A roadway support device and method based on a servo system

Abstract

The present invention belongs to the technical field of roadway support equipment, and specifically discloses a roadway support device and method based on a servo system. During the installation and use process of the support device of the present invention, the sectional support size can be flexibly adjusted according to the specific shape, deformation condition, and stress condition of the roadway section. It can adapt to different roadway section deformation conditions by adjusting the support structure. Whether the width, height, or orientation of the roadway changes, it can be adapted by adjusting the support structure to ensure stable and timely support for the roadway; real-time monitoring of the hydraulic support is carried out, and support information is obtained in a timely manner through sensors. When the roadway undergoes deformation, displacement, or ground pressure change, the servo system quickly responds to the support information, timely adjusts the telescopic amount of the hydraulic cylinder, and dynamically adjusts the support structure and support force to ensure the rationality and uniformity of the support of the support device, and improve the accuracy and reliability of roadway support.

Description

Technical Field

[0001] The present invention belongs to the technical field of roadway support equipment, and particularly relates to a roadway support device and method based on a servo system. Background Art

[0002] During the underground mineral mining process, the stability of the roadway is crucial. Especially in some soft rock and broken strata, the roadway support load is relatively high, and the roadway deformation is large and uneven, which poses higher requirements for roadway support. The rigid passive support structure has become an important means of roadway support. Compared with other support means, various rigid support structures have a large bearing capacity and support stiffness, and can effectively control the stability of the roadway, and are widely used in roadway support projects.

[0003] With the increase of the mining depth and difficulty of the mine, the requirements for roadway support are also getting higher and higher. The traditional rigid support is difficult to meet the needs of modern mine mining. On the one hand, most of the traditional support structures are fixed structures installed once, with poor adjustability, and it is difficult to adjust the section size according to the force condition of the roadway section, which may cause problems such as insufficient initial support or overloading of the later support; on the other hand, the support structure lacks a monitoring and real-time feedback mechanism for the support force, and it is difficult to dynamically adjust the support structure and support force in a timely manner according to the roadway deformation condition, so as to realize the optimal control of the support effect; due to the above problems, many mine supports are difficult to effectively control the deformation and displacement of the roadway surrounding rock, resulting in an increase in the roadway maintenance cost and affecting the production efficiency and economic benefits of the mine. Summary of the Invention

[0004] The purpose of the present invention is to provide a roadway support device and method based on a servo system, which can evaluate the support load according to real-time monitoring data, and realize the timely adjustment of the support structure through the real-time feedback of the servo system, so as to continuously optimize the support effect according to the roadway deformation condition.

[0005] In order to achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] A roadway support device based on a servo system, comprising:

[0007] A main beam, arranged horizontally;

[0008] Auxiliary beams, one is arranged on each of the left and right sides horizontally. The inner ends of one auxiliary beam are hinged to the left and right sides of the main beam respectively;

[0009] Side guard frames, one is arranged on each of the left and right sides vertically;

[0010] First hydraulic cylinders, at least one is arranged on each of the left and right sides. One end is hinged to the outer end of the auxiliary beam on the same side, and the other end is hinged to the upper end of the side guard frame on the same side;

[0011] There are two cantilevers, one arranged on each of the left and right sides. One end is hinged to the outer end of the auxiliary beam on the same side through a hinge shaft, and the other end is hinged to the upper end of the side guard on the same side through a hinge shaft;

[0012] There are two pedestals, one arranged on each of the left and right sides;

[0013] There is at least one second hydraulic cylinder arranged on each of the left and right sides. One end is connected to the side guard on the same side, and the other end is connected to the pedestal;

[0014] There are two support sleeves arranged along the vertical direction on each of the left and right sides, and they are arranged on the side guard on the same side;

[0015] There are two support columns arranged along the vertical direction on each of the left and right sides. One end is slidably fitted inside the support sleeve on the same side, and the other end is fixedly connected to the pedestal on the same side.

[0016] Preferably, a first locking mechanism is provided between the cantilever and the auxiliary beam and between the cantilever and the side guard; the first locking mechanism can lock between the cantilever and the auxiliary beam to maintain the relative position between the cantilever and the auxiliary beam; the first locking mechanism can lock between the cantilever and the side guard to maintain the relative position between the cantilever and the side guard.

[0017] Preferably, the first locking mechanism includes a first support seat, a limiting member, a locking member, and a driving handle;

[0018] In the first locking mechanism between the cantilever and the auxiliary beam, the hinge shaft is rotatably connected to the auxiliary beam, and the first support seat is fixedly connected to the auxiliary beam;

[0019] In the first locking mechanism between the cantilever and the side guard, the hinge shaft is rotatably connected to the side guard, and the first support seat is fixedly connected to the side guard;

[0020] The hinge shaft is fixedly connected to the cantilever, and the limiting member is arranged at one end of the hinge shaft;

[0021] The locking member is slidably fitted with the first support seat and can approach and abut or move away from the limiting member; when the locking member approaches and abuts the limiting member, the locking member restricts the rotation of the limiting member;

[0022] The driving handle drives the locking member to approach and abut or move away from the limiting member.

[0023] Preferably, a threaded hole is formed in the first support seat, an external thread is provided on the outer side of the driving handle, and the driving handle is threadedly connected to the threaded hole; the inner end of the driving handle is connected to the locking member through a bearing.

[0024] Preferably, a second locking mechanism is provided between the support sleeve and the support column; the second locking mechanism can lock between the support sleeve and the support column to maintain the relative position between the support sleeve and the support column.

[0025] Preferably, the second locking mechanism includes a second support base, a locking pin and a limiting groove;

[0026] The second support base is arranged on the support sleeve, and the locking pin is arranged on the second support base;

[0027] A plurality of limiting grooves are arranged vertically on the support column;

[0028] The locking pin can be close to or away from the limiting groove; when the locking pin is close to and abuts against the limiting groove, the locking pin restricts the relative sliding of the support column with respect to the support sleeve.

[0029] Preferably, the cross-section of the support column and the cross-section of the inner contour of the support sleeve are both triangular.

[0030] Preferably, a first ear plate is arranged at the edge position of the auxiliary beam, and a first anchoring hole is formed on the first ear plate. After the auxiliary beam abuts against the roadway roof, an anchor passes through the first anchoring hole to be anchored and connected to the roadway roof;

[0031] A second ear plate is arranged at the edge position of the side guard frame, and a second anchoring hole is formed on the second ear plate. After the side guard frame abuts against the roadway sidewall, an anchor passes through the second anchoring hole to be anchored and connected to the roadway sidewall.

[0032] Preferably, both the first hydraulic cylinder and the second hydraulic cylinder are connected with pressure sensors, and the pressure sensors are used to monitor the axial forces of the first hydraulic cylinder and the second hydraulic cylinder;

[0033] Displacement sensors are arranged on both the first hydraulic cylinder and the second hydraulic cylinder, and the displacement sensors are used to monitor the telescopic amounts of the first hydraulic cylinder and the second hydraulic cylinder;

[0034] n patch type strain sensors are arranged at the set positions on the outer end faces of the main beam, the auxiliary beam and the side guard frame, and the strain sensors are used to monitor the strain amounts of the main beam, the auxiliary beam and the side guard frame.

[0035] A roadway support method based on a servo system, applying the above-mentioned roadway support device based on a servo system, the method includes the following steps:

[0036] Step 1: Establish a three-dimensional finite element analysis model of the roadway support device based on a servo system through finite element analysis. According to the different telescopic amounts and axial force change ranges of the first hydraulic cylinder and the second hydraulic cylinder, conduct working condition simulations under different loads, and extract the data under each working condition. The data includes the loads of each monitoring point on both sides and the top of the roadway support device based on a servo system, the telescopic amounts of each hydraulic cylinder, the axial forces of each hydraulic cylinder, and the strain amounts of the main beam, the auxiliary beam and the side guard frame. The data under each working condition constitutes a training data set;

[0037] Step 2: Based on the training dataset, use a deep learning framework to construct a fully connected neural network to obtain a load evaluation model M;

[0038] The input layer of the load evaluation model M includes: the strain amounts ε1, ε2... ε i …ε n monitored by the strain sensors, the telescopic amounts δ1, δ2, δ3, δ4 of each hydraulic cylinder, and the axial forces F1, F2, F3, F4 of each hydraulic cylinder;

[0039] The output layer of the load evaluation model M is the load distribution f L1 、f L2 …f Li …f Ln ,f R1 、f R2 …f Ri …f Rn ,f t1 、f t2 …f ti …f tn ;at the positions of each monitoring point on both sides and the top of the roadway support device based on the servo system;

[0040] Step 3: Read in real time the strain amounts monitored by the strain sensors, the telescopic amounts of each hydraulic cylinder monitored by the displacement sensors, and the axial forces of each hydraulic cylinder monitored by the pressure sensors, and input them into the load evaluation model M to output in real time the load distribution at the positions of each monitoring point on both sides and the top of the roadway support device based on the servo system;

[0041] Step 4: Determine whether the load distribution at the positions of each monitoring point on both sides and the top of the roadway support device based on the servo system meets the roadway support design load conditions;

[0042] When the roadway support design load conditions are not met, adjust the telescopic amounts of the hydraulic cylinders according to the following three working conditions to meet the roadway support design load conditions:

[0043] Working condition 1: The load difference at the positions of the left and right monitoring points is less than or equal to the preset value, but the load at the position of each monitoring point is less than or equal to the load preset range. Increase the telescopic amounts of each hydraulic cylinder to δ1a, δ2a, δ3a, δ4a;

[0044] Working condition 2: The load difference at the positions of the left and right monitoring points is less than or equal to the preset value, but the load at the position of each monitoring point is greater than the preset range. Decrease the telescopic amounts of each hydraulic cylinder to δ1b, δ2b, δ3b, δ4b;

[0045] Working condition 3: The load difference at the positions of the left and right monitoring points is greater than the preset value. Decrease the telescopic amount of the hydraulic cylinder on the side with the larger load and increase the telescopic amount of the hydraulic cylinder on the side with the smaller load to make the telescopic amounts of each hydraulic cylinder reach δ1c, δ2c, δ3c, δ4c;

[0046] After adjusting the telescopic amount of at least one hydraulic cylinder through Working Condition 1 and / or Working Condition 2 and / or Working Condition 3, when the telescopic amount of at least one hydraulic cylinder reaches the maximum telescopic amount and still does not meet the roadway support design load condition, early warning processing is carried out.

[0047] The beneficial technical effects of the present invention are as follows:

[0048] 1. Enhanced adaptability: During the installation and use process, the sectional support size can be flexibly adjusted according to the specific shape, deformation condition, and stress condition of the roadway section. It can adapt to different roadway section deformation conditions by adjusting the support structure. Whether the width, height, or orientation of the roadway changes, it can be adapted by adjusting the support structure to ensure stable and timely support for the roadway.

[0049] 2. Flexibility in use: This support device can be used in conjunction with anchor fittings and is connected to the roadway roof and both sides as a whole, effectively improving the stability of the mine roadway support.

[0050] 3. Real-time monitoring and precise adjustment: The hydraulic support is monitored in real time, and support information is obtained in a timely manner through sensors. When the roadway deforms, displaces, or the ground pressure changes, the servo system quickly responds to the support information and timely adjusts the telescopic amount of the hydraulic cylinder to dynamically adjust the support structure and support force, ensuring the rationality and uniformity of the support of the support device and improving the accuracy and reliability of the roadway support.

[0051] 4. Convenience in transportation: This support device can be folded and contracted, reducing the overall external dimension and occupying less space. It can be conveniently placed in the auxiliary shaft cage or passed through narrow roadways, effectively improving the underground transportation efficiency.

[0052] 5. Convenience in maintenance: In case of emergencies such as the failure of the hydraulic cylinder, due to its more reasonable structure design, it is possible to replace a single hydraulic cylinder separately, reducing the maintenance cost and difficulty and improving the maintenance efficiency. Description of the Drawings

[0053] Figure 1 is a three-dimensional view of the roadway support device based on the servo system according to the embodiment of the present invention Figure 1 ;

[0054] Figure 2 is a three-dimensional view of the roadway support device based on the servo system according to the embodiment of the present invention Figure 2 ;

[0055] Figure 3 is Figure 2 the partial enlarged view at A in

[0056] Figure 4This is the front view of the roadway support device based on the servo system according to the embodiment of the present invention;

[0057] Figure 5 This is the top view of the roadway support device based on the servo system according to the embodiment of the present invention;

[0058] Figure 6 This is the partial structural schematic diagram of the roadway support device based on the servo system according to the embodiment of the present invention;

[0059] Figure 7 This is the structural schematic diagram of the first locking mechanism according to the embodiment of the present invention;

[0060] Figure 8 This is the principle schematic diagram of the force analysis of the roadway support device based on the servo system according to the embodiment of the present invention;

[0061] Figure 9 This is the operation logic diagram of the roadway support method based on the servo system according to the embodiment of the present invention;

[0062] Reference numerals:

[0063] 11, main beam; 12, auxiliary beam; 13, side guard frame; 21, first hydraulic cylinder; 22, second hydraulic cylinder; 3, cantilever; 4, base; 51, support sleeve; 52, support column; 60, hinge shaft; 61, first support seat; 611, threaded hole; 62, limiting member; 63, locking member; 64, driving handle; 65, bearing; 71, second support seat; 72, locking pin; 73, limiting groove; 81, first ear plate; 811, first anchoring hole; 82, second ear plate; 821, second anchoring hole. Detailed implementation manners

[0064] To make the objectives, technical solutions and beneficial effects of the present invention clearer and more understandable, the following further describes the present invention in detail with reference to specific embodiments and the accompanying drawings. Some but not all of the embodiments of the present invention will be shown in more comprehensive descriptions with reference to the accompanying drawings later. In fact, various embodiments of the present invention can be implemented in many different forms and should not be construed as limited to the embodiments described herein; on the contrary, these embodiments are provided so that the present invention meets the applicable legal requirements.

[0065] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "inside", "outside", "above", "below", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0066] In an embodiment of the present invention, a roadway support device and method based on a servo system are provided. Please refer to Figures 1 to 9 as shown.

[0067] A roadway support device based on a servo system includes a main beam 11, auxiliary beams 12, side guard frames 13, first hydraulic cylinders 21, second hydraulic cylinders 22, cantilevers 3, bases 4, support sleeves 51 and support columns 52.

[0068] The main beam 11 is arranged horizontally. An auxiliary beam 12 is arranged on each of the left and right sides of the main beam 11. The auxiliary beams 12 are arranged horizontally. The inner ends of the auxiliary beams 12 are hinged to the left and right sides of the main beam 11 respectively. The side guard frames 13 are U-shaped, and one side guard frame 13 is arranged on each of the left and right sides vertically. A number of rib plates 131 are arranged at equal intervals vertically inside the side guard frames 13 to improve the support strength of the side guard frames 13. Among them, the main beam 11 and the auxiliary beams 12 are used to abut against the roof of the roadway, and the side guard frames 13 are used to abut against the side walls of the roadway on both sides.

[0069] One first hydraulic cylinder 21 is arranged on each of the left and right sides of the support device. One end of the left first hydraulic cylinder 21 is hinged to the outer end of the left auxiliary beam 12, and the other end of the left first hydraulic cylinder 21 is hinged to the upper end of the left side guard frame 13. One end of the right first hydraulic cylinder 21 is hinged to the outer end of the right auxiliary beam 12, and the other end of the right first hydraulic cylinder 21 is hinged to the upper end of the right side guard frame 13.

[0070] One cantilever 3 is arranged on each of the left and right sides of the support device. One end of the left cantilever 3 is hinged to the outer end of the left auxiliary beam 12 through a hinge shaft 60, and the other end of the left cantilever 3 is hinged to the upper end of the left side guard frame 13 through the hinge shaft 60. One end of the right cantilever 3 is hinged to the outer end of the right auxiliary beam 12 through the hinge shaft 60, and the other end of the right cantilever 3 is hinged to the upper end of the right side guard frame 13 through the hinge shaft 60.

[0071] One base 4 is arranged on each of the left and right sides of the support device.

[0072] Two second hydraulic cylinders 22 are arranged on each of the left and right sides of the support device. One end of the left second hydraulic cylinder 22 is connected to the left side guard frame 13, and the other end of the left second hydraulic cylinder 22 is connected to the base 4. One end of the right second hydraulic cylinder 22 is connected to the right side guard frame 13, and the other end of the right second hydraulic cylinder 22 is connected to the base 4.

[0073] One support sleeve 51 is arranged on each of the left and right sides of the support device. The support sleeves 51 are arranged vertically. The left support sleeve 51 is arranged on the left side guard frame 13, and the right support sleeve 51 is arranged on the right side guard frame 13.

[0074] A support column 52 is arranged on each of the left and right sides of the support device. The support columns 52 are arranged vertically. One end of the left support column 52 is slidably fitted inside the left support sleeve 51, and the other end of the left support column 52 is fixedly connected to the left base 4. One end of the right support column 52 is slidably fitted inside the right support sleeve 51, and the other end of the right support column 52 is fixedly connected to the right base 4.

[0075] Wherein, the cross-sections of the support column 52 and the inner contour of the support sleeve 51 are both triangular to improve the stability of the support of the support column 52 and the support sleeve 51.

[0076] A first locking mechanism is provided between the cantilever 3 and the auxiliary beam 12 and between the cantilever 3 and the side guard 13. The first locking mechanism can lock between the cantilever 3 and the auxiliary beam 12 to maintain the relative position between the cantilever 3 and the auxiliary beam 12; the first locking mechanism can lock between the cantilever 3 and the side guard 13 to maintain the relative position between the cantilever 3 and the side guard 13. In case of an emergency such as the failure of the first hydraulic cylinder 21, the relative positions between the cantilever 3 and the auxiliary beam 12 and the side guard 13 are maintained through the first locking mechanism to replace the first hydraulic cylinder 21 alone.

[0077] The first locking mechanism includes a first support seat 61, a limiting member 62, a locking member 63 and a driving handle 64; in the first locking mechanism between the cantilever 3 and the auxiliary beam 12, the hinge shaft 60 is rotatably connected to the auxiliary beam 12, and the first support seat 61 is fixedly connected to the auxiliary beam 12; in the first locking mechanism between the cantilever 3 and the side guard 13, the hinge shaft 60 is rotatably connected to the side guard 13, and the first support seat 61 is fixedly connected to the side guard 13; the hinge shaft 60 is fixedly connected to the cantilever 3, and the limiting member 62 is arranged at one end of the hinge shaft 60; the locking member 63 is located inside the first support seat 61, the edge of the locking member 63 is slidably fitted with the first support seat 61, and the locking member 63 can approach and abut against or move away from the limiting member 62 under the action of an external force; when the locking member 63 approaches and abuts against the limiting member 62, the locking member 63 restricts the rotation of the limiting member 62; the driving handle 64 drives the locking member 63 to approach and abut against or move away from the limiting member 62. Wherein, the end faces of the contact between the limiting member 62 and the locking member 63 are respectively a convex and a concave groove, so that when the locking member 63 approaches and abuts against the limiting member 62, the locking member 63 can be firmly fitted with the limiting member 62 to restrict the rotation of the limiting member 62.

[0078] Wherein, a threaded hole 611 is formed in the first support seat 61, an external thread is provided on the outer side of the driving handle 64, the driving handle 64 is threadedly connected to the threaded hole, and the inner end of the driving handle 64 is connected to the locking member 63 through a bearing 65. Thus, by rotating the driving handle 64, the driving handle 64 rotates forward and backward relative to the threaded hole 611 to drive the locking member 63 to approach and abut against or move away from the limiting member 62.

[0079] A second locking mechanism is provided between the support sleeve 51 and the support column 52. The second locking mechanism can lock between the support sleeve 51 and the support column 52 to maintain the relative position between the support sleeve 51 and the support column 52. In case of an emergency such as the failure of the second hydraulic cylinder 22, the relative position between the support sleeve 51 and the support column 52 is maintained through the second locking mechanism to replace the second hydraulic cylinder 22 separately.

[0080] The second locking mechanism includes a second support base 71, a locking pin 72 and a limiting groove 73; the second support base 71 is arranged on the support sleeve 51, and the locking pin 72 is arranged on the second support base 71; a plurality of limiting grooves 73 are arranged vertically on the support column 52; the locking pin 72 can approach and abut or move away from the limiting groove 73; when the locking pin 72 approaches and abuts the limiting groove 73, the locking pin 72 restricts the support column 52 from sliding relative to the support sleeve 51.

[0081] Release the locking of the first locking mechanism between the cantilever 3, the auxiliary beam 12 and the side guard frame 13, and release the locking of the second locking mechanism between the support column 52 and the support sleeve 51. The components on both sides of each hinge position can be folded relative to each other, and the support column 52 and the support sleeve 51 can be relatively contracted, so that the overall external dimension of the support device is reduced and the occupied space is small. Then lock between the cantilever 3, the auxiliary beam 12 and the side guard frame 13 through the first locking mechanism, and lock between the support column 52 and the support sleeve 51 through the second locking mechanism to maintain the overall external dimension of the support device.

[0082] A first ear plate 81 is arranged at the edge position of the auxiliary beam 12, and a first anchoring hole 811 is opened on the first ear plate 81. After the auxiliary beam 12 abuts against the roadway roof, the anchor (bolt or cable) passes through the first anchoring hole 811 to be anchored and connected to the roadway roof. A second ear plate 82 is arranged at the edge position of the side guard frame 13, and a second anchoring hole 821 is opened on the second ear plate 82. After the side guard frame 13 abuts against the roadway side, the anchor (bolt or cable) passes through the second anchoring hole 821 to be anchored and connected to the roadway side. In this way, the support device can be used in cooperation with the anchor, and is connected to the roadway roof and both sides as a whole, effectively improving the stability of the support for the mine roadway and also improving the use flexibility.

[0083] Both the first hydraulic cylinder 21 and the second hydraulic cylinder 22 are connected with pressure sensors, and the pressure sensors are used to monitor the axial forces of the first hydraulic cylinder 21 and the second hydraulic cylinder 22. Displacement sensors are arranged on both the first hydraulic cylinder 21 and the second hydraulic cylinder 22, and the displacement sensors are used to monitor the expansion and contraction amounts of the first hydraulic cylinder 21 and the second hydraulic cylinder 22. n patch type strain sensors are arranged at the set positions on the outer end faces of the main beam 11, the auxiliary beam 12 and the side guard frame 13, and the strain sensors are used to monitor the strain amounts of the main beam 11, the auxiliary beam 12 and the side guard frame 13.

[0084] A roadway support method based on a servo system, which applies the above-mentioned roadway support device based on the servo system in this embodiment. The method includes the following steps:

[0085] Step 1: Establish a three-dimensional finite element analysis model of the roadway support device based on the servo system through finite element analysis. According to the different telescopic amounts and axial force change ranges of the first hydraulic cylinder 21 and the second hydraulic cylinder 22, conduct working condition simulations under different loads, and extract the data under each working condition. The data includes the loads at each monitoring point on both sides and the top of the roadway support device based on the servo system, the telescopic amounts of each hydraulic cylinder, the axial forces of each hydraulic cylinder, and the strain of the main beam 11, the auxiliary beam 12, and the side guard frame 13. The data under each working condition constitutes a training data set;

[0086] Step 2: Based on the training data set, use a deep learning framework to construct a fully connected neural network to obtain a load evaluation model M;

[0087] The input layer of the load evaluation model M includes: the strains ε1, ε2…ε i …ε n , measured by the strain sensors, the telescopic amounts δ1, δ2, δ3, δ4 of each hydraulic cylinder, and the axial forces F1, F2, F3, F4 of each hydraulic cylinder;

[0088] The output layer of the load evaluation model M is the load distribution f L1 、f L2 …f Li …f Ln ,f R1 、f R2 …f Ri …f Rn ,f t1 、f t2 …f ti …f tn ;

[0089] Step 3: Read in real time the strains measured by the strain sensors, the telescopic amounts of each hydraulic cylinder measured by the displacement sensors, and the axial forces of each hydraulic cylinder measured by the pressure sensors, and input them into the load evaluation model M to output in real time the load distribution at each monitoring point on both sides and the top of the roadway support device based on the servo system;

[0090] Step 4: Determine whether the load distribution at each monitoring point on both sides and the top of the roadway support device based on the servo system meets the roadway support design load conditions;

[0091] When the roadway support design load conditions are not met, adjust the telescopic amounts of the hydraulic cylinders according to the following three working conditions to meet the roadway support design load conditions:

[0092] Working condition 1: The load difference at the monitoring point positions on the left and right sides is less than or equal to the preset value, but the load at each monitoring point position is less than or equal to the load preset range. Increase the telescopic amounts of each hydraulic cylinder to δ1a, δ2a, δ3a, and δ4a;

[0093] Working condition 2: The load difference at the monitoring point positions on the left and right sides is less than or equal to the preset value, but the load at each monitoring point position is greater than the preset range. Decrease the telescopic amounts of each hydraulic cylinder to δ1b, δ2b, δ3b, and δ4b;

[0094] Working condition 3: The load difference at the monitoring point positions on the left and right sides is greater than the preset value. Decrease the telescopic amount of the hydraulic cylinder on the side with the larger load and increase the telescopic amount of the hydraulic cylinder on the side with the smaller load, so that the telescopic amounts of each hydraulic cylinder are δ1c, δ2c, δ3c, and δ4c;

[0095] After adjusting the telescopic amounts of the hydraulic cylinders through Working condition 1 and / or Working condition 2 and / or Working condition 3, when the telescopic amount of at least one hydraulic cylinder reaches the maximum telescopic amount and still does not meet the roadway support design load conditions, a warning process is performed.

[0096] So far, this embodiment has been described in detail with reference to the accompanying drawings. Based on the above description, those skilled in the art should have a clear understanding of the roadway support device and method based on the servo system of the present invention. The roadway support device and method based on the servo system of the present invention can flexibly adjust the section support size according to the specific shape, deformation condition, and stress condition of the roadway section during the installation and use process. It can adapt to different roadway section deformation conditions by adjusting the support structure. Whether the width, height, or orientation of the roadway changes, it can be adapted by adjusting the support structure to ensure stable and timely support for the roadway. This support device can be used in cooperation with anchor fittings and is connected to the roadway roof and both sides to effectively improve the stability of the mine roadway support. Real-time monitoring of the hydraulic support is carried out, and support information is obtained in a timely manner through sensors. When the roadway deforms, displaces, or the ground pressure changes, the servo system quickly responds to the support information, timely adjusts the telescopic amount of the hydraulic cylinder, and dynamically adjusts the support structure and support force to ensure the rationality and uniformity of the support of the support device and improve the accuracy and reliability of the roadway support. This support device can be folded and contracted, reducing the overall external dimension and occupying less space. It can be conveniently placed in the auxiliary shaft cage or passed through a narrow roadway, effectively improving the underground transportation efficiency. In case of an emergency such as the failure of a hydraulic cylinder, due to its more reasonable structural design, it is possible to replace a single hydraulic cylinder independently, reducing the maintenance cost and difficulty and improving the maintenance efficiency.

[0097] Certainly, the specific embodiments described above further elaborate on the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above description is only for the specific embodiments of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A roadway support method based on a servo system, which applies a roadway support device based on a servo system; The roadway support device based on a servo system includes: A main beam, arranged horizontally; Auxiliary beams, with one arranged on each of the left and right sides horizontally. The inner ends of one auxiliary beam are hinged to the left and right sides of the main beam respectively; Side guard frames, with one arranged on each of the left and right sides vertically; First hydraulic cylinders, with at least one arranged on each of the left and right sides. One end is hinged to the outer end of the auxiliary beam on the same side, and the other end is hinged to the upper end of the side guard frame on the same side; Cantilevers, with one arranged on each of the left and right sides. One end is hinged to the outer end of the auxiliary beam on the same side through a hinge shaft, and the other end is hinged to the upper end of the side guard frame on the same side through a hinge shaft; Bases, with one arranged on each of the left and right sides; Second hydraulic cylinders, with at least one arranged on each of the left and right sides. One end is connected to the side guard frame on the same side, and the other end is connected to the base; Support sleeves, with one arranged on each of the left and right sides vertically, and are arranged on the side guard frame on the same side; Support columns, with one arranged on each of the left and right sides vertically. One end is slidably fitted inside the support sleeve on the same side, and the other end is fixedly connected to the base on the same side; Both the first hydraulic cylinder and the second hydraulic cylinder are connected with pressure sensors, and the pressure sensors are used to monitor the axial forces of the first hydraulic cylinder and the second hydraulic cylinder; Displacement sensors are arranged on both the first hydraulic cylinder and the second hydraulic cylinder, and the displacement sensors are used to monitor the telescopic amounts of the first hydraulic cylinder and the second hydraulic cylinder; N patch type strain sensors are arranged at the set positions on the outer end faces of the main beam, auxiliary beams and side guard frames, and the strain sensors are used to monitor the strain amounts of the main beam, auxiliary beams and side guard frames; It is characterized in that the method includes the following steps: Step 1: Establish a three-dimensional finite element analysis model of the roadway support device based on a servo system through finite element analysis. According to the different telescopic amounts and axial force change ranges of the first hydraulic cylinder and the second hydraulic cylinder, conduct working condition simulations under different loads, and extract the data under each working condition. The data includes the loads at each monitoring point on both sides and the top of the roadway support device based on a servo system, the telescopic amounts of each hydraulic cylinder, the axial forces of each hydraulic cylinder, and the strain amounts of the main beam, auxiliary beams and side guard frames. The data under each working condition constitutes a training data set; Step 2: Based on the training data set, adopt a deep learning framework to construct a fully connected neural network to obtain a load evaluation model M; The input layer of the load evaluation model M includes: the strain measured by the strain sensor ε 1、 ε 2… ε i … ε n , the telescopic amount of each hydraulic cylinder δ 1、 δ 2、 δ 3、 δ 4, the axial force of each hydraulic cylinder F 1、 F 2、 F 3、 F 4; The output layer of the load evaluation model M is the load distribution at the positions of each monitoring point on both sides and the top of the roadway support device based on the servo system f L1 、 f L2 … f Li … f Ln , f R1 、 f R2 … f Ri … f Rn , f t1 、 f t2 … f ti … f tn ; Step 3: Read in real time the strain amounts monitored by the strain sensors, the telescopic amounts of each hydraulic cylinder monitored by the displacement sensors, and the axial forces of each hydraulic cylinder monitored by the pressure sensors, and input them into the load evaluation model M to output in real time the load distributions at each monitoring point on both sides and the top of the roadway support device based on a servo system; Step 4: Determine whether the load distributions at each monitoring point on both sides and the top of the roadway support device based on a servo system meet the roadway support design load conditions; When the roadway support design load conditions are not met, adjust the telescopic amounts of the hydraulic cylinders according to the following three working conditions to meet the roadway support design load conditions: Working condition 1: The load difference between the left and right monitoring point positions is less than or equal to the preset value, but the load at each monitoring point position is less than or equal to the load preset range. Increase the telescopic amount of each hydraulic cylinder to δ 1a、 δ 2a、 δ 3a、 δ 4a; Operating condition 2: The load difference between the left and right monitoring point positions is less than or equal to the preset value, but the load at each monitoring point position is greater than the preset range. Reduce the telescopic amount of each hydraulic cylinder to δ 1b、 δ 2b、 δ 3b、 δ 4b; Condition 3: The load difference at the monitoring point positions on the left and right sides is greater than the preset value. Reduce the telescopic amount of the hydraulic cylinder on the side with the larger load and increase the telescopic amount of the hydraulic cylinder on the side with the smaller load, so that the telescopic amounts of each hydraulic cylinder reach δ 1c、 δ 2c、 δ 3c、 δ 4c; When, after adjusting the telescopic amounts of the hydraulic cylinders through Working Condition 1 and / or Working Condition 2 and / or Working Condition 3, the telescopic amount of at least one hydraulic cylinder reaches the maximum telescopic amount and still does not meet the roadway support design load conditions, a warning process is carried out.

2. The roadway support method based on a servo system according to claim 1, wherein a first locking mechanism is provided between the cantilever and the auxiliary beam and between the cantilever and the side guard frame; the first locking mechanism can lock between the cantilever and the auxiliary beam to maintain the relative position between the cantilever and the auxiliary beam; the first locking mechanism can lock between the cantilever and the side guard frame to maintain the relative position between the cantilever and the side guard frame.

3. The roadway support method based on a servo system according to claim 2, wherein the first locking mechanism includes a first support seat, a limiting member, a locking member and a driving handle; In the first locking mechanism between the cantilever and the auxiliary beam, the hinge shaft is rotatably connected to the auxiliary beam, and the first support seat is fixedly connected to the auxiliary beam; In the first locking mechanism between the cantilever and the side guard frame, the hinge shaft is rotatably connected to the side guard frame, and the first support seat is fixedly connected to the side guard frame; The hinge shaft is fixedly connected to the cantilever, and one end of the hinge shaft is provided with the limiting member; The locking member is slidably matched with the first support seat and can approach and abut against or move away from the limiting member; when the locking member approaches and abuts against the limiting member, the locking member restricts the rotation of the limiting member; The driving handle drives the locking member to approach and abut against or move away from the limiting member.

4. The roadway support method based on a servo system according to claim 3, wherein a threaded hole is formed in the first support seat, an external thread is provided on the outer side of the driving handle, and the driving handle is threadedly connected to the threaded hole; the inner end of the driving handle is connected to the locking member through a bearing.

5. The roadway support method based on a servo system according to claim 1, wherein a second locking mechanism is provided between the support sleeve and the support column; the second locking mechanism can lock between the support sleeve and the support column to maintain the relative position between the support sleeve and the support column.

6. The roadway support method based on a servo system according to claim 5, wherein the second locking mechanism includes a second support seat, a locking pin and a limiting groove; The second support seat is arranged on the support sleeve, and the locking pin is arranged on the second support seat; A plurality of limiting grooves are arranged vertically on the support column; The locking pin can approach and abut against or move away from the limiting groove; when the locking pin approaches and abuts against the limiting groove, the locking pin restricts the support column from sliding relative to the support sleeve.

7. The roadway support method based on a servo system according to claim 1, wherein The cross-section of the support column and the cross-section of the inner contour of the support sleeve are both triangular.

8. The roadway support method based on a servo system according to claim 1, wherein A first ear plate is arranged at the edge position of the auxiliary beam, and a first anchoring hole is formed in the first ear plate. After the auxiliary beam abuts against the roadway roof, the anchor passes through the first anchoring hole and is anchored to the roadway roof; A second ear plate is arranged at the edge position of the side guard frame, and a second anchoring hole is formed in the second ear plate. After the side guard frame abuts against the roadway sidewall, the anchor passes through the second anchoring hole and is anchored to the roadway sidewall.

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