multiple support bodies according to the received multiple pressure signals, and obtains the force distribution of multiple support points according to the pressure data of the multiple support bodies, and then adjusts the extension and contraction range of multiple support cylinders in a closed loop according to the force distribution of the multiple support points, so that the force of the multiple support points is uniform;

[0031] At the same time, the front support adjustment component is used to monitor the corresponding front frame support leg, and the collected front support displacement signal, front support pressure signal and forward inclination angle signal are sent to the microprocessor 1. The microprocessor 1 obtains the front support displacement data, front support pressure data and forward inclination angle data according to the front support displacement signal, front support pressure signal and forward inclination angle signal, and controls the action of the electromagnetic reversing valve 1 according to the front support displacement data and the front support pressure data, so as to adjust the telescopic range of the corresponding front frame support leg to adapt to the current support working condition, and controls the front support foot driving motor to rotate to a set angle according to the forward inclination angle data, so as to drive the rotatable support foot 1 to reach a support state that fits the ground; at the same time, the microprocessor 1 transmits the forward inclination angle data to the controller through the wireless communication link between the transmission module 1 and the wireless communication module 1, and the controller controls the electric hinge in the front rolling support mechanism to rotate to a set angle according to the forward inclination angle data, so as to make the auxiliary support leg in the front rolling support mechanism rotate to a set angle and reach an auxiliary support state;

[0032] At the same time, the rear support adjustment component is used to monitor the corresponding rear frame support leg, and the collected rear support displacement signal, rear support pressure signal and rear inclination angle signal are sent to the microprocessor 2. The microprocessor 2 obtains the rear support displacement data, rear support pressure data and rear inclination angle data according to the rear support displacement signal, rear support pressure signal and rear inclination angle signal, and controls the action of the electromagnetic reversing valve 2 according to the rear support displacement data and rear support pressure data, so as to adjust the extension and retraction amplitude of the corresponding rear frame support leg to adapt to the current support working condition, and controls the rear support leg driving motor to rotate to a set angle according to the rear inclination angle data, so as to drive the rotatable support leg 2 to reach a support state that fits the ground; at the same time, the microprocessor 2 transmits the rear inclination angle data to the controller through the wireless communication link between the transmission module 2 and the wireless communication module 1, and the controller controls the electric hinge in the rear rolling support mechanism to rotate to a set angle according to the rear inclination angle data, so as to make the auxiliary support leg in the rear rolling support mechanism rotate to a set angle and reach an auxiliary support state;

[0033] Step 3: Preparation for laying the grille mesh;

[0034] The free end of the grid mesh is wound around the auxiliary mesh rolling mechanism and reaches the upper end surface of the rolling roof support device, and is fixed. The release speed of the grid mesh is adjusted according to the cross-sectional size of the tunnel and the condition of the roof to ensure that the grid mesh is evenly deployed;

[0035] Step 4: Intelligent mesh laying and step support work together;

[0036] S41: Keep the rear movable support mechanism in the supporting state, the controller sends a moving signal to the front adaptive support adjustment unit, and the microprocessor 1 in the four front support adjustment components respectively controls the corresponding electromagnetic reversing valve 1 to act after receiving the moving signal, so that the corresponding front frame support leg retracts the set distance to reach the non-supporting state. At the same time, the controller controls the electric hinge in the front rolling support mechanism to rotate the set angle, so that the auxiliary support leg in the front rolling support mechanism rotates the set angle and reaches the fully folded state; the controller controls the electromagnetic reversing valve group 2 to act, and synchronously controls the two lateral telescopic drive hydraulic cylinders to extend the set length, so that the front movable support mechanism moves forward a certain distance relative to the rear movable support mechanism. After reaching the set position, the microprocessor 1 in the four front support adjustment components controls the corresponding electromagnetic reversing valve 1 to act, so that the four front frame support legs reach the supporting state again;

[0037] S42: The front movable support mechanism is kept in the supporting state. The controller sends a moving signal to the rear adaptive support adjustment unit. After receiving the moving signal, the microprocessor 2 in the four rear support adjustment components respectively controls the corresponding electromagnetic reversing valve 2 to operate, so that the corresponding rear frame support leg retracts a set distance to reach a non-supporting state. At the same time, the controller controls the electric hinge in the rear rolling support mechanism to rotate a set angle, so that the auxiliary support leg in the rear rolling support mechanism rotates a set angle and reaches a fully folded state; the controller controls the electromagnetic reversing valve group 2 to operate, and synchronously controls the two lateral telescopic drive hydraulic cylinders to retract a set length, so that the rear movable support mechanism moves forward a certain distance relative to the front movable support mechanism. After reaching the set position, the microprocessor 2 in the four rear support adjustment components controls the corresponding electromagnetic reversing valve 2 to operate, so that the four rear frame support legs reach the supporting state again;

[0038] S43: Repeat S41 and S42 for many times to realize the alternating stepping movement of the front moving support mechanism and the rear moving support mechanism, and at the same time, synchronously control the movement of the rolling net driving motor, so that the rolling net mechanism releases the grid net at a uniform speed according to the speed of the stepping movement, and uses the four front rolling top supporting mechanisms and three rear rolling top supporting mechanisms arranged in a front-to-back staggered manner to support the grid net tightly on the roof surface, so as to realize the automatic following laying operation of the grid net section by section during the stepping support process of the bracket;

[0039] At the same time, the controller determines whether there are pedestrians or other equipment passing in front according to the front environmental image data and the front obstacle signal received in real time, and controls the first electromagnetic reversing valve group to work in the middle position and stops the forward stepping and self-moving action when pedestrians or other equipment pass by; at the same time, the controller determines whether there are pedestrians or other equipment passing in the rear according to the rear environmental image data and the rear obstacle signal received in real time, and controls the second electromagnetic reversing valve group to work in the middle position and stops the forward stepping and self-moving action when pedestrians or other equipment pass by; the controller obtains the front temperature and humidity data and the front gas concentration data according to the front temperature and humidity signals and the front gas concentration signals received in real time, and controls the alarm module to perform an alarm action when any one of the data exceeds the corresponding set threshold, and at the same time, sends an alarm reminder message to the display screen; at the same time, the rear temperature and humidity data and the rear gas concentration data are obtained according to the rear temperature and humidity signals and the rear gas concentration signals received in real time, and controls the alarm module to perform an alarm action when any one of the data exceeds the corresponding set threshold, and at the same time, sends an alarm reminder message to the display screen;

[0040] At the same time, the controller obtains the bearing pressure data of multiple supporting bodies according to the multiple bearing pressure signals received in real time, and obtains the force distribution of multiple supporting points according to the bearing pressure data of the multiple supporting bodies, and then adjusts the extension and contraction amplitudes of the multiple supporting oil cylinders in a closed loop according to the force distribution of the multiple supporting points, so that the supporting heights of the multiple supporting bodies corresponding to the front rolling supporting mechanism and the multiple supporting bodies corresponding to the rear rolling supporting mechanism can adapt to the fluctuation of the top plate, and make the force of the multiple supporting points uniform; when the bearing pressure data of one or more supporting points are abnormal, the alarm module is controlled to perform an alarm action, and at the same time, an alarm reminder message is sent to the display screen;

[0041] Step 5: System reset;

[0042] After completing the support task, the intelligent self-moving and automatic mesh-laying temporary support system is controlled to restore to its initial state and record the data during this operation.

[0043] Furthermore, in order to avoid the grating mesh from deviating from the predetermined trajectory and to ensure the laying quality, in step four S43, when the grating mesh deviates, the grating mesh is adjusted using the deviation adjustment device to prevent the grating mesh from deviating. At the same time, ensure that the mesh surface of the grating mesh is tightened to the set tension state. At the same time, the controller obtains the laying length data of the grating mesh according to the speed and working time of the mesh rolling drive motor, and obtains the remaining material data of the grating mesh. When the remaining material data is less than the set remaining material threshold, the alarm device is controlled to perform an alarm action, and a remaining material shortage reminder message is sent to the display screen.

[0044] Further, in order to ensure the stability of the self-moving process during walking, in step 4 S41, the front support adjustment component is used to monitor the corresponding front frame support leg, and the collected front support displacement signal, front support pressure signal, and front inclination angle signal are sent to the microprocessor 1, and the microprocessor 1 obtains the front support displacement data, front support pressure data, and front inclination angle data according to the front support displacement signal, the front support pressure signal, and the front inclination angle signal, and controls the electromagnetic reversing valve 1 to act according to the front support displacement data and the front support pressure data, so as to adjust the telescopic range of the corresponding front frame support leg to adapt to the current support working condition, and controls the front support foot driving motor to rotate to a set angle according to the front inclination angle data, so as to drive the rotatable support foot 1 to reach a support state that fits the ground;

[0045] In step 4 S42, the rear support adjustment component is used to monitor the corresponding rear frame support leg, and the collected rear support displacement signal, rear support pressure signal and rear inclination angle signal are sent to microprocessor 2, and microprocessor 2 obtains rear support displacement data, rear support pressure data and rear inclination angle data according to the rear support displacement signal, rear support pressure signal and rear inclination angle signal, and controls the action of electromagnetic reversing valve 2 according to the rear support displacement data and rear support pressure data to adjust the extension and retraction range of the corresponding rear frame support leg to adapt to the current support working condition, and controls the rear support leg drive motor to rotate to a set angle according to the rear inclination angle data to drive the rotatable support leg 2 to reach a support state that fits the ground.

[0046] Furthermore, in order to facilitate intuitive observation of the support operation status, the tunnel pressure distribution and the laying progress of the main grid mesh through three-dimensional visualization, in step four S43, the controller sends the real-time received front environment image data, front obstacle signal, rear environment image data and rear obstacle signal, grid mesh laying length data, and force distribution of multiple support points to the data processor through the wireless communication link between wireless communication module 1 and wireless communication module 2. The data processor performs three-dimensional modeling of the working environment according to the environment image data and obstacle signal, and displays it intuitively in real time on the display. The data processor obtains the tunnel pressure distribution data according to the force distribution of multiple support points, and displays the grid mesh laying length data and the tunnel pressure distribution data intuitively in real time on the display.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] 1) No need to repeatedly support the roof, which can effectively reduce roof damage;

[0049] The front movable support mechanism and the rear movable support mechanism are driven by a transverse telescopic hydraulic cylinder to achieve mutual sliding between them. At the same time, four front and rear frame support legs are installed under the front and rear movable support mechanisms respectively, which can achieve continuous and stable support for the roof, avoid repeated loading and unloading of the roof in the process of traditional stepping supports, significantly reduce the risk of roof damage, and improve the stability of the tunnel.

[0050] 2) Intelligent network laying, efficient and safe;

[0051] The present invention integrates an auxiliary mesh rolling mechanism, a deviation adjustment device and a mesh rolling mechanism, and can realize automatic mesh laying operations. It does not require manual operation to connect the steel mesh, reduces the safety hazards of personnel working under the empty roof, and significantly improves the accuracy and efficiency of mesh laying.

[0052] 3)Flexible adaptation to complex geological conditions;

[0053] Each support leg is equipped with a support adjustment component, which uses an inclination sensor, a support pressure sensor and a high-strength roller structure. It can sense the inclination and unevenness of the rotatable support foot in real time, and can intelligently adjust the support strength and height, ensuring that the support system can operate smoothly under various complex geological conditions.

[0054] 4) Modular design, simple and reliable structure;

[0055] Compared with the traditional stepping system, the bracket structure is simpler, the overall volume is smaller, the space occupied is less, and it is easy to operate and maintain. At the same time, the system adopts a modular integration method to reduce the equipment failure rate and improve reliability.

[0056] 5) Intelligent monitoring and early warning to ensure operational safety;

[0057] The present invention has built-in multiple sensors and processors, which can monitor the support operation status and tunnel environmental parameters in real time, and can prompt abnormalities through a multi-level early warning mechanism, further improving the safety of support operation.

[0058] 6) Efficient data visualization and remote monitoring;

[0059] Information such as the support operating status and tunnel pressure distribution is presented in real time through three-dimensional visualization and can be uploaded to the ground monitoring center through the wireless communication module, making it convenient for managers to make remote decisions and real-time monitoring.

[0060] In summary, the present invention has a simple implementation process, an ideal support effect, a high operational safety factor, can flexibly adapt to complex geological conditions, and can effectively ensure the stability of the tunnel, thereby providing reliable protection for coal mine production operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1It is a schematic diagram of the overall structure of the support system in the present invention;

[0062] Figure 2 yes Figure 1 Left view of

[0063] Figure 3 is a top view of the front movable support mechanism and the rear movable support mechanism of the present invention after being assembled;

[0064] Figure 4 is a top view of the front movable support mechanism of the present invention;

[0065] Figure 5 is a top view of the rear movable support mechanism of the present invention;

[0066] Figure 6 It is a left side view of the front movable support mechanism of the present invention;

[0067] Figure 7 It is a left side view of the rear movable support mechanism of the present invention;

[0068] Figure 8 The structure of the front rolling support mechanism or the rear rolling support mechanism in the present invention is schematically shown. Figure 1 ;

[0069] Fig. 9 The structure of the front rolling support mechanism or the rear rolling support mechanism in the present invention is schematically shown. Figure 2 ;

[0070] Fig.10 It is a structural schematic diagram of the front cross beam of the front frame in the present invention;

[0071] Fig.11 It is a schematic structural diagram of the front frame and rear cross beam in the present invention;

[0072] Fig.12 It is a structural schematic diagram of the front cross beam of the rear frame in the present invention;

[0073] Fig.13 It is a schematic structural diagram of the rear cross beam of the rear frame in the present invention;

[0074] Fig.14 It is a schematic diagram of the cross-sectional structure of the front frame longitudinal beam of the present invention;

[0075] Fig.15 It is a structural schematic diagram of the top support unit in the present invention;

[0076] Fig.16 It is a schematic diagram of the structure of the support body in the present invention;

[0077] Fig.17 It is a schematic diagram of the assembly of the front frame support legs and the front support adjustment assembly in the present invention;

[0078] Fig.18 It is a schematic diagram of the assembly of the rear frame support legs and the rear support adjustment assembly in the present invention;

[0079] Fig.19 It is a schematic diagram of the state of the support system in the present invention during the stepping and self-moving operation process;

[0080] Fig. 20 It is a circuit principle block diagram of the front support adjustment component in the present invention;

[0081] Fig.21 It is a circuit principle block diagram of the rear support adjustment component in the present invention;

[0082] Fig. 22 It is a circuit principle block diagram of the main control unit and the ground monitoring center in the present invention.

[0083] In the figure: 1, rolling support device, 2, auxiliary rolling net mechanism, 3, grille net, 4, rolling net mechanism, 5, front frame rear beam, 6, front frame support leg, 7, front frame longitudinal beam, 8, rear frame front beam, 9, rear frame support leg, 10, rear frame longitudinal beam, 11, front support frame, 12, rear support frame, 13, front frame front beam, 14, rear frame rear beam, 15, rear installation groove, 16, front guide groove, 17, front camera, 18, front laser radar sensor, 19, front temperature, humidity and gas concentration sensor group, 20, horizontal telescopic drive hydraulic cylinder, 21, guide slide, 2 2. Front rolling roof support mechanism, 23. Support base plate, 24. Roof support unit, 25. Auxiliary support leg, 26. Support cylinder, 27. Roller support, 28. Roller, 29. Rotating shaft, 30. Support body, 31. Rear rolling roof support mechanism, 32. Rear guide groove, 33. Rear camera, 34. Rear lidar sensor, 35. Rear temperature, humidity and gas concentration sensor group, 36. Front movable support mechanism, 37. Rear movable support mechanism, 38. Front mounting groove, 39. Microprocessor one, 40. Rotatable support foot one, 41. Microprocessor two, 42. Electric hinge. DETAILED DESCRIPTION

[0084] The present invention will be further described below in conjunction with the accompanying drawings.

[0085] like Figures 1 to 22 As shown, the present invention provides an intelligent step-by-step self-moving and automatic net-laying temporary support system, comprising a rolling top support device 1, an auxiliary net-rolling mechanism 2, a net-rolling mechanism 4, a grille net 3 and a main control unit;

[0086] The rolling support device 1 includes a front movable support mechanism 36, a rear movable support mechanism 37 and a transverse telescopic driving hydraulic cylinder 20;

[0087] The front movable support mechanism 36 includes a front support frame 11, a front rolling support mechanism 22, a front frame support leg 6 and a front adaptive support adjustment unit; the front support frame 11 includes a front frame front cross beam 13, a front frame rear cross beam 5 and a front frame longitudinal beam 7; the front frame front cross beam 13 and the front frame rear cross beam 5 are arranged side by side front and back; the front frame front cross beam 13 has two corresponding front mounting grooves 38 at the upper part of both ends in the length direction, and a front camera 17, a front laser radar sensor 18, and a front temperature, humidity and gas concentration sensor group 19 are installed on the front side end surface; the upper part of the front frame rear cross beam 5 has two rear mounting grooves at the positions corresponding to the two front mounting grooves 38 15, and three front guide grooves 16 are provided in the central area and the two end areas of the part between the two rear mounting grooves 15; the two front frame longitudinal beams 7 are distributed side by side on the left and right, and the front ends of the two are respectively fixedly installed in the two front mounting grooves 38 on the front frame front cross beam 13, and the rear ends of the two are respectively fixedly installed in the two rear mounting grooves 15 on the front frame rear cross beam 5; the two front frame longitudinal beams 7 are provided with two guide slide grooves 21 on the upper part of the adjacent side; the number of the front rolling support mechanism 22 is four, and they are evenly installed on the upper end of the front support frame 11 along the left and right directions; the front rolling support mechanism 22 includes a support bottom plate 23, an auxiliary support leg 25 and a support unit 24; The length direction of the support base plate 23 extends in the front-to-back direction and is arranged horizontally; the auxiliary support leg 25 is a telescopic hydraulic cylinder, the cylinder of which is located at the upper part, and the upper end of the auxiliary support leg 25 is rotatably connected to the lower end center of the support base plate 23 through an electric hinge 42; multiple groups of top support units 24 are fixedly connected to the upper end surface of the support base plate 23 in sequence along the length direction; the top support unit 24 is composed of three support bodies 30 that are adjacent to each other in sequence along the left-right direction; the support body 30 includes a support cylinder 26, a roller support 27, a roller 28 and a pressure sensor, the base of the support cylinder 26 is vertically fixedly installed on the support base plate 23, and the roller support 27 is fixedly connected to the upper end surface of the support base plate 23. The lower end of the roller 28 is fixedly connected to the piston rod end of the supporting oil cylinder 26, and the roller 28 is rotatably mounted on the upper end of the roller support 27 through the rotating shaft 29 at the center thereof. The pressure sensor is mounted between the lower end of the roller support 27 and the piston rod end of the supporting oil cylinder 26, and is used to collect the pressure signal borne by the roller support 27; the front frame support leg 6 is a telescopic hydraulic cylinder, and its cylinder barrel is located at the upper part; the two pairs of front frame support legs 6 are distributed at intervals in front and back, and the front pair of front frame support legs 6 are relatively fixedly mounted on the left and right ends of the lower end surface of the front cross beam 13 of the front frame, and the rear pair of front frame support legs 6 are relatively fixedly mounted on the left and right ends of the lower end surface of the rear cross beam 5 of the front frame;

[0088] The front adaptive support adjustment unit includes four front support adjustment components, and the four front support adjustment components are respectively arranged on the four front frame support legs 6. The front support adjustment components include a front support displacement sensor, a front support pressure sensor, a front electric rotating support, a front tilt angle sensor, an electromagnetic reversing valve, a transmission module and a microprocessor 39; the front support displacement sensor is connected to the piston rod of the front frame support leg 6, and is used to collect the telescopic displacement signal of the front frame support leg 6; the front support pressure sensor is connected to the rodless cavity of the front frame support leg 6, and is used to collect the pressure signal in the rodless cavity of the front frame support leg 6; the front electric rotating support includes a rotatable support foot 40 and a front support foot drive motor; the rotatable The support foot 40 is hingedly connected to the end of the piston rod of the front frame support leg 6, and the front support foot drive motor is installed on one side of the piston rod end of the front frame support leg 6, and its output shaft is connected to the rotation axis of the rotatable support foot 40, and is used to drive the rotatable support foot 40 to rotate relative to the front frame support leg 6; the front inclination angle sensor is installed on the rotatable support foot 40, and is used to collect the inclination angle signal of the rotatable support foot 40; the oil inlet of the electromagnetic reversing valve 1 is connected to the high-pressure oil source, and the working oil port is connected to the front frame support leg 6; the microprocessor 39 is respectively connected to the front support displacement sensor, the front support pressure sensor, the front inclination angle sensor, the front support foot drive motor, the electromagnetic reversing valve 1 and the transmission module 1;

[0089] The rear movable support mechanism 37 includes a rear support frame 12 and a rear rolling support mechanism 31; the rear frame longitudinal beam 10 and the rear support frame 12 include a rear frame front cross beam 8, a rear frame rear cross beam 14, a rear frame support leg 9 and a rear adaptive support adjustment unit; the two rear frame longitudinal beams 10 are slidably mounted in two guide slide grooves 21 in the two front frame longitudinal beams 7 respectively; the rear frame front cross beam 8 and the rear frame rear cross beam 14 are arranged side by side on the front and rear sides of the front frame rear cross beam 5; the upper part of the rear frame front cross beam 8 is provided with two rear guide grooves 32 corresponding to the positions of the two front rolling support mechanisms 22 close to the center area, and the two ends in the length direction are fixedly connected to the front ends of the two front frame longitudinal beams 7 respectively; the rear camera 3 is installed on the rear side end surface of the rear frame rear cross beam 14 3. The rear laser radar sensor 34 and the rear temperature, humidity and gas concentration sensor group 35 are respectively fixedly connected to the rear ends of the two front frame longitudinal beams 7 at both ends in the length direction; the structure of the rear rolling support mechanism 31 is the same as that of the front rolling support mechanism 22; the number of the rear rolling support mechanisms 31 is three, and they are respectively corresponding to the top of the three front guide grooves 16, and at the same time, they are fixedly installed side by side on the upper end of the rear support frame 12, and the rear frame support legs 9 are telescopic hydraulic cylinders, and their cylinder barrels are located at the upper part; the two pairs of rear frame support legs 9 are distributed front and back at intervals, and the front pair of rear frame support legs 9 are relatively fixedly installed on the left and right ends of the lower end surface of the rear frame front cross beam 8, and the rear pair of rear frame support legs 9 are relatively fixedly installed on the left and right ends of the lower end surface of the rear frame rear cross beam 14;

[0090] The rear adaptive support adjustment unit includes four rear support adjustment components, and the four rear support adjustment components are respectively arranged on the four rear frame support legs 9. The rear support adjustment components include a rear support displacement sensor, a rear support pressure sensor, a rear electric rotating support, a rear inclination angle sensor, an electromagnetic reversing valve 2, a transmission module 2 and a microprocessor 2 40; the rear support displacement sensor is connected to the piston rod of the rear frame support leg 9, and is used to collect the telescopic displacement signal of the rear frame support leg 9; the rear support pressure sensor is connected to the rodless cavity of the rear frame support leg 9, and is used to collect the pressure signal in the rodless cavity of the rear frame support leg 9; the rear electric rotating support includes a rotatable support foot 2 42 and a rear support foot drive motor; the rotatable The supporting foot 2 42 is hingedly connected to the end of the piston rod of the rear frame supporting leg 9, and the rear supporting foot driving motor is installed on one side of the piston rod end of the rear frame supporting leg 9, and its output shaft is connected to the rotating shaft of the rotatable supporting foot 2 42, and is used to drive the rotatable supporting foot 2 42 to rotate relative to the rear frame supporting leg 9; the rear inclination angle sensor is installed on the rotatable supporting foot 2 42, and is used to collect the inclination angle signal of the rotatable supporting foot 2 42; the oil inlet of the electromagnetic reversing valve 2 is connected to the high-pressure oil source, and its working oil port is connected to the rear frame supporting leg 9; the microprocessor 2 40 is respectively connected to the rear support displacement sensor, the rear support pressure sensor, the rear inclination angle sensor, the rear supporting foot driving motor, the electromagnetic reversing valve 2 and the transmission module 2;

[0091] Two transverse telescopic driving hydraulic cylinders 20 are relatively distributed on the outside of the two rear frame longitudinal beams 10, and their bases are connected to the rear end surfaces of the two front frame longitudinal beams 7 through two front connecting seats, and their piston rod ends are connected to the rear section outer sides of the two rear frame longitudinal beams 10 through rear connecting seats;

[0092] The auxiliary net-rolling mechanism 2 is fixedly connected between the front ends of the two front rolling support mechanisms located in the middle, and the front side end surface of the auxiliary net-rolling mechanism 2 is an arc-shaped structure. At the same time, the auxiliary net-rolling mechanism 2 is equipped with an adjustment device that can move along its length direction; as a preference, the auxiliary net-rolling mechanism 2 includes a guide cylinder, a sliding cylinder slidably sleeved on the outer surface of the guide cylinder, and a linear electric push rod motor installed in the guide cylinder, wherein the front side surface of the guide cylinder is provided with a strip groove along the length direction, and the telescopic end of the linear electric push rod motor is connected by slidingly inserting into the strip groove. The rod is connected to the inner wall of the sliding cylinder, and the sliding cylinder is driven to move in the length direction of the guide cylinder through the telescopic action of the linear electric push rod motor, thereby realizing the deviation adjustment function. In this way, the sliding cylinder, the linear electric push rod motor and the connecting rod can be used to form a deviation adjustment device; the net rolling mechanism 4 includes a net rolling drum and a net rolling drive motor, and the net rolling drum is rotatably connected between the upper ends of a pair of front frame support legs 6 on the front side through two short shafts at both ends of the net rolling drum, and the net rolling drive motor is installed on a front frame support leg 6 on the front side, and its output shaft is connected to a short shaft of the net rolling drum;

[0093] The main section of the grid net 3 is wound on the net-rolling drum of the net-rolling mechanism 4, and its free end is wound around the auxiliary net-rolling mechanism 2 and reaches the upper end surface of the rolling top supporting device 1;

[0094] The main control unit includes a first electromagnetic reversing valve group, a second electromagnetic reversing valve group, a third electromagnetic reversing valve group, a fourth electromagnetic reversing valve group, a display screen, a wireless communication module and a controller; the oil inlet of the first electromagnetic reversing valve group is connected to a high-pressure oil source, and its working oil port is connected to a plurality of supporting oil cylinders 26 through high-pressure pipelines; the oil inlet of the second electromagnetic reversing valve group is connected to a high-pressure oil source, and its working oil port is connected to two lateral telescopic driving hydraulic cylinders 20 through high-pressure pipelines; the oil inlet of the third electromagnetic reversing valve group is connected to a high-pressure oil source, and its working oil port is connected to the auxiliary support leg in the front rolling support mechanism 22 23, the oil inlet of the fourth electromagnetic reversing valve group is connected to the high-pressure oil source, and its working oil port is connected to the auxiliary support leg 22 in the rear rolling support mechanism 31; the display screen is installed on the rear frame longitudinal beam 10 on one side; the wireless communication module 1 is respectively connected to the transmission module 1 and the transmission module 2; the controller is respectively connected to the pressure sensor, the front camera 17, the front laser radar sensor 18, the front temperature, humidity and gas concentration sensor group 19, the rear camera 33, the rear laser radar sensor 34, the rear temperature, humidity and gas concentration sensor group 35, the rolling net drive motor, the deviation adjustment device and the electric hinge 42. As a preference, the controller is an industrial computer.

[0095] In order to enable the roller to have good recovery ability and supporting performance, the roller 28 is made of NBR nitrile rubber; in order to obtain good tensile and compressive properties to ensure long-term support in harsh environments, the grid mesh 3 is made of high-strength polymer material.

[0096] In order to facilitate installation and disassembly, a mounting hole with an internal thread structure is opened at the lower end of the roller support 27; the piston rod end of the supporting oil cylinder 26 is opened with an external thread structure and is fixedly inserted into the mounting hole through threaded matching.

[0097] In order to fully obtain image data of the working environment, the front camera 27 and the rear camera 27 are both 360-degree panoramic cameras.

[0098] In order to be able to observe the support progress and tunnel pressure distribution in real time on the ground, a ground monitoring center is also included. The ground monitoring center includes a data processor, a wireless communication module 2 and a display; the wireless communication module 2 is connected to the wireless communication module 1; the data processor is respectively connected to the wireless communication module 2 and the display.

[0099] In order to be able to intuitively and effectively remind relevant personnel by means of an alarm when an abnormality occurs, the main control unit also includes an alarm module, which is installed on the rear frame longitudinal beam 10 on one side and is connected to the controller.

[0100] In the present invention, by installing a front camera, a front laser radar sensor, a front temperature and humidity and a gas concentration sensor group on the front side end face of the front cross beam of the front frame, it is convenient to obtain the front environment image data in real time, and can sense the front obstacle situation, the front temperature and humidity situation and the front gas concentration situation. In this way, not only can the deformation of the surrounding rock be analyzed according to the front environment image data, but also it can be judged whether there is an abnormal situation according to the environmental data, so as to effectively ensure the safety of electromechanical equipment and personnel. By installing a rear camera, a rear laser radar sensor, a rear temperature and humidity and a gas concentration sensor group on the rear side end face of the rear cross beam of the rear frame, it is convenient to obtain the rear environment image data in real time, and can sense the rear obstacle situation, the rear temperature and humidity situation and the rear gas concentration situation. In this way, not only can the deformation of the surrounding rock be analyzed according to the rear environment image data, but also it can be judged whether there is an abnormal situation according to the environmental data, so as to effectively ensure the safety of electromechanical equipment and personnel. The front cross beam of the front frame is provided with two front mounting grooves, and the rear cross beam of the front frame is provided with two rear mounting grooves, so that the two front frame longitudinal beams can be fixedly assembled in the two front mounting grooves and the two rear mounting grooves. At the same time, a pair of guide slide grooves are provided on the opposite sides of the two front frame longitudinal beams, so that the two rear frame longitudinal beams can be slidably assembled in the pair of guide slide grooves. On this basis, the front cross beam of the rear frame and the rear cross beam of the rear frame are respectively fixedly connected between the front and rear ends of the two rear frame longitudinal beams, so that the rear support frame can have a sliding space in the front and rear directions relative to the front support frame, and at the same time, it can be ensured that the two will not completely separate from each other. Three front guide grooves are provided in the middle section of the rear cross beam of the front frame, so that the auxiliary support legs connected to the three rear rolling support mechanisms can pass smoothly during the sliding process. Two rear guide grooves are provided in the middle section of the front cross beam of the rear frame, so that the auxiliary support legs connected to the two front rolling support mechanisms in the middle can pass smoothly during the sliding process. Four front rolling support mechanisms are fixed on the top of the front support frame, and three rolling support mechanisms are fixed on the top of the rear support frame. The four front rolling support mechanisms and three rolling support mechanisms that are staggered can be used to reliably support the top plate. Multiple support units are set on the top of the length direction of the front and rear rolling support mechanisms, and each support unit is composed of three support bodies distributed side by side. At the same time, each support body is composed of a support cylinder, a roller support fixed to the end of the piston rod of the support cylinder, and a roller rotatably installed on the roller support. In this way, for each front and rear rolling support mechanism, the heights of the three support bodies in the width direction and the multiple support bodies in the length direction can be the same or different, so as to flexibly adapt to the ups and downs of the top plate. The upper end of the support body is a roller, and the rotation characteristics of the roller can be fully utilized to flexibly adapt to the ups and downs of the top plate, further increasing the adaptability.Two pairs of front and rear frame support legs are connected to the lower part of the front and rear support frames, and the front and rear frame support legs are telescopic hydraulic cylinders. In this way, the front and rear support frames can have reliable self-supporting capabilities. At the same time, when one support frame is in a supporting state and the other support frame is in a non-supporting state, the mutual sliding between the two can be conveniently realized. The auxiliary support legs are connected to the lower part of each rolling support mechanism through an electric hinge. At the same time, the auxiliary support legs are telescopic hydraulic cylinders. The auxiliary support legs can be selectively placed in a folding state and a supporting state according to different situations. In this way, the sliding process of the front and rear mobile support mechanisms will not interfere with each other in the folding state. At the same time, the stability of the front and rear mobile support mechanisms can be effectively increased in the supporting state. The two transverse telescopic driving hydraulic cylinders are respectively connected to the two front frame longitudinal beams and the rear frame longitudinal beams, so that the two transverse telescopic driving hydraulic cylinders can be used to quickly and efficiently drive the front and rear support frames to slide against each other, thereby realizing the self-moving action of walking. Each support leg is equipped with a support adjustment component, which can facilitate the real-time perception of the displacement data, pressure data and inclination data of each support leg. In this way, the support leg can be controlled to perform telescopic action according to the displacement data and pressure data to adapt to the current support working condition. At the same time, it can also be convenient to use the inclination data to feedback control the action of the support leg drive motor to automatically adjust the rotatable support leg to a suitable support angle, so that each support leg has adaptive support adjustment capability. The auxiliary rolling net mechanism is fixedly connected between the front ends of the two front rolling support mechanisms, and the front side end surface thereof is an arc structure, which can achieve the guiding effect on the grille net. At the same time, a deviation adjustment device is provided on the auxiliary rolling net mechanism, which can make timely adjustments when the grille net deviates, ensuring the efficient and accurate laying of the grille net. The rolling net mechanism is installed between the upper parts of a pair of front frame support legs on the front side, which can facilitate the automatic release operation of the grille net. In this way, the automatic laying operation of the follow-up grille net is performed in cooperation with the self-moving action of the front and rear moving support mechanisms. By providing a pressure sensor in each support body, it is possible to obtain pressure data of each support point, thereby facilitating the real-time perception of the pressure distribution of the tunnel roof.

[0101] The system is highly intelligent and has ideal support effects. It can effectively adapt to the undulating conditions of the roof. At the same time, it can effectively combine temporary support operations with mesh laying operations, and can realize the synchronous operation of temporary support and mesh laying, which significantly improves the operating efficiency.

[0102] The present invention also provides a control method for an intelligent step-by-step self-moving and automatic net-laying temporary support system, which adopts an intelligent step-by-step self-moving and automatic net-laying temporary support system, and comprises the following steps:

[0103] Step 1: Initial data collection and environmental analysis;

[0104] S11: Use the front camera 17 to collect front environment image data in real time and send it to the controller; use the front laser radar sensor 18 to collect front obstacle signals in real time and send them to the controller; use the front temperature, humidity and gas concentration sensor group 19 to collect front side temperature and humidity signals and front side gas concentration signals in real time and send them to the controller; use the rear camera 33 to collect rear environment image data in real time and send it to the controller; use the rear laser radar sensor 34 to collect rear obstacle signals in real time and send them to the controller; use the rear temperature, humidity and gas concentration sensor group 35 to collect rear side temperature, humidity signals and rear side gas concentration signals in real time and send them to the controller;

[0105] S12: The controller processes the front environment image data and the rear environment image data based on the machine learning optimization algorithm, analyzes the stability of the tunnel roof and the surrounding rock based on the processing result data, and generates initial support parameters; the controller obtains the front temperature and humidity data and the front gas concentration data according to the front temperature and humidity signal and the front gas concentration signal received in real time, and when any one of the data exceeds the corresponding set threshold, controls the alarm module to perform an alarm action, and at the same time, sends an alarm reminder message to the display screen; at the same time, the controller obtains the rear temperature and humidity data and the rear gas concentration data according to the rear temperature and humidity signal and the rear gas concentration signal received in real time, and when any one of the data exceeds the corresponding set threshold, controls the alarm module to perform an alarm action, and at the same time, sends an alarm reminder message to the display screen;

[0106] Step 2: Positioning and preliminary support of the rolling support device;

[0107] S21: Control the first electromagnetic reversing valve group to operate according to the initial support parameters, adjust the extension and contraction ranges of the corresponding multiple supporting oil cylinders 16, so that the support heights of the corresponding multiple supporting bodies 30 on the front rolling support mechanism 22 and the corresponding multiple supporting bodies 30 on the rear rolling support mechanism 31 can adapt to the fluctuation of the roof, and initially establish temporary support;

[0108] S22: Using the pressure sensor on the support body 30 to collect the pressure signal in real time, and send it to the controller, the controller obtains the pressure data of the multiple support bodies 30 according to the received multiple pressure signals, and obtains the force distribution of the multiple support points according to the pressure data of the multiple support bodies 30, and then adjusts the extension and contraction range of the multiple support cylinders 26 in a closed loop according to the force distribution of the multiple support points, so that the force of the multiple support points is uniform;

[0109] At the same time, the front support adjustment component is used to monitor the corresponding front frame support leg 6, and the collected front support displacement signal, front support pressure signal and front inclination angle signal are sent to the microprocessor 1. The microprocessor 1 obtains the front support displacement data, front support pressure data and front inclination angle data according to the front support displacement signal, front support pressure signal and front inclination angle signal, and controls the action of the electromagnetic reversing valve 1 according to the front support displacement data and the front support pressure data, so as to adjust the telescopic range of the corresponding front frame support leg 6 to adapt to the current support working condition, and controls the front support foot driving motor to rotate to a set angle according to the inclination angle data, so as to drive the rotatable support foot 1 40 to reach a supporting state that fits the ground; at the same time, the microprocessor 1 transmits the inclination angle data to the controller through the wireless communication link between the transmission module 1 and the wireless communication module 1, and the controller controls the electric hinge 42 in the front rolling support mechanism 22 to rotate to a set angle according to the inclination angle data, so as to make the auxiliary support leg 25 in the front rolling support mechanism 22 rotate to a set angle and reach an auxiliary support state;

[0110] At the same time, the rear support adjustment component is used to monitor the corresponding rear frame support leg 9, and the collected rear support displacement signal, rear support pressure signal, and rear inclination angle signal are sent to the microprocessor 2. The microprocessor 2 obtains the rear support displacement data, rear support pressure data, and rear inclination angle data according to the rear support displacement signal, rear support pressure signal, and rear inclination angle signal, and controls the action of the electromagnetic reversing valve 2 according to the rear support displacement data and the rear support pressure data, so as to adjust the telescopic range of the corresponding rear frame support leg 9 to adapt to the current support working condition, and controls the rear support foot drive motor to rotate to a set angle according to the rear inclination angle data, so as to drive the rotatable support foot 2 42 to reach a support state that fits the ground; at the same time, the microprocessor 2 transmits the rear inclination angle data to the controller through the wireless communication link between the transmission module 2 and the wireless communication module 1, and the controller controls the electric hinge 42 in the rear rolling support mechanism 31 to rotate to a set angle according to the rear inclination angle data, so as to make the auxiliary support leg 25 in the rear rolling support mechanism 31 rotate to a set angle and reach an auxiliary support state;

[0111] Step 3: Preparation for laying the grille mesh 3;

[0112] The free end of the grid mesh 3 is wound around the auxiliary mesh rolling mechanism 2 and reaches the upper end surface of the rolling roof support device 1, and is fixed. The release speed of the grid mesh 3 is adjusted according to the cross-sectional size of the tunnel and the roof condition to ensure that the grid mesh 3 is evenly unfolded;

[0113] Step 4: Intelligent mesh laying and step support work together;

[0114] S41: Keep the rear movable support mechanism 37 in the supporting state, the controller sends a moving signal to the forward adaptive support adjustment unit, and the microprocessors 1 in the four front support adjustment components respectively control the corresponding electromagnetic reversing valves 1 to act after receiving the moving signal, so that the corresponding front frame support legs 6 retract the set distance to reach the non-supporting state. At the same time, the controller controls the electric hinge 42 in the front rolling support mechanism 22 to rotate the set angle, so that the auxiliary support legs 25 in the front rolling support mechanism 22 rotate the set angle and reach the fully folded state; the controller controls the electromagnetic reversing valve group 2 to act, and synchronously controls the two lateral telescopic driving hydraulic cylinders 39 to extend the set length, so that the front movable support mechanism 36 moves forward a certain distance relative to the rear movable support mechanism 37. After reaching the set position, the microprocessors 1 in the four front support adjustment components control the corresponding electromagnetic reversing valves 1 to act, so that the four front frame support legs 6 reach the supporting state again;

[0115] S42: The front movable support mechanism 36 is kept in the supporting state. The controller sends a moving signal to the rear adaptive support adjustment unit. After receiving the moving signal, the microprocessor 2 in the four rear support adjustment components respectively controls the corresponding electromagnetic reversing valve 2 to operate, so that the corresponding rear frame support leg 9 retracts the set distance to reach the non-supporting state. At the same time, the controller controls the electric hinge 42 in the rear rolling support mechanism 31 to rotate the set angle, so that the auxiliary support leg 25 in the rear rolling support mechanism 31 rotates the set angle and reaches the fully folded state; the controller controls the electromagnetic reversing valve group 2 to operate, and synchronously controls the two lateral telescopic driving hydraulic cylinders 39 to retract the set length, so that the rear movable support mechanism 37 moves forward a certain distance relative to the front movable support mechanism 36. After reaching the set position, the microprocessor 2 in the four rear support adjustment components controls the corresponding electromagnetic reversing valve 2 to operate, so that the four rear frame support legs 9 reach the supporting state again;

[0116] S43: S41 and S42 are repeatedly executed to realize the alternating stepping movement of the front moving support mechanism 36 and the rear moving support mechanism 37. At the same time, the action of the rolling net driving motor is synchronously controlled to make the rolling net mechanism 4 release the grille net 3 at a uniform speed according to the speed of the stepping movement, and the four front rolling top supporting mechanisms 22 and the three rear rolling top supporting mechanisms 31 arranged in a front-to-back staggered manner are used to support the grille net 3 closely on the roof surface, so as to realize the automatic following laying operation of the grille net 3 in sections during the stepping support process of the support;

[0117] At the same time, the controller determines whether there are pedestrians or other equipment passing in front according to the front environmental image data and the front obstacle signal received in real time, and controls the first electromagnetic reversing valve group to work in the middle position and stops the forward stepping and self-moving action when pedestrians or other equipment pass by; at the same time, the controller determines whether there are pedestrians or other equipment passing in the rear according to the rear environmental image data and the rear obstacle signal received in real time, and controls the second electromagnetic reversing valve group to work in the middle position and stops the forward stepping and self-moving action when pedestrians or other equipment pass by; the controller obtains the front temperature and humidity data and the front gas concentration data according to the front temperature and humidity signals and the front gas concentration signals received in real time, and controls the alarm module to perform an alarm action when any one of the data exceeds the corresponding set threshold, and at the same time, sends an alarm reminder message to the display screen; at the same time, the rear temperature and humidity data and the rear gas concentration data are obtained according to the rear temperature and humidity signals and the rear gas concentration signals received in real time, and controls the alarm module to perform an alarm action when any one of the data exceeds the corresponding set threshold, and at the same time, sends an alarm reminder message to the display screen;

[0118] At the same time, the controller obtains the pressure data of the multiple support bodies 30 according to the multiple pressure signals received in real time, and obtains the force distribution of the multiple support points according to the pressure data of the multiple support bodies 30, and then adjusts the extension and contraction range of the multiple support cylinders 26 in a closed loop according to the force distribution of the multiple support points, so that the support heights of the multiple support bodies 30 corresponding to the front rolling support mechanism 22 and the multiple support bodies 30 corresponding to the rear rolling support mechanism 31 can adapt to the ups and downs of the top plate, and make the force of the multiple support points uniform; when the pressure data of one or more support points are abnormal, the alarm module is controlled to perform an alarm action, and at the same time, an alarm reminder message is sent to the display screen;

[0119] Step 5: System reset;

[0120] After completing the support task, the intelligent self-moving and automatic mesh-laying temporary support system is controlled to restore to its initial state and record the data during this operation.

[0121] In order to avoid the grating mesh from deviating from the predetermined trajectory and to ensure the laying quality, in step four S43, when the grating mesh 3 deviates, the grating mesh 3 is adjusted by the deviation adjustment device to prevent the grating mesh 3 from deviating. At the same time, ensure that the mesh surface of the grating mesh 3 is tightened to the set tension state. At the same time, the controller obtains the laying length data of the grating mesh 3 according to the rotation speed and working time of the mesh rolling drive motor, and obtains the remaining material data of the grating mesh 3. When the remaining material data is less than the set remaining material threshold, the alarm device is controlled to perform an alarm action, and a remaining material shortage reminder message is sent to the display screen.

[0122] In order to ensure the stability of the self-moving process during walking, in step 4 S41, the front support adjustment component is used to monitor the corresponding front frame support leg 6, and the collected front support displacement signal, front support pressure signal, and front inclination angle signal are sent to the microprocessor 1, and the microprocessor 1 obtains the front support displacement data, front support pressure data, and front inclination angle data according to the front support displacement signal, the front support pressure signal, and the front inclination angle signal, and controls the action of the electromagnetic reversing valve 1 according to the front support displacement data and the front support pressure data, so as to adjust the telescopic range of the corresponding front frame support leg 6 to adapt to the current support working condition, and controls the front support foot driving motor to rotate to a set angle according to the inclination angle data, so as to drive the rotatable support foot 1 40 to reach a support state that fits the ground;

[0123] In step 4 S42, the rear support adjustment component is used to monitor the corresponding rear frame support leg 9, and the collected rear support displacement signal, rear support pressure signal, and rear inclination angle signal are sent to microprocessor 2. Microprocessor 2 obtains rear support displacement data, rear support pressure data, and rear inclination angle data according to the rear support displacement signal, rear support pressure signal, and rear inclination angle signal, and controls the action of electromagnetic reversing valve 2 according to the rear support displacement data and rear support pressure data to adjust the telescopic range of the corresponding rear frame support leg 9 to adapt to the current support working condition, and controls the rear support foot drive motor to rotate to a set angle according to the rear inclination angle data to drive the rotatable support foot 2 42 to reach a support state that fits the ground.

[0124] In order to facilitate intuitive observation of the support operation, tunnel pressure distribution and laying progress of the main grid net through three-dimensional visualization, in step four S43, the controller sends the real-time received front environment image data, front obstacle signal, rear environment image data and rear obstacle signal, laying length data of the grid net 3, and force distribution of multiple support points to the data processor through the wireless communication link between wireless communication module 1 and wireless communication module 2. The data processor performs three-dimensional modeling of the working environment according to the environment image data and obstacle signal, and displays it in real time and intuitively on the display. The data processor obtains the tunnel pressure distribution data according to the force distribution of multiple support points, and displays the laying length data of the grid net 3 and the tunnel pressure distribution data in real time and intuitively on the display.

[0125] Compared with the prior art, the present invention has the following beneficial effects:

[0126] 1) No need to repeatedly support the roof, which can effectively reduce roof damage;

[0127] The front movable support mechanism and the rear movable support mechanism are driven by a transverse telescopic hydraulic cylinder to achieve mutual sliding between them. At the same time, four front and rear frame support legs are installed under the front and rear movable support mechanisms respectively, which can achieve continuous and stable support for the roof, avoid repeated loading and unloading of the roof in the process of traditional stepping supports, significantly reduce the risk of roof damage, and improve the stability of the tunnel.

[0128] 2) Intelligent network laying, efficient and safe;

[0129] The present invention integrates an auxiliary mesh rolling mechanism, a deviation adjustment device and a mesh rolling mechanism, and can realize automatic mesh laying operations. It does not require manual operation to connect the steel mesh, reduces the safety hazards of personnel working under the empty roof, and significantly improves the accuracy and efficiency of mesh laying.

[0130] 3)Flexible adaptation to complex geological conditions;

[0131] Each support leg is equipped with a support adjustment component, which uses an inclination sensor, a support pressure sensor and a high-strength roller structure. It can sense the inclination and unevenness of the rotatable support foot in real time, and can intelligently adjust the support strength and height, ensuring that the support system can operate smoothly under various complex geological conditions.

[0132] 4) Modular design, simple and reliable structure;

[0133] Compared with the traditional stepping system, the bracket structure is simpler, the overall volume is smaller, the space occupied is less, and it is easy to operate and maintain. At the same time, the system adopts a modular integration method to reduce the equipment failure rate and improve reliability.

[0134] 5) Intelligent monitoring and early warning to ensure operational safety;

[0135] The present invention has built-in multiple sensors and processors, which can monitor the support operation status and tunnel environmental parameters in real time, and can prompt abnormalities through a multi-level early warning mechanism, further improving the safety of support operation.

[0136] 6) Efficient data visualization and remote monitoring;

[0137] Information such as the support operating status and tunnel pressure distribution is presented in real time through three-dimensional visualization and can be uploaded to the ground monitoring center through the wireless communication module, making it convenient for managers to make remote decisions and real-time monitoring.

[0138] In summary, the present invention has a simple implementation process, an ideal support effect, a high operational safety factor, can flexibly adapt to complex geological conditions, and can effectively ensure the stability of the tunnel, thereby providing reliable protection for coal mine production operations.

Claims

1. An intelligent self-moving and automatic mesh laying temporary support system, comprising a rolling top support device (1), characterized in that: It also includes an auxiliary net rolling mechanism (2), a net rolling mechanism (4), a grille net (3) and a main control unit; The rolling support device (1) comprises a front movable support mechanism (36), a rear movable support mechanism (37) and a transverse telescopic driving hydraulic cylinder (20); The front movable support mechanism (36) comprises a front support frame (11), a front rolling support mechanism (22), a front frame support leg (6) and a front adaptive support adjustment unit; the front support frame (11) comprises a front frame front cross beam (13), a front frame rear cross beam (5) and a front frame longitudinal beam (7); the front frame front cross beam (13) and the front frame rear cross beam (5) are arranged side by side in the front and rear directions; the front frame front cross beam (13) is provided with two front installation grooves (38) at the upper parts of the two ends in the longitudinal direction, and a front camera (17), a front laser radar sensor (18) and a front temperature, humidity and gas concentration sensor group (19) are installed on the front side end surface; the upper part of the front frame rear cross beam (5) is provided with a front camera (17), a front laser radar sensor (18) and a front temperature, humidity and gas concentration sensor group (19); ... Two rear mounting grooves (15) are provided at positions corresponding to the two front mounting grooves (38), and three front guide grooves (16) are provided in the central area and the two end areas between the two rear mounting grooves (15); the two front frame longitudinal beams (7) are arranged side by side on the left and right, and the front ends of the two are respectively fixedly installed in the two front mounting grooves (38) on the front cross beam (13) of the front frame, and the rear ends of the two are respectively fixedly installed in the two rear mounting grooves (15) on the rear cross beam (5) of the front frame; the two front frame longitudinal beams (7) are provided with two guide slide grooves (21) on the upper part of the adjacent side; the number of the front rolling support mechanism (22) is four, and they are evenly installed in the left and right directions. The upper end of the front support frame (11); the front rolling support mechanism (22) includes a support base plate (23), an auxiliary support leg (25) and a support unit (24); the length direction of the support base plate (23) extends in the front-to-back direction and is arranged horizontally; the auxiliary support leg (25) is a telescopic hydraulic cylinder, the cylinder barrel of which is located at the upper part, and the upper end of the auxiliary support leg (25) is rotatably connected to the lower end center of the support base plate (23) through an electric hinge (42); multiple groups of support units (24) are fixedly connected to the upper end surface of the support base plate (23) in sequence along the length direction; the support unit (24) is composed of three support bodies (30) that are sequentially adjacent in the left-right direction; the support body ( 30) comprises a supporting oil cylinder (26), a roller support (27), a roller (28) and a pressure sensor, wherein the base of the supporting oil cylinder (26) is vertically fixedly mounted on the supporting bottom plate (23), the lower end of the roller support (27) is fixedly connected to the piston rod end of the supporting oil cylinder (26), the roller (28) is rotatably mounted on the upper end of the roller support (27) through a rotating shaft (29) at its center, and the pressure sensor is mounted between the lower end of the roller support (27) and the piston rod end of the supporting oil cylinder (26) for collecting the pressure signal borne by the roller support (27); the front frame support leg (6) is a telescopic hydraulic cylinder, and its cylinder barrel is located at the upper part;Two pairs of front frame support legs (6) are spaced apart from each other in front and back, and the front pair of front frame support legs (6) are relatively fixedly mounted on the left and right ends of the lower end surface of the front frame front cross beam (13), and the rear pair of front frame support legs (6) are relatively fixedly mounted on the left and right ends of the lower end surface of the front frame rear cross beam (5); The front adaptive support adjustment unit comprises four front support adjustment components, and the four front support adjustment components are respectively arranged on the four front frame support legs (6). The front support adjustment components comprise a front support displacement sensor, a front support pressure sensor, a front electric rotating support, a front tilt angle sensor, an electromagnetic reversing valve 1, a transmission module 1 and a microprocessor 1 (39); the front support displacement sensor is connected to the piston rod of the front frame support leg (6) and is used to collect the telescopic displacement signal of the front frame support leg (6); the front support pressure sensor is connected to the rodless cavity of the front frame support leg (6) and is used to collect the pressure signal in the rodless cavity of the front frame support leg (6); the front electric rotating support comprises a rotatable support foot 1 (40) and a front support foot driving motor; the rotatable support foot One (40) is hingedly connected to the end of the piston rod of the front frame support leg (6), the front support leg driving motor is installed on one side of the piston rod end of the front frame support leg (6), and its output shaft is connected to the rotating shaft of the rotatable support leg one (40), and is used to drive the rotatable support leg one (40) to rotate relative to the front frame support leg (6); the front inclination angle sensor is installed on the rotatable support leg one (40), and is used to collect the inclination angle signal of the rotatable support leg one (40); the oil inlet of the electromagnetic reversing valve one is connected to the high-pressure oil source, and its working oil port is connected to the front frame support leg (6); the microprocessor one (39) is respectively connected to the front support displacement sensor, the front support pressure sensor, the front inclination angle sensor, the front support leg driving motor, the electromagnetic reversing valve one and the transmission module one; The rear movable support mechanism (37) comprises a rear support frame (12) and a rear rolling support mechanism (31); the rear frame longitudinal beam (10) and the rear support frame (12) comprise a rear frame front cross beam (8), a rear frame rear cross beam (14), a rear frame support leg (9) and a rear adaptive support adjustment unit; the two rear frame longitudinal beams (10) are respectively slidably arranged in two guide slide grooves (21) in the two front frame longitudinal beams (7); the rear frame front cross beam (8) and the rear frame rear cross beam (14) are arranged side by side on the front and rear sides of the front frame rear cross beam (5); the upper part of the rear frame front cross beam (8) is provided with two rear guide grooves (32) corresponding to the positions of the two front rolling support mechanisms (22) close to the central area, and the two ends in the length direction are respectively fixedly connected to the front ends of the two front frame longitudinal beams (7); the rear side end surface of the rear frame rear cross beam (14) is provided with a rear guide groove (32) The camera (33), the rear laser radar sensor (34), and the rear temperature, humidity and gas concentration sensor group (35) are respectively fixedly connected at both ends in the length direction to the rear ends of the two front frame longitudinal beams (7); the structure of the rear rolling support mechanism (31) is the same as that of the front rolling support mechanism (22); the number of the rear rolling support mechanisms (31) is three, and they are respectively located above the three front guide grooves (16), and are fixedly installed side by side on the upper end of the rear support frame (12); the rear frame support legs (9) are telescopic hydraulic cylinders, and their cylinder barrels are located at the upper part; the two pairs of rear frame support legs (9) are distributed in a front-to-back manner, and the front pair of rear frame support legs (9) are relatively fixedly installed at the left and right ends of the lower end surface of the rear frame front cross beam (8), and the rear pair of rear frame support legs (9) are relatively fixedly installed at the left and right ends of the lower end surface of the rear frame rear cross beam (14); The rear adaptive support adjustment unit comprises four rear support adjustment components, which are respectively arranged on four rear frame support legs (9), and the rear support adjustment components comprise a rear support displacement sensor, a rear support pressure sensor, a rear electric rotating support, a rear tilt angle sensor, a second electromagnetic reversing valve, a second transmission module and a second microprocessor (40); the rear support displacement sensor is connected to the piston rod of the rear frame support leg (9) and is used to collect the telescopic displacement signal of the rear frame support leg (9); the rear support pressure sensor is connected to the rodless cavity of the rear frame support leg (9) and is used to collect the pressure signal in the rodless cavity of the rear frame support leg (9); the rear electric rotating support comprises a second rotatable support foot (42) and a rear support foot driving motor; the rotatable support foot The second (42) is hingedly connected to the piston rod end of the rear frame support leg (9); the rear support leg driving motor is installed on one side of the piston rod end of the rear frame support leg (9), and its output shaft is connected to the rotating shaft of the rotatable support leg second (42), and is used to drive the rotatable support leg second (42) to rotate relative to the rear frame support leg (9); the rear inclination angle sensor is installed on the rotatable support leg second (42), and is used to collect the inclination angle signal of the rotatable support leg second (42); the oil inlet of the electromagnetic reversing valve second is connected to the high-pressure oil source, and its working oil port is connected to the rear frame support leg (9); the microprocessor second (40) is respectively connected to the rear support displacement sensor, the rear support pressure sensor, the rear inclination angle sensor, the rear support leg driving motor, the electromagnetic reversing valve second and the transmission module second; Two transverse telescopic driving hydraulic cylinders (20) are relatively distributed on the outside of the two rear frame longitudinal beams (10), and their bases are connected to the rear end surfaces of the two front frame longitudinal beams (7) through two front connecting seats, and their piston rod ends are connected to the rear section outer sides of the two rear frame longitudinal beams (10) through rear connecting seats; The auxiliary net rolling mechanism (2) is fixedly connected between the front ends of the two front rolling support mechanisms located in the middle, and the front end surface of the auxiliary net rolling mechanism (2) is an arc-shaped structure. At the same time, the auxiliary net rolling mechanism (2) is equipped with a deviation adjustment device that can move along its length direction; The net rolling mechanism (4) comprises a net rolling drum and a net rolling drive motor, wherein the net rolling drum is rotatably connected between the upper ends of a pair of front frame support legs (6) at the front side through two short shafts at both ends of the net rolling drum, and the net rolling drive motor is installed on one of the front frame support legs (6) at the front side, and its output shaft is connected to a short shaft of the net rolling drum; The main body of the grid net (3) is wound on the net-rolling drum of the net-rolling mechanism (4), and the free end of the grid net is wound around the auxiliary net-rolling mechanism (2) and then reaches the upper end surface of the rolling support device (1); The main control unit comprises a first electromagnetic reversing valve group, a second electromagnetic reversing valve group, a third electromagnetic reversing valve group, a fourth electromagnetic reversing valve group, a display screen, a wireless communication module and a controller; the oil inlet of the first electromagnetic reversing valve group is connected to a high-pressure oil source, and its working oil port is respectively connected to a plurality of supporting oil cylinders (26) through high-pressure pipelines; the oil inlet of the second electromagnetic reversing valve group is connected to a high-pressure oil source, and its working oil port is respectively connected to two lateral telescopic driving hydraulic cylinders (20) through high-pressure pipelines; the oil inlet of the third electromagnetic reversing valve group is connected to a high-pressure oil source, and its working oil port is connected to an auxiliary support leg (23) in a front rolling support mechanism (22). The oil inlet of the fourth electromagnetic reversing valve group is connected to the high-pressure oil source, and its working oil port is connected to the auxiliary support leg (22) in the rear rolling support mechanism (31); the display screen is installed on the rear frame longitudinal beam (10) on one side; the wireless communication module 1 is respectively connected to the transmission module 1 and the transmission module 2; the controller is respectively connected to the pressure sensor, the front camera (17), the front laser radar sensor (18), the front temperature, humidity and gas concentration sensor group (19), the rear camera (33), the rear laser radar sensor (34), the rear temperature, humidity and gas concentration sensor group (35), the rolling net drive motor, the deviation adjustment device and the electric hinge (42).

2. According to claim 1, the intelligent self-moving and automatic mesh laying temporary support system is characterized in that: The roller (28) is made of NBR nitrile rubber; and the grille net (3) is made of high-strength polymer material.

3. The intelligent self-moving and automatic mesh laying temporary support system according to claim 2 is characterized in that: The lower end of the roller support (27) is provided with a mounting hole with an internal thread structure; the end of the piston rod of the supporting oil cylinder (26) is provided with an external thread structure and is fixedly inserted into the mounting hole through thread matching.

4. An intelligent self-moving and automatic net-laying temporary support system according to claim 1, characterized in that: The front camera (27) and the rear camera (27) are both 360-degree panoramic cameras.

5. The intelligent self-moving and automatic mesh-laying temporary support system according to claim 1 or 2, characterized in that: It also includes a ground monitoring center, which includes a data processor, a wireless communication module 2 and a display; the wireless communication module 2 is connected to the wireless communication module 1; and the data processor is connected to the wireless communication module 2 and the display respectively.

6. The intelligent self-moving and automatic mesh-laying temporary support system according to claim 1 or 2, characterized in that: The main control unit also includes an alarm module, which is installed on a rear frame longitudinal beam (10) on one side and is connected to the controller.

7. A control method for an intelligent self-moving and automatic mesh-laying temporary support system, using an intelligent self-moving and automatic mesh-laying temporary support system as claimed in any one of claims 1 to 6, characterized in that: The following steps are involved: Step 1: Initial data collection and environmental analysis; S11: using the front camera (17) to collect front environment image data in real time and send it to the controller; using the front laser radar sensor (18) to collect front obstacle signals in real time and send it to the controller; using the front temperature, humidity and gas concentration sensor group (19) to collect front side temperature, humidity signals and front side gas concentration signals in real time and send them to the controller; using the rear camera (33) to collect rear environment image data in real time and send it to the controller; using the rear laser radar sensor (34) to collect rear obstacle signals in real time and send it to the controller; using the rear temperature, humidity and gas concentration sensor group (35) to collect rear side temperature, humidity signals and rear side gas concentration signals in real time and send them to the controller; S12: The controller processes the front environment image data and the rear environment image data based on the machine learning optimization algorithm, analyzes the stability of the tunnel roof and the surrounding rock based on the processing result data, and generates initial support parameters; the controller obtains the front temperature and humidity data and the front gas concentration data according to the front temperature and humidity signal and the front gas concentration signal received in real time, and when any one of the data exceeds the corresponding set threshold, controls the alarm module to perform an alarm action, and at the same time, sends an alarm reminder message to the display screen; at the same time, the controller obtains the rear temperature and humidity data and the rear gas concentration data according to the rear temperature and humidity signal and the rear gas concentration signal received in real time, and when any one of the data exceeds the corresponding set threshold, controls the alarm module to perform an alarm action, and at the same time, sends an alarm reminder message to the display screen; Step 2: Positioning and preliminary support of the rolling support device; S21: controlling the first electromagnetic reversing valve group to operate according to the initial support parameters, adjusting the extension and retraction ranges of the correspondingly controlled multiple support cylinders (16), so that the support heights of the corresponding multiple support bodies (30) on the front rolling support mechanism (22) and the corresponding multiple support bodies (30) on the rear rolling support mechanism (31) adapt to the fluctuation of the roof, and preliminarily establishing temporary support; S22: using a pressure sensor on the support body (30) to collect a pressure signal in real time and send it to a controller; the controller obtains pressure data of multiple support bodies (30) based on the received multiple pressure signals, and obtains force distribution conditions of multiple support points based on the pressure data of the multiple support bodies (30); and then adjusts the extension and contraction ranges of multiple support cylinders (26) in a closed loop based on the force distribution conditions of the multiple support points, so that the forces on the multiple support points are uniform; At the same time, the front support adjustment component is used to monitor the corresponding front frame support leg (6), and the collected front support displacement signal, front support pressure signal, and front tilt angle signal are sent to the microprocessor 1. The microprocessor 1 obtains the front support displacement data, front support pressure data, and front tilt angle data according to the front support displacement signal, the front support pressure signal, and the front tilt angle signal, and controls the electromagnetic reversing valve 1 to operate according to the front support displacement data and the front support pressure data, so as to adjust the telescopic range of the corresponding front frame support leg (6) to adapt to the current support working condition, and controls the front support foot driving motor to rotate to a set angle according to the front tilt angle data, so as to drive the rotatable support foot 1 (40) to reach a support state that is in contact with the ground; at the same time, the microprocessor 1 transmits the front tilt angle data to the controller through the wireless communication link between the transmission module 1 and the wireless communication module 1, and the controller controls the electric hinge (42) in the front rolling support mechanism (22) to rotate to a set angle according to the front tilt angle data, so as to make the auxiliary support leg (25) in the front rolling support mechanism (22) rotate to a set angle and reach an auxiliary support state; At the same time, the rear support adjustment component is used to monitor the corresponding rear frame support leg (9), and the collected rear support displacement signal, rear support pressure signal, and rearward tilt angle signal are sent to the second microprocessor. The second microprocessor obtains rear support displacement data, rear support pressure data, and rearward tilt angle data according to the rear support displacement signal, rear support pressure signal, and rearward tilt angle signal, and controls the action of the second electromagnetic reversing valve according to the rear support displacement data and rear support pressure data to adjust the extension and contraction range of the corresponding rear frame support leg (9) to adapt to the current support working condition, and controls the rear support foot driving motor to rotate to a set angle according to the rearward tilt angle data, so as to drive the rotatable support foot (42) to achieve a support state that fits the ground; at the same time, the second microprocessor transmits the rearward tilt angle data to the controller through the wireless communication link between the second transmission module and the first wireless communication module, and the controller controls the electric hinge (42) in the rear rolling support mechanism (31) to rotate to a set angle according to the rearward tilt angle data, so as to make the auxiliary support leg (25) in the rear rolling support mechanism (31) rotate to a set angle and achieve an auxiliary support state; Step 3: Preparation for laying the grille mesh (3); The free end of the grid net (3) is wound around the auxiliary net rolling mechanism (2) to reach the upper end surface of the rolling roof support device (1), and is fixed. The release speed of the grid net (3) is adjusted according to the cross-sectional dimensions of the tunnel and the roof conditions to ensure that the grid net (3) is evenly unfolded; Step 4: Intelligent mesh laying and step support work together; S41: The rear movable support mechanism (37) is maintained in a supporting state. The controller sends a moving signal to the front adaptive support adjustment unit. After receiving the moving signal, the microprocessors 1 in the four front support adjustment components respectively control the corresponding electromagnetic reversing valves 1 to operate, so that the corresponding front frame support legs (6) are retracted to a set distance to reach a non-supporting state. At the same time, the controller controls the electric hinges (42) in the front rolling support mechanism (22) to rotate to a set angle, so that the auxiliary support legs (25) in the front rolling support mechanism (22) are rotated to a set angle and reach a fully folded state. The controller controls the electromagnetic reversing valve group 2 to operate, and synchronously controls the two transverse telescopic drive hydraulic cylinders (20) to extend to a set length, so that the front movable support mechanism (36) moves forward a certain distance relative to the rear movable support mechanism (37). After reaching the set position, the microprocessors 1 in the four front support adjustment components control the corresponding electromagnetic reversing valves 1 to operate, so that the four front frame support legs (6) reach the supporting state again. S42: The front movable support mechanism (36) is maintained in the supporting state. The controller sends a moving signal to the rear adaptive support adjustment unit. After receiving the moving signal, the microprocessors 2 in the four rear support adjustment components respectively control the corresponding electromagnetic reversing valves 2 to operate, so that the corresponding rear frame support legs (9) are retracted to a set distance to reach a non-supporting state. At the same time, the controller controls the electric hinges (42) in the rear rolling support mechanism (31) to rotate to a set angle, so that the auxiliary support legs (25) in the rear rolling support mechanism (31) are rotated to a set angle and reach a fully folded state. The controller controls the electromagnetic reversing valve group 2 to operate, and synchronously controls the two transverse telescopic driving hydraulic cylinders (20) to retract to a set length, so that the rear movable support mechanism (37) moves forward a certain distance relative to the front movable support mechanism (36). After reaching the set position, the microprocessors 2 in the four rear support adjustment components control the corresponding electromagnetic reversing valves 2 to operate, so that the four rear frame support legs (9) reach the supporting state again. S43: S41 and S42 are repeatedly executed to realize the alternating stepping movement of the front moving support mechanism (36) and the rear moving support mechanism (37), and at the same time, the action of the rolling net drive motor is synchronously controlled so that the rolling net mechanism (4) releases the grille net (3) at a uniform speed according to the speed of the stepping movement, and the grille net (3) is supported tightly on the roof surface by using four front rolling support mechanisms (22) and three rear rolling support mechanisms (31) arranged in a front-to-back staggered manner, so as to realize the automatic follow-up laying operation of the grille net (3) in sections during the stepping support process of the support; At the same time, the controller determines whether there are pedestrians or other equipment passing in front according to the front environmental image data and the front obstacle signal received in real time, and controls the first electromagnetic reversing valve group to work in the middle position and stops the forward stepping and self-moving action when pedestrians or other equipment pass by; at the same time, the controller determines whether there are pedestrians or other equipment passing in the rear according to the rear environmental image data and the rear obstacle signal received in real time, and controls the second electromagnetic reversing valve group to work in the middle position and stops the forward stepping and self-moving action when pedestrians or other equipment pass by; the controller obtains the front temperature and humidity data and the front gas concentration data according to the front temperature and humidity signals and the front gas concentration signals received in real time, and controls the alarm module to perform an alarm action when any one of the data exceeds the corresponding set threshold, and at the same time, sends an alarm reminder message to the display screen; at the same time, the rear temperature and humidity data and the rear gas concentration data are obtained according to the rear temperature and humidity signals and the rear gas concentration signals received in real time, and controls the alarm module to perform an alarm action when any one of the data exceeds the corresponding set threshold, and at the same time, sends an alarm reminder message to the display screen; At the same time, the controller obtains the pressure data of the multiple support bodies (30) according to the multiple pressure signals received in real time, and obtains the force distribution of the multiple support points according to the pressure data of the multiple support bodies (30), and then adjusts the extension and contraction range of the multiple support cylinders (26) in a closed loop according to the force distribution of the multiple support points, so that the support heights of the multiple support bodies (30) corresponding to the front rolling support mechanism (22) and the multiple support bodies (30) corresponding to the rear rolling support mechanism (31) can adapt to the fluctuation of the top plate, and make the force of the multiple support points uniform; when the pressure data of one or more support points are abnormal, the alarm module is controlled to perform an alarm action, and at the same time, an alarm reminder message is sent to the display screen; Step 5: System reset; After completing the support task, the intelligent self-moving and automatic mesh-laying temporary support system is controlled to restore to its initial state and record the data during this operation.

8. The control method of the intelligent self-moving and automatic mesh-laying temporary support system according to claim 7 is characterized in that: In step 4 S43, when the grille mesh (3) deviates, the grille mesh (3) is adjusted using the deviation adjustment device to prevent the grille mesh (3) from deviating, and at the same time, ensure that the mesh surface of the grille mesh (3) is tightened to a set tension state. At the same time, the controller obtains the laying length data of the grille mesh (3) according to the rotation speed and working time of the mesh rolling drive motor, and obtains the remaining material data of the grille mesh (3). When the remaining material data is less than the set remaining material threshold, the alarm device is controlled to perform an alarm action, and a remaining material shortage reminder message is sent to the display screen.

9. The control method of the intelligent self-moving and automatic mesh laying temporary support system according to claim 8 is characterized in that: In step 4 S41, the front support adjustment component is used to monitor the corresponding front frame support leg (6), and the collected front support displacement signal, front support pressure signal, and front inclination angle signal are sent to the microprocessor 1, and the microprocessor 1 obtains the front support displacement data, front support pressure data, and front inclination angle data according to the front support displacement signal, the front support pressure signal, and the front inclination angle signal, and controls the electromagnetic reversing valve 1 to act according to the front support displacement data and the front support pressure data, so as to adjust the telescopic range of the corresponding front frame support leg (6) to adapt to the current support working condition, and controls the front support foot driving motor to rotate to a set angle according to the front inclination angle data, so as to drive the rotatable support foot 1 (40) to reach a support state that fits the ground; In step 4 S42, the rear support adjustment component is used to monitor the corresponding rear frame support leg (9), and the collected rear support displacement signal, rear support pressure signal, and rear inclination angle signal are sent to the microprocessor 2. The microprocessor 2 obtains rear support displacement data, rear support pressure data, and rear inclination angle data according to the rear support displacement signal, rear support pressure signal, and rear inclination angle signal, and controls the action of the electromagnetic reversing valve 2 according to the rear support displacement data and the rear support pressure data to adjust the extension and retraction range of the corresponding rear frame support leg (9) to adapt to the current support working condition, and controls the rear support foot driving motor to rotate to a set angle according to the rear inclination angle data to drive the rotatable support foot 2 (42) to achieve a support state that fits the ground.

10. The control method of the intelligent self-moving and automatic mesh laying temporary support system according to claim 9 is characterized in that: In step 4 S43, the controller sends the real-time received front environment image data, front obstacle signal, rear environment image data and rear obstacle signal, laying length data of the grid net (3), and force distribution of multiple support points to the data processor via the wireless communication link between the wireless communication module 1 and the wireless communication module 2. The data processor performs three-dimensional modeling of the working environment based on the environment image data and obstacle signal, and displays it in real time and intuitively on the display. The data processor obtains the tunnel pressure distribution data based on the force distribution of multiple support points, and displays the laying length data of the grid net (3) and the tunnel pressure distribution data in real time and intuitively on the display.

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