Hydraulic support for intelligently assembling prefabricated filling body behind support and precise assembling process

Abstract

The invention discloses a hydraulic support for intelligently assembling a prefabricated filling body behind the support and a precise assembling technology, and relates to the technical field of coal mining equipment. An image acquisition system is installed in the middle of the rear portion of a hydraulic support set, the acquisition end faces a robot rocker arm, and the robot rocker arm is rotationally installed on the rear portion of the hydraulic support set; the grabbing end of the robot rocker arm can act in multiple directions, the grabbing end of the robot rocker arm is used for grabbing the prefabricated filling body and assembling the prefabricated filling body to a goaf under the assistance of the image acquisition system, and the driving part of the hydraulic support set and the driving part of the robot rocker arm act under the control of the control system. After the robot rocker arm completes assembly of one point of the goaf, the control system controls the hydraulic support set to move forwards to the next point along the scraper conveyor. The filling efficiency and quality of the goaf can be improved, the collaboration of filling operation and coal mining operation is enhanced, intelligent and automatic filling operation is achieved, and it is guaranteed that coal mining is efficient, safe and environmentally friendly.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mining equipment, and particularly to a hydraulic support for intelligently assembling prefabricated filling bodies behind the support and a precise assembly process. Background Art

[0002] During the coal mining process, it is easy to cause surface subsidence and gangue discharge, etc., which pose a serious threat to the ecological environment and human production and life.

[0003] In terms of goaf filling treatment, currently, gangue filling, paste filling, and ground separated layer grouting filling, etc. are usually adopted. Although these technologies solve the current filling problems in coal mining, there is still room for improvement and development.

[0004] For gangue filling, its advantage lies in the effective utilization of gangue, a by-product of coal mining, and realizes the secondary utilization of resources to a certain extent. However, this method faces the dilemma that it is difficult to accurately control the compaction degree of gangue after filling in actual operation, which easily leads to uneven settlement in the goaf and thus poses a potential threat to surface stability.

[0005] For paste filling, it has certain advantages in terms of material properties and can better adapt to some complex filling requirements. However, its cost is relatively high, and the preparation process of the filling material is cumbersome and complex. During the filling process, it is extremely difficult to master the balance between the fluidity and solidification characteristics of the paste, which may cause adverse consequences such as incomplete filling or insufficient strength of the filling body, affecting the long-term stability of the goaf.

[0006] For ground separated layer grouting filling, it can play a certain role under specific geological conditions and can effectively reinforce some goafs. However, this technology has extremely strict requirements for geological conditions, has a relatively narrow application range, and there are great difficulties in the monitoring and evaluation of grouting effects, making it difficult to comprehensively and accurately ensure the effective control of surface subsidence.

[0007] At the same time, the automation degree of traditional filling methods is generally low, and the coordination with coal mining operations is poor. It is difficult to achieve a good match between the coal cutting speed of the shearer and the filling operation speed, resulting in the inability of mining and filling operations to be efficiently coordinated and affecting the overall production efficiency. In addition, after the hydraulic support moves, the existing filling equipment is difficult to quickly and accurately assemble the filling body to the predetermined position in the goaf, with low filling efficiency and unable to meet the requirements of high-efficiency production. Summary of the Invention

[0008] The object of the present invention is to provide a hydraulic support for intelligent post-frame assembly of prefabricated filling bodies and a precise assembly process, so as to solve the problems existing in the above-mentioned prior art, improve the filling efficiency and quality of the goaf, enhance the coordination between the filling operation and the coal mining operation, realize intelligent and automatic filling operations, and ensure the high efficiency, safety and environmental protection of coal mining.

[0009] To achieve the above object, the present invention provides the following solutions: The present invention provides a hydraulic support for intelligent post-frame assembly of prefabricated filling bodies, including a hydraulic support group, a robot arm, an image acquisition system and a control system. The top of the hydraulic support group is used to support the goaf. The image acquisition system is installed in the middle of the rear of the hydraulic support group, and the acquisition end of the image acquisition system faces the robot arm. The installation end of the robot arm is rotatably installed at the rear of the hydraulic support group. The grasping end of the robot arm can move in multiple directions. The image acquisition system is electrically connected to the control system, and the grasping end of the robot arm is used to grasp the prefabricated filling body with the assistance of the image acquisition system and assemble the prefabricated filling body into the goaf. The driving parts of the hydraulic support group and the robot arm are both electrically connected to the control system and act under the control of the control system. After the robot arm completes the assembly of a point in the goaf, the control system controls the hydraulic support group to move forward along the scraper conveyor to the next point.

[0010] Preferably, the robot arm includes an arm body and a grasping mechanism. The installation end of the arm body is rotatably installed at the rear of the hydraulic support group. The free end of the arm body is connected to the grasping mechanism through a connecting mechanism, and the arm body can drive the grasping mechanism to move in multiple directions. The connecting mechanism can drive the grasping mechanism to rotate.

[0011] Preferably, the arm body is installed at the rear of the hydraulic support group through a rotary arm base. A telescopic mechanism is provided at the forearm link of the arm body. The telescopic mechanism includes a multi-stage telescopic oil cylinder. The output end of the telescopic mechanism is connected to the wrist joint of the arm body, and the telescopic mechanism is used to drive the grasping mechanism to extend and retract. A telescopic displacement sensor is also installed at the telescopic mechanism. The telescopic displacement sensor is used to detect the telescopic stroke of the telescopic mechanism. The telescopic displacement sensor is electrically connected to the control system. Angle adjustment mechanisms are installed at the rotary arm base, the shoulder joint, the elbow joint and the wrist joint of the arm body. The angle adjustment mechanism can adjust the movement of the arm body under the control of the control system and make the arm body drive the prefabricated filling body to move in the horizontal and vertical directions.

[0012] Preferably, the angle adjustment mechanism includes an angle adjustment motor, a worm gear, a worm, and an angle sensor. The output shaft of the angle adjustment motor is connected to the worm, the worm meshes with the worm gear, and the angle sensor is used to detect the rotation angle of the corresponding joint of the rocker arm body and transmit the angle information to the control system so that the control system controls the operation of the angle adjustment motor.

[0013] Preferably, the angle adjustment range of the angle adjustment mechanism in the horizontal direction is -15° to +15°, the angle adjustment range of the angle adjustment mechanism in the vertical direction is -30° to +30°, and the adjustment accuracy of the angle adjustment mechanism is ±1°.

[0014] Preferably, the grasping mechanism includes a mounting frame and a plurality of claw pieces. The mounting frame has a plurality of mounting ends, and the plurality of claw pieces can be detachably mounted on different mounting ends respectively. Anti-slip patterns are provided on the inner side walls of the claw pieces. A plurality of grasping cylinders are mounted on the mounting frame. The plurality of grasping cylinders are used to drive the corresponding claw pieces to rotate in directions approaching or separating from each other, and a grasping force sensor is provided on each claw piece. The grasping force sensor and the grasping cylinders are both electrically connected to the control system, and the grasping force sensor is used to detect the pressure when the claw piece grasps the prefabricated filling body and transmit the pressure signal to the control system so that the control system controls the adjustment of the working state of the grasping cylinders.

[0015] Preferably, the mounting frame is cross-shaped, and four ends of the mounting frame form four mounting ends. The claw pieces are two or four. When the claw pieces are two, the two claw pieces are symmetrically arranged. When the claw pieces are four, the four claw pieces correspond to the four mounting ends one by one.

[0016] Preferably, the hydraulic support group includes a support base, a pushing mechanism, a top beam, a front shield beam, a rear shield beam, a plurality of shield beam actuators and a plurality of support columns. The pushing mechanism is installed at the front end of the support base, and the pushing mechanism is used to connect the scraper conveyor. The pushing mechanism can drive the support base to move forward along the scraper conveyor after the shearer cuts coal. The top beam is provided with a roof pressure sensor and a pushing displacement sensor. Both the roof pressure sensor and the pushing displacement sensor are electrically connected to the control system. The roof pressure sensor is used to detect the pressure received when the top beam supports the gob area and transmit the pressure information to the control system. The pushing displacement sensor is used to detect the moving distance of the support base and transmit the distance information to the control system. The front shield beam is rotatably installed at the front end of the top beam, and the rear shield beam is rotatably installed at the rear end of the top beam. The robot arm and the support columns are both installed on the support base, and each support column supports the lower end of the top beam. Each support column can be telescopic. The lower ends of the front shield beam and the rear shield beam are both installed with the shield beam actuators. The two ends of the shield beam actuator located at the lower end of the front shield beam respectively support the lower end of the front shield beam and the lower end of the top beam, and the shield beam actuator located at the lower end of the front shield beam can drive the front shield beam to rotate to expand or retract. The two ends of the shield beam actuator located at the lower end of the rear shield beam respectively support the lower end of the rear shield beam and the upper end of the support base, and the shield beam actuator located at the lower end of the rear shield beam can drive the rear shield beam to rotate to expand or retract.

[0017] The present invention also provides a precise assembly process for intelligent post-rack assembly of prefabricated filling bodies, using the hydraulic support for intelligent post-rack assembly of prefabricated filling bodies in the above technical solution, including the following steps: S1. Fabricate and assemble the hydraulic support group according to the design requirements and move the hydraulic support group underground; S2. Test the hydraulic support group underground. The test contents include debugging the hydraulic system of the hydraulic support group, checking whether the telescoping of the support columns is smooth, whether the pushing mechanism can accurately control the movement of the hydraulic support group, and checking the performance of each component in the hydraulic support group under different pressures and loads; S3. Install the robot arm at the rear of the hydraulic support group; S4. Debug each joint and each connecting rod of the robot arm, and check the flexibility and sealing performance of each joint and each connecting rod. Then debug the grasping mechanism, and adjust the shape, opening and closing angle and grasping force of the claw according to the shape and topological interlocking interface of the prefabricated filling body; S5. Perform stroke calibration on the telescopic mechanism, install and debug the telescopic displacement sensor. At the same time, test the angle adjustment mechanism. Through the cooperation of the rotary motors at each joint and the angle adjustment mechanism, realize the rotation and fine angle adjustment of the rocker arm body in all directions, and feedback data to the control system through the corresponding angle sensors for correction; S6. Integrate and debug the control system. Build a control system with a programmable logic controller as the core, and correctly connect the driving parts and various sensors in the hydraulic support group and the robot rocker arm to the programmable logic controller; S7. Write the control system software, including the movement control module of the hydraulic support group, the action control module of the robot rocker arm, and the fault diagnosis and safety protection module. During the underground debugging process, input the data of each sensor using analog signals to test the calculation accuracy of the control system for the movement speed and pushing force of the hydraulic support group, as well as the precise control ability of the robot rocker arm's actions. At the same time, test the response speed and reliability of the fault diagnosis and safety protection module; S8. Install the debugged hydraulic support for intelligent assembly of prefabricated filling bodies behind the support at the predetermined position in the underground coal mining face, connect the hydraulic support group and the scraper conveyor through the pushing mechanism, drive the front shield beam and the rear shield beam to extend respectively through the shield beam actuator, and make the upper end surfaces of the front shield beam and the rear shield beam flush with the upper end surface of the top beam. At this time, use the front shield beam, the top beam, and the rear shield beam to support the roof of the goaf simultaneously; S9. Complete the connection between the control system and the control mechanism at the shearer, and conduct on-line debugging of the overall equipment. According to the cutting speed of the shearer and the actual underground geological conditions, readjust the movement speed and pushing force parameters of the hydraulic support group to achieve coordinated operation. At the same time, make on-site fine adjustments to the actions of the robot rocker arm to ensure that the robot rocker arm can accurately grab the prefabricated filling body from the scraper conveyor and assemble the prefabricated filling body into the goaf according to the design requirements; S10. During the coal cutting process of the shearer, the hydraulic support group monitors the roof pressure in real time, automatically adjusts the supporting force of the supporting columns according to the pressure change to keep the roof stable. After the shearer finishes coal cutting, the pushing mechanism drives the hydraulic support group to move forward and leave an assembly space behind the hydraulic support group; S11. Install the image acquisition mechanism at the middle rear of the hydraulic support group, and use the image acquisition system to shoot videos of the goaf to collect image information. Select video segments of the blanking and ramming process, and construct a target data set. Process the images, then select a suitable model for training. Evaluate the trained model to find the best parameters of the corresponding model, and then compare various models with each other. Finally, select the best working condition recognition algorithm model. This step is closely combined with the assembly operation process of the robot arm, and data is obtained, the working condition is analyzed, and adjustment is carried out in real time during each assembly process; S12. The robot arm starts to work under the coordination of the control system. The grasping mechanism grabs the prefabricated filling body from the scraper conveyor, and the telescopic mechanism moves the prefabricated filling body to the predetermined position in the goaf. The angle adjustment mechanism at each joint of the robot arm accurately adjusts the placement angle of the prefabricated filling body according to the design requirements to achieve accurate placement layer by layer; S13. The control system continuously collects data from each sensor, and transmits the operation data of the equipment to the ground monitoring center through remote communication. Ground operators can grasp the working state of the equipment at any time according to the monitoring data. If any abnormality is found, remote parameter adjustment or shutdown instructions can be issued in time. At the same time, the fault diagnosis and alarm function runs continuously, and an alarm signal is immediately issued once an abnormal situation is detected.

[0018] Preferably, in S11, the image acquisition mechanism is a high-definition camera, and a video AI algorithm is embedded in the high-definition camera. The video AI algorithm can distinguish the working condition according to a preset model. The working condition is divided into normal working condition and abnormal working condition. The normal working condition includes successful grasping of the prefabricated filling body, accurate placement position of the prefabricated filling body, detection data of each sensor within the set threshold, and no abnormality in the video image; the abnormal working condition includes detection data of any sensor exceeding the limit, abnormality detected in the video image, deviation of the equipment action from the preset trajectory, communication interruption, environmental interference, and the scraper conveyor not delivering the prefabricated filling body in time.

[0019] The present invention has achieved the following technical effects compared with the prior art: The hydraulic support and precise assembly process for intelligent post-frame precast filling bodies provided by the present invention. The top of the hydraulic support group is used to support the goaf. The image acquisition system is installed in the middle of the rear of the hydraulic support group, and the acquisition end of the image acquisition system faces the robot arm, so as to be able to display the pose parameter indicators of the hydraulic support for intelligent post-frame precast filling bodies in real time. The installation end of the robot arm is rotatably installed at the rear of the hydraulic support group, and the grasping end of the robot arm can move in multiple directions. The image acquisition system is electrically connected to the control system, and the grasping end of the robot arm is used to grasp the precast filling body with the assistance of the image acquisition system and assemble the precast filling body into the goaf, ensuring that the precast filling bodies can be accurately placed layer by layer in the goaf according to the design requirements, ensuring the close arrangement between the precast filling bodies and good topological interlocking effect, improving the density and stability of the goaf filling, and further improving the filling efficiency and filling quality of the goaf. When the hydraulic support group completes the corresponding movement and effectively supports the rear goaf, the robot arm starts to work. First, the robot arm will switch from the retracted and static state to the working state, and then according to the recognition of the image acquisition system, the robot arm will perform corresponding unfolding actions to accurately grasp the precast filling body transported by the scraper conveyor, and then use the rotation and telescopic functions to accurately fill the precast filling body. After the filling is completed, at this time, the hydraulic support group performs a support moving action to facilitate the robot arm to fill and assemble the next position, realizing the "mining and filling in parallel" process flow. The driving parts of the hydraulic support group and the driving part of the robot arm are both electrically connected to the control system and act under the control of the control system. Furthermore, the control system coordinates the actions of the hydraulic support group and the robot arm through the control system to perform the assembly filling process and realize the efficient assembly of the precast filling bodies in the goaf. And the control system is centered on the PLC, combined with a variety of sensor networks, and interacts with the shearer through wireless or wired communication, can coordinate the movement of the hydraulic support group and the actions of the robot arm. At the same time, the automated precast filling body assembly process greatly reduces manual intervention, reduces the labor intensity and safety risks of workers operating near the goaf, and ensures the high efficiency, safety and environmental protection of coal mining. After the robot arm completes the assembly of a position in the goaf, the control system controls the hydraulic support group to move forward along the scraper conveyor to the next position, improving the continuity of coal mining, and further improving the coal mining efficiency and the assembly efficiency of the precast filling bodies, filling the gap in the existing technology and injecting new vitality into the sustainable development of the coal mining industry. Brief Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the following described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 Schematic diagram of the hydraulic support for intelligent assembly of prefabricated filling bodies after the support in Example 1 (the grasping mechanism has two claw pieces); Figure 2 Schematic diagram of the robot arm in Example 1 (the grasping mechanism has two claw pieces); Figure 3 is Figure 1 front view of Figure 4 is Figure 1 right view of Figure 5 is Figure 1 top view of Figure 6 Schematic diagram of the underground environmental conditions of the hydraulic support for intelligent assembly of prefabricated filling bodies after the support in Example 1 (the grasping mechanism has two claw pieces); Figure 7 Arrangement schematic diagram of the hydraulic support for intelligent assembly of prefabricated filling bodies after the support in Example 1 (the grasping mechanism has two claw pieces); Figure 8 Schematic diagram of the hydraulic support for intelligent assembly of prefabricated filling bodies after the support in Example 1 (the grasping mechanism has four claw pieces); Figure 9 Schematic diagram of the robot arm in Example 1 (the grasping mechanism has four claw pieces); Figure 10 Schematic diagram of the underground environmental conditions of the hydraulic support for intelligent assembly of prefabricated filling bodies after the support in Example 1 (the grasping mechanism has four claw pieces); Figure 11 Arrangement schematic diagram of the hydraulic support for intelligent assembly of prefabricated filling bodies after the support in Example 1 (the grasping mechanism has four claw pieces); Figure 12 Schematic diagram of the structure of the hydraulic support for intelligent assembly of prefabricated filling bodies after the support in Example 1 when it is in the retracted and static state; Figure 13 is Figure 12 front view of Figure 14 Schematic diagram of the structure of the hydraulic support for intelligent assembly of prefabricated filling bodies after the support in Example 1 when it is in the conversion working state; Figure 15 is Figure 14 front view of Figure 16 Schematic diagram of the structure of the hydraulic support for intelligent assembly of prefabricated filling bodies after the support in Example 1 when it is in the state of grasping the prefabricated filling body; Figure 17 is Figure 16Front view; Figure 18 Schematic structural diagram of the hydraulic support for intelligent post - frame assembly of prefabricated filling bodies in Example 1 when the prefabricated filling body is being placed; Figure 19 is Figure 18 Front view; Figure 20 Principle flow logic diagram of the video AI algorithm embedded inside the high - definition camera in S11 of Example 2; In the figure: 1 - top beam, 2 - push - pull displacement sensor, 3 - support column, 4 - push - pull mechanism, 5 - support base, 6 - roof pressure sensor, 7 - control system, 8 - first angle sensor, 9 - rotary rocker base, 10 - third angle sensor, 11 - grasping force sensor, 12 - grasping cylinder, 13 - fourth angle sensor, 14 - telescopic mechanism, 15 - high - definition camera, 16 - connecting mechanism, 17 - rear shield beam, 18 - claw. Detailed implementation manners

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] The purpose of the present invention is to provide a hydraulic support for intelligent post - frame assembly of prefabricated filling bodies and a precise assembly process to solve the problems existing in the prior art, improve the filling efficiency and quality of the goaf, enhance the coordination between the filling operation and the coal mining operation, realize intelligent and automated filling operations, and ensure the high - efficiency, safety and environmental protection of coal mining.

[0024] To make the above - mentioned objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0025] Example 1 As Figures 1 - 19As shown in the figure, this embodiment provides a hydraulic support for intelligent post-frame prefabricated filling bodies, which includes a hydraulic support group, a robot arm, an image acquisition system, and a control system 7. The top of the hydraulic support group is used to support the goaf. The image acquisition system is installed in the middle of the rear of the hydraulic support group, and the acquisition end of the image acquisition system faces the robot arm, ensuring that it does not interfere with the movement of the mechanism and can comprehensively capture relevant structures and actions, and thus can display the pose parameter indicators of the hydraulic support for intelligent post-frame prefabricated filling bodies in real time. The installation end of the robot arm is rotatably installed at the rear of the hydraulic support group, and the grasping end of the robot arm can move in multiple directions. The image acquisition system is electrically connected to the control system 7, and the grasping end of the robot arm is used to grasp the prefabricated filling body with the assistance of the image acquisition system and assemble the prefabricated filling body into the goaf, ensuring that the prefabricated filling bodies can be accurately placed layer by layer in the goaf according to the design requirements, ensuring the close arrangement between the prefabricated filling bodies and a good topological interlocking effect, improving the density and stability of the goaf filling, and further improving the filling efficiency and filling quality of the goaf. When the hydraulic support group completes the corresponding movement and effectively supports the rear goaf, the robot arm starts to work. First, the robot arm will switch from the retracted and static state to the working state, and then according to the recognition of the image acquisition system, the robot arm will perform corresponding unfolding actions to accurately grasp the prefabricated filling body transported by the scraper conveyor, and then use the rotation and telescopic functions to accurately fill the prefabricated filling body. When the filling is completed, at this time, the hydraulic support group performs a support moving action to facilitate the robot arm to fill and assemble the next position, realizing the "mining and filling in parallel" process flow. The driving parts of the hydraulic support group and the driving part of the robot arm are both electrically connected to the control system 7 and act under the control of the control system 7. Furthermore, the control system 7 coordinates the actions of the hydraulic support group and the robot arm through the control system 7 to perform the assembly filling process and realize the efficient assembly of the prefabricated filling body in the goaf. And the control system 7 takes the PLC as the core, combines a variety of sensor networks, and interacts with the shearer through wireless or wired communication, can coordinate the movement of the hydraulic support group and the actions of the robot arm. At the same time, the automated prefabricated filling body assembly process greatly reduces manual intervention, reduces the labor intensity and safety risks of workers operating near the goaf, and ensures the high efficiency, safety and environmental protection of coal mining. After the robot arm completes the assembly of a position in the goaf, the control system 7 controls the hydraulic support group to move forward along the scraper conveyor to the next position, improving the continuity of coal mining, and further improving the coal mining efficiency and the assembly efficiency of the prefabricated filling body, filling the gaps in the existing technology and injecting new vitality into the sustainable development of the coal mining industry.

[0026] Specifically, the robot arm is designed with innovative materials and technologies and is used to grasp prefabricated filling bodies behind a hydraulic support group and accurately place the prefabricated filling bodies at predetermined positions in the goaf. The robot arm includes an arm body and a grasping mechanism. The mounting end of the arm body is rotatably mounted on the rear part of the hydraulic support group. The free end of the arm body is connected to the grasping mechanism through a connecting mechanism 16, and the arm body can drive the grasping mechanism to move in multiple directions. The arm body adopts advanced technologies such as a differential system and a multi-degree-of-freedom robotic arm to improve the environmental adaptability and working efficiency of the robot arm. The connecting mechanism 16 can drive the grasping mechanism to achieve 360° free rotation.

[0027] As a specific embodiment, the overall length of the robot arm is designed to be 2 meters to 3.5 meters.

[0028] The arm body is mounted on the rear part of the hydraulic support group through a rotary arm base 9. The arm body is composed of multiple joints and linkages and has a multi-degree-of-freedom design. The distance between adjacent joints is designed to be 0.3 meters to 0.6 meters. High-precision bearings and sealing devices are installed at the joints to ensure that the arm body can rotate flexibly and has good sealing performance in the complex underground environment, preventing impurities such as coal dust from entering and affecting its performance.

[0029] A telescoping mechanism 14 is provided at the forearm linkage of the arm body. The telescoping mechanism 14 includes a multi-stage telescopic oil cylinder. For the hydraulically driven multi-stage telescopic oil cylinder, its total telescopic stroke is designed to be 1.5 meters to 2.5 meters, the telescopic speed is designed to be 0.1 meter / second to 1.3 meters / second, and the thrust is designed to be 20 kN to 50 kN, ensuring a smooth telescopic process and sufficient thrust. As another preferred solution, the telescoping mechanism 14 can also adopt an electric screw system, which has high-precision displacement control capabilities. The motor drives the screw to rotate, driving the arm body to telescope. Its telescopic stroke is designed to be 1.2 meters to 2 meters, the telescopic speed is designed to be 0.05 meter / second to 0.2 meters / second, and the thrust is designed to be 15 kN to 40 kN. The output end of the telescoping mechanism 14 is connected to the wrist joint of the arm body, and the telescoping mechanism 14 is used to drive the grasping mechanism to extend and retract. A telescopic displacement sensor is also installed at the telescoping mechanism 14. The telescopic displacement sensor is used to detect the telescopic stroke of the telescoping mechanism 14, and then cooperate with the control system 7 to achieve the precise placement of the prefabricated filling body position. The telescopic displacement sensor is electrically connected to the control system 7. Angle adjustment mechanisms are installed at the rotary arm base 9, the shoulder joint, the elbow joint, and the wrist joint of the arm body. The angle adjustment mechanism can adjust the movement of the arm body under the control of the control system 7 and make the arm body drive the prefabricated filling body to move in the horizontal and vertical directions.

[0030] Each joint of the rocker arm body can achieve rotation. The rotation at each joint is usually composed of components such as a rotary motor, a reducer, a rotating shaft, and a bearing. The rotary motor provides power, reduces the speed and increases the torque through the reducer, then drives the rotating shaft to rotate, and finally realizes the rotation of the grasping mechanism. The rotation angle range is set to 0° - 180°, the motor speed is designed to be 5r / min - 15r / min. After reducing the speed and increasing the torque through the reducer, the actual output speed of the rotating shaft is 0.5r / min - 2r / min. The bearing is used to support the rotating shaft and reduce friction and wear during rotation.

[0031] For the high-precision bearings installed at each joint, deep groove ball bearings or tapered roller bearings are preferably used. Their precision grade is P5 or P4, the inner diameter is 50 mm - 100 mm, the outer diameter is 80 mm - 150 mm, and the width is 20 mm - 40 mm. The sealing device adopts double-lip seal or labyrinth seal, and the sealing material is fluororubber or polyurethane rubber, which has good sealing performance, can effectively prevent impurities such as pulverized coal from entering the bearing interior, ensure the normal operation of the bearing and the flexible rotation of the rocker body, and extend the service life of the bearing.

[0032] In the specific detail design of the robot rocker arm, the main body of the robot rocker arm adopts a new type of aluminum matrix silicon carbide composite material, the rotary rocker arm base 9 adopts a titanium alloy material, and the grasping mechanism adopts a nickel-based titanium memory alloy material. These materials not only have the characteristics of high strength, high toughness, and high stability, but also can quickly return to their original state after being subjected to external forces, effectively improving the durability and reliability of the robot rocker arm.

[0033] The angle adjustment mechanism includes an angle adjustment motor, a worm gear, a worm, and an angle sensor. The output shaft of the angle adjustment motor is connected to the worm, the worm meshes with the worm gear, and then the angle adjustment motor is used to drive the worm to rotate and drive the worm gear to rotate, cooperating with the angle sensor to achieve precise angle adjustment. The angle sensor is used to detect the rotation angle of the corresponding joint of the rocker arm body and transmit the angle information to the control system 7, so that the control system 7 controls the angle adjustment motor to work to precisely adjust the placement angle of the precast filling body. The angle sensor located at the rotary rocker arm base 9 is the first angle sensor 8, the angle sensor located at the shoulder joint of the rocker arm body is the second angle sensor, the angle sensor located at the elbow joint of the rocker arm body is the third angle sensor 10, and the angle sensor located at the wrist joint of the rocker arm body is the fourth angle sensor 13.

[0034] The angle adjustment range of the angle adjustment mechanism in the horizontal direction is -15° ~ +15°, the angle adjustment range of the angle adjustment mechanism in the vertical direction is -30° ~ +30°, and the adjustment accuracy of the angle adjustment mechanism is ±1°, ensuring the close arrangement between precast filling bodies and good topological interlocking effect.

[0035] The grasping mechanism includes a mounting frame and a plurality of claw pieces 18. The mounting frame has a plurality of mounting ends, and the plurality of claw pieces 18 can be detachably mounted on different mounting ends respectively. Anti-slip patterns are provided on the inner side walls of the claw pieces 18 to ensure firm grasping of the prefabricated filling body. A plurality of grasping cylinders 12 are mounted on the mounting frame. The plurality of grasping cylinders 12 are used to drive the corresponding claw pieces 18 to rotate in the direction of approaching or separating from each other, so as to scale and adjust each claw piece 18 according to the size of the prefabricated filling body, so as to better adapt to the shape and size of the topological interlocking interface of different prefabricated filling bodies. Grasping force sensors 11 are provided on each claw piece 18. The grasping force sensors 11 and the grasping cylinders 12 are both electrically connected to the control system 7. The grasping force sensors 11 are used to detect the pressure when the claw pieces 18 grasp the prefabricated filling body and transmit the pressure signal to the control system 7, so that the control system 7 controls the working state of the grasping cylinders 12 to be adjusted.

[0036] As another embodiment, the grasping mechanism can also be replaced with an adsorption-type grasping device. At this time, the grasping force sensor 11 needs to be replaced with an adsorption force sensor.

[0037] The design of the grasping mechanism is aimed at the topological interlocking interface of the filling body. According to the shape, size and topological interlocking characteristics of the prefabricated filling body, the grasping mechanism can adopt a mechanical claw structure. The shape and opening angle of the mechanical claw precisely match the outer shape of the prefabricated filling body. The maximum width of the mechanical claw when opened is designed to be 0.5 m - 1.2 m. The length of the claw piece 18 of the mechanical claw is 0.3 m - 0.6 m. The thickness of the claw piece 18 is 20 mm - 30 mm. Its maximum grasping force is designed to be 5 kN - 10 kN. The claw piece 18 is connected to the mounting frame through the grasping cylinder 12. Under the action of the grasping cylinder 12, the claw piece 18 can be contracted to different degrees to realize the grasping and releasing of the prefabricated filling body. At the same time, the mechanical claw can be replaced based on different prefabricated filling bodies or environmental requirements. The replaceable ones include two-claw and four-claw mechanical structures.

[0038] The mounting frame is cross-shaped, and the four ends of the mounting frame form four mounting ends. The claw pieces 18 are two or four. When the claw pieces 18 are two, the two claw pieces 18 are symmetrically arranged. When the claw pieces 18 are four, the four claw pieces 18 correspond to the four mounting ends one by one.

[0039] The hydraulic support group is used to support the roof of the gob area during the coal cutting process of the shearer, and move forward after the shearer cuts the coal, forming a space for the assembly and filling of precast filling bodies at the rear of the hydraulic support group. The hydraulic support group specifically includes a support base 5, a pushing mechanism 4, a top beam 1, a front shield beam, a rear shield beam 17, a plurality of shield beam actuators and a plurality of support columns 3. The pushing mechanism 4 is installed at the front end of the support base 5, and the pushing mechanism 4 is used to connect the scraper conveyor. The pushing mechanism 4 can drive the support base 5 to move forward along the scraper conveyor after the shearer cuts the coal. The moving speed of the pushing mechanism 4 can be adjusted according to the coal cutting speed and the actual underground situation. During the moving process, all components are closely coordinated to avoid the vibration or displacement caused by the movement from affecting the support effect on the roof. At the same time, after the movement, the hydraulic support group can accurately leave a suitable assembly space behind the support. The size and shape of this space are designed according to the size and placement requirements of the precast filling body, providing convenient conditions for the operation of the subsequent robot arm. The top beam 1 is provided with a roof pressure sensor 6 and a pushing displacement sensor 2. Both the roof pressure sensor 6 and the pushing displacement sensor 2 are electrically connected to the control system 7. The roof pressure sensor 6 is used to detect the pressure received by the top beam 1 when supporting the gob area roof and transmit the pressure information to the control system 7. During the coal mining process, the roof pressure is monitored in real time through the roof pressure sensor 6, and the supporting force of the support column 3 is automatically adjusted through the control system 7 according to the pressure change to ensure the stable support of the roof. The pushing displacement sensor 2 is used to detect the moving distance of the support base 5 and transmit the distance information to the control system 7. The front shield beam is rotatably installed at the front end of the top beam 1, and the rear shield beam 17 is rotatably installed at the rear end of the top beam 1. The robot arm and the support columns 3 are both installed on the support base 5, and each support column 3 supports the lower end of the top beam 1. Each support column 3 can be telescoped. The lower ends of the front shield beam and the rear shield beam 17 are both installed with shield beam actuators. The two ends of the shield beam actuator located at the lower end of the front shield beam are respectively supported between the lower end of the front shield beam and the lower end of the top beam 1, and the shield beam actuator located at the lower end of the front shield beam can drive the front shield beam to rotate to the unfolded or retracted state. The two ends of the shield beam actuator located at the lower end of the rear shield beam 17 are respectively supported between the lower end of the rear shield beam 17 and the upper end of the support base 5, and the shield beam actuator located at the lower end of the rear shield beam 17 can drive the rear shield beam 17 to rotate to the unfolded or retracted state.

[0040] As a specific embodiment, the hydraulic support group is made by advanced welding and forging processes. The height of the hydraulic support group is designed to be 4 meters - 5 meters, the base width is 1.2 meters - 1.8 meters, and the width of the top beam 1 is 1 meter - 1.5 meters to ensure a suitable working area; The length of the top beam 1 is designed to be 4 meters to 6 meters to disperse the pressure. The thickness of the top beam 1 uses high-strength alloy steel plates with a thickness of 30 millimeters to 50 millimeters. In terms of shape, it adopts an arched shape with an arch height of 0.5 meters to 1 meter and an arch radius of 2 meters to 3 meters, or adopts a trapezoidal structure with an upper top width of 1 meter to 1.2 meters, a lower bottom width of 1.5 meters to 1.8 meters, and a height of 0.8 meters to 1.2 meters to better disperse the roof pressure; The rear shield beam 17 has a certain isolation and shielding effect on the goaf. Its length can be designed to be 3 meters to 5 meters. It is designed that the upper end face can be at the same horizontal height as the top beam 1 to prevent sundries such as gangue from entering the working space. It can be adjusted at an angle of 0° to 45° according to the actual working conditions, and at the same time ensure that there is a certain working space in the goaf where the robot boom is located; The base provides a stable support foundation for the entire hydraulic support group. Its length is designed to be 3 meters to 5 meters, and its thickness uses 40 millimeters to 60 millimeters. It is made of high-strength steel plates to make it have sufficient area and strength. Anti-slip devices can be installed at the bottom to adapt to different underground geological conditions. For example, polyurethane rubber is used, and its friction coefficient is not less than 0.5. The size of the anti-slip device is 1.5 meters to 2 meters in length and 0.3 meters to 0.5 meters in width; The support column 3 is the main support component of the hydraulic support group. It is controlled by the hydraulic system to expand and contract to provide support force for the top beam 1. The cylinder diameter of the telescopic column is designed to be 200 millimeters to 300 millimeters, the piston rod diameter is 100 millimeters to 150 millimeters, the stroke of the telescopic column is 1 meter to 2 meters, and the rated support force of a single telescopic column is designed to be 800 kN to 1500 kN; The pushing mechanism 4 is used to realize the forward movement of the hydraulic support group after the shearer cuts the coal. It includes a pushing jack and a pushing rod. The stroke of the pushing jack is 0.8 meters to 1.5 meters, the diameter of the pushing rod is 80 millimeters to 120 millimeters, and it is made of high-strength alloy steel. It can be connected to the scraper conveyor to ensure the relative position stability and moving coordination between the hydraulic support group and the scraper conveyor; However, in this embodiment, the specific dimension parameters of the hydraulic support group are not limited to the above limitations. Those skilled in the art can also make adaptive changes according to actual needs.

[0041] In the specific detailed design of the hydraulic support group, the main body of the hydraulic support group is made of high-strength alloy steel to ensure that the main body of the hydraulic support group has good strength, toughness and anti-fatigue performance under huge pressure and complex working conditions. The actuator of the shielding beam adopts a hydraulic jack, and the hydraulic jack is of double-ear type, which is convenient to be assembled together through welding and bolt connection of each part. The rear shielding beam 17 and the roof are both arranged horizontally, providing a certain working space for the filling and assembly of the precast filling body. In addition, the direction of the rear shielding beam 17 can be rotated and adjusted by 0°-45° according to different environmental requirements to ensure corresponding adjustments for different working environments.

[0042] In this embodiment, multiple drivers are provided, specifically including the column hydraulic driver at the support column 3, the hydraulic jack driver at the pushing mechanism 4, the hydraulic motor driver at the rocker arm body (for rotating joints, with an output torque of 100 N / m - 300 N / m and a rotation speed of 5 r / min - 15 r / min), the telescopic cylinder driver at the telescopic mechanism 14 (if it is a hydraulic telescopic mechanism 14, the working pressure is 25 MPa - 35 MPa, and the thrust is 20 kN - 50 kN), and the electric rotary driver at each joint (with a power of 3 Kw - 10 Kw and a rotation speed of 0.5 r / min - 2 r / min), etc., which are used to execute corresponding actions according to the instructions of the control system 7.

[0043] The control system 7 uses a high-performance programmable logic controller (PLC) as the core, and its CPU processing speed is not less than 0.1 microseconds / instruction to ensure sufficient computing power to process the data of each sensor and execute complex control algorithms, ensuring the real-time performance and accuracy of the control system 7. Then, a sensor network is formed by combining each sensor. Among them, the measurement range of the roof pressure sensor 6 is 0 MPa - 100 MPa, the accuracy is ±0.5% FS (full scale), the linear error degree of each displacement sensor is not greater than ±0.1%, the measurement range is 0 m - 2 m, the measurement range of the grasping force sensor 11 is 0 kN - 20 kN, the accuracy is ±1% FS, and the measurement accuracy of each rotary angle sensor is ±1°, and the resolution is 0.1°, so as to achieve the precise grasping and placement of the precast filling body.

[0044] The control system 7 has functions of remote monitoring and data transmission, and also has a variety of communication interfaces, such as RS485 and Ethernet interfaces, etc. The communication rate is not less than 10 Mbps, which is convenient for data communication and information interaction with the shearer, the ground monitoring center and other devices, realizes the synchronization of operations and the coordination of space, and can also transmit the operation data of the device to the ground monitoring center, facilitating the operators to grasp the working status of the underground devices in real time. As a specific implementation manner, the program storage capacity of the control system 7 is 300 KB - 600 KB, and the data storage capacity is 100 KB - 300 KB, which can store information such as the software program of the control system 7, the device operation parameters and the historical data, etc. This storage capacity meets the requirements of the long-term stable operation of the device, can not only meet the simplicity of the control program, but also realize the pertinence of data storage, and realizes low-cost, high-efficiency and accurate operation.

[0045] Embodiment 2 As Figure 20 shown, this embodiment provides a precise assembly process for intelligent post-setting prefabricated filling bodies, using the hydraulic support for intelligent post-setting prefabricated filling bodies in Embodiment 1, and includes the following steps: S1. Fabricate and assemble the hydraulic support group according to the design requirements. Specifically, select high-strength alloy steel materials and assemble the hydraulic support group through advanced welding and forging processes according to the design requirements to ensure the firm connection of each component and no defects at the welded joints, and then move the hydraulic support group to the underground. S2. Test the hydraulic support group underground. The test contents include debugging the hydraulic system of the hydraulic support group, checking whether the telescopic movement of the support column 3 is smooth, whether the pushing mechanism 4 can accurately control the movement of the hydraulic support group, and checking the performance of each component in the hydraulic support group under different pressures and loads to ensure the stability and reliability of the overall structure. S3. Install the robot arm on the rear part of the hydraulic support group through high-strength bolts and a special rotating arm base 9. The rotating arm base 9 is made of titanium alloy material to reduce the impact on the hydraulic support group when the robot arm works. S4. Debug each joint and each connecting rod of the robot arm, and check the flexibility and sealing performance of each joint and each connecting rod, and then debug the grasping mechanism. According to the shape and topological interlocking interface of the prefabricated filling body, adjust the shape, opening and closing angle and grasping force of the claw 18 to ensure that the grasping mechanism can firmly grasp the prefabricated filling body. S5. Calibrate the stroke of the telescopic mechanism 14, install and debug the telescopic displacement sensor to ensure its measurement accuracy. At the same time, test the angle adjustment mechanism. Through the cooperation of the rotating motors at each joint and the angle adjustment mechanism, realize the precise rotation and angle fine adjustment of the robot arm body in all directions, and feedback the data to the control system 7 through the corresponding angle sensors for correction. S6. Integration and commissioning of the control system 7. Build the control system 7 with a programmable logic controller as the core, and correctly connect the driving parts and various sensors in the hydraulic support group and the robot boom to the programmable logic controller; after arranging the hydraulic supports with intelligent prefabricated filling bodies behind the supports in the underground working face for commissioning, remote monitoring and parameter adjustment can be carried out, and at the same time, it has the functions of automatic fault diagnosis and alarm, reflecting the innovation of intelligence and automation in this embodiment, improving the gob filling efficiency and filling quality, reducing costs and risks, and realizing the efficient and automatic operation of "mining while filling", which has important development value in the mining and underground engineering fields; S7. Write the software of the control system 7, including the movement control module of the hydraulic support group, the action control module of the robot boom, and the fault diagnosis and safety protection module. During the underground commissioning process, input the data of each sensor using analog signals to test the calculation accuracy of the control system 7 for the movement speed and pushing force of the hydraulic support group, as well as the precise control ability of the robot boom's actions. At the same time, test the response speed and reliability of the fault diagnosis and safety protection module to ensure that safety protection measures can be started in a timely manner in case of abnormalities; S8. Install the debugged hydraulic supports with intelligent prefabricated filling bodies behind the supports at the predetermined positions in the underground coal mining face, and connect the hydraulic support group and the scraper conveyor through the pushing mechanism 4 to ensure stable relative positions and coordinated movement. Drive the front shield beam and the rear shield beam 17 to extend through the shield beam actuator respectively, and make the upper end surfaces of the front shield beam and the rear shield beam 17 flush with the upper end surface of the top beam 1. At this time, use the front shield beam, the top beam 1 and the rear shield beam 17 to support the gob roof simultaneously; S9. Complete the connection between the control system 7 and the control mechanism at the shearer, and conduct on-line commissioning of the overall equipment. According to the coal cutting speed of the shearer and the actual underground geological conditions, readjust the movement speed and pushing force parameters of the hydraulic support group again to make the three work together in the best state. At the same time, make on-site fine-tuning of the actions of the robot boom to ensure that the robot boom can accurately grab the prefabricated filling body from the scraper conveyor and assemble the prefabricated filling body into the gob according to the design requirements; S10. During the coal cutting process of the shearer, the hydraulic support group monitors the roof pressure in real time and automatically adjusts the supporting force of the supporting columns 3 according to the pressure change to keep the roof stable. After the shearer finishes coal cutting, the pushing mechanism 4 drives the hydraulic support group to move forward and leave an assembly space behind the hydraulic support group; S11. Install the image acquisition mechanism at the middle rear of the hydraulic support group, and use the image acquisition system to shoot videos of the gob area to collect image information. Select video segments of the blanking and ramming process, and construct a target data set. Process the images, then select a suitable model for training. Evaluate the trained model, find the best parameters of the corresponding model, and then compare various models with each other. Finally, select the best working condition recognition algorithm model (in this embodiment, a relatively good SVM model can be selected). This step is closely combined with the assembly operation process of the robot arm. During each assembly process, data is obtained in real time, the working condition is analyzed, and regulation is carried out; S12. The robot arm starts to work under the coordination of the control system 7. The grasping mechanism grabs the prefabricated filling body from the scraper conveyor, and the telescopic mechanism 14 moves the prefabricated filling body to a predetermined position in the gob area. The angle adjustment mechanism at each joint of the robot arm precisely adjusts the placement angle of the prefabricated filling body according to the design requirements to achieve accurate placement layer by layer; S13. The control system 7 collects the data of each sensor in real time, and transmits the operation data of the equipment to the ground monitoring center through remote communication methods (wireless or wired). Ground operators can grasp the working state of the equipment at any time according to the monitoring data. If any abnormality is found, remote parameter adjustment or shutdown instructions can be issued in a timely manner. At the same time, the fault diagnosis and alarm function runs continuously. The fault diagnosis and safety protection module can monitor the data of all sensors in real time. When abnormal situations occur, such as sensor failures, abnormal hydraulic system pressures, and the movement of the arm body exceeding the normal range, corresponding safety protection measures are immediately initiated, such as stopping the operation of the equipment and emitting alarm signals, to ensure the safe and reliable operation of the entire system and realize the efficient and automated operation of the coal mine underground filling mining operation.

[0046] Specifically, in S11, the image acquisition mechanism is a high-definition camera 15, and a video AI algorithm is embedded in the high-definition camera 15. The algorithm makes a real-time judgment on the working condition according to the preset model. When judging, the algorithm preset model is first selected according to the working environment scene. Then, the dynamic picture of the filling operation process (such as grabbing action, filling body position and rocker arm posture, etc.) is captured through the real-time collected sensor data (including the top plate pressure sensor 6, the push displacement sensor 2, the telescopic displacement sensor, the grasping force sensor 11 and various angle sensors, etc.) and the high-definition camera 15; then, the data and image are preprocessed and feature extracted (video image denoising, filling body target detection, rocker arm joint position posture, motion trajectory tracking, data filtering and normalization, and speed fluctuation, etc.), and finally the preprocessed data is input into the preset model. The model is trained based on the historical working condition data, so as to judge the two types of working conditions. The judged working conditions include normal working conditions and abnormal working conditions. The normal working condition continues to the next step, and the abnormal working condition is regulated by the PID controller, thereby reducing the abnormal working condition rate and reducing the time for operators to participate in regulation. At the same time, the control system 7 supports online updating of model parameters, it optimizes the judgment accuracy through iterative optimization of new working condition data, and adapts to the filling requirements of different coal seam hardnesses; the video AI algorithm uses multimodal data fusion to make a comprehensive judgment based on the values ​​of each sensor + video image (if the grasping force sensor 11 shows that the force is 0, but the image acquisition system captures that each claw 18 is in an open state, it is judged that "grasping failure" is an abnormal working condition, etc.).

[0047] Among them, normal working conditions include successful grasping of the prefabricated filling body (that is, it is necessary to ensure that the prefabricated filling body is not tilted, the prefabricated filling body is completely grasped, the robot rocker arm moves smoothly, and the shape of the prefabricated filling body is completely in line with the topological interlocking interface), accurate placement of the prefabricated filling body (that is, the prefabricated filling body accurately falls into the predetermined filling position in the goaf according to the planned path), the detection data of each sensor is within the set threshold, and there is no abnormality in the video image; abnormal working conditions include the detection data of any sensor exceeding the limit (such as failure to grasp the prefabricated filling body, slipping of the prefabricated filling body, and filling position deviation), abnormalities detected in the video image (such as the telescopic mechanism 14 is stuck, the angle adjustment mechanism fails, and the grasping mechanism cannot be opened and closed, etc.), the equipment movement deviates from the preset trajectory, communication is interrupted, and environmental interference occurs (such as coal dust blocking the high-definition camera 15 resulting in a decrease in recognition rate, mining lamp failure or blasting operations causing imaging effects, etc.), and the scraper conveyor fails to transport the prefabricated filling body in time.

[0048] As a specific embodiment, during the assembly and commissioning stage of the hydraulic support with intelligent post-assembly prefabricated filling bodies, the assembly work shall be carried out within 48 hours after the underground working face is arranged, and the assembly process shall be completed within 72 hours. After the assembly is completed, tests and adjustments simulating the underground working conditions shall be carried out immediately for not less than 12 hours. During the test process, the performance indicators of each key component shall be monitored. For example, the roof pressure bearing simulation test of the hydraulic support group shall be carried out more than 5 times, with each duration not less than 10 minutes, and the pressure change range shall cover 0 MPa - 80 MPa; the grasping mechanism of the robot arm shall be tested for more than 20 grasping actions, and the grasping success rate shall reach more than 95%, and the grasping force error shall be controlled within ±2%; the telescopic stroke accuracy test of the telescopic mechanism 14 shall be repeated 15 times, and the error shall not exceed ±0.05 m; the angle adjustment accuracy test of the angle adjustment mechanism shall be carried out 10 times each in the vertical and horizontal directions, and the error shall be controlled within ±0.5°. During the underground installation and operation stage, the connection and parameter matching with the shearer and the control system 7 shall be completed, and remote monitoring and parameter adjustment shall be carried out through the ground monitoring center.

[0049] In the present invention, specific examples are used to elaborate on the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A hydraulic support for intelligent post-assembly prefabricated filling bodies, characterized in that: It includes a hydraulic support group, a robot arm, an image acquisition system and a control system. The top of the hydraulic support group is used to support the goaf. The image acquisition system is installed in the middle of the rear of the hydraulic support group, and the acquisition end of the image acquisition system faces the robot arm. The installation end of the robot arm is rotatably installed at the rear of the hydraulic support group. The grasping end of the robot arm can move in multiple directions. The image acquisition system is electrically connected to the control system, and the grasping end of the robot arm is used to grasp the prefabricated filling body with the assistance of the image acquisition system and assemble the prefabricated filling body into the goaf. The driving parts of the hydraulic support group and the robot arm are both electrically connected to the control system and act under the control of the control system. After the robot arm finishes assembling a point in the goaf, the control system controls the hydraulic support group to move forward along the scraper conveyor to the next point.

2. The hydraulic support for intelligent assembly of prefabricated backfill bodies after the support according to claim 1, characterized in that: The robot arm includes a boom body and a grasping mechanism. The installation end of the boom body is rotatably installed at the rear of the hydraulic support group. The free end of the boom body is connected to the grasping mechanism through a connecting mechanism, and the boom body can drive the grasping mechanism to move in multiple directions. The connecting mechanism can drive the grasping mechanism to rotate.

3. The hydraulic support for intelligent assembly of prefabricated filling bodies behind the support according to claim 2, characterized in that: The boom body is installed at the rear of the hydraulic support group through a rotary boom base. An expansion mechanism is provided at the forearm link of the boom body. The expansion mechanism includes a multi-stage telescopic oil cylinder. The output end of the expansion mechanism is connected to the wrist joint of the boom body, and the expansion mechanism is used to drive the grasping mechanism to extend and retract. A telescopic displacement sensor is also installed at the expansion mechanism. The telescopic displacement sensor is used to detect the telescopic stroke of the expansion mechanism. The telescopic displacement sensor is electrically connected to the control system. Angle adjustment mechanisms are installed at the rotary boom base, the shoulder joint, the elbow joint and the wrist joint of the boom body. The angle adjustment mechanism can adjust the movement of the boom body under the control of the control system and make the boom body drive the prefabricated filling body to move in the horizontal and vertical directions.

4. The hydraulic support for intelligent post-assembly prefabricated filling body according to claim 3, characterized in that: The angle adjustment mechanism includes an angle adjustment motor, a worm gear, a worm and an angle sensor. The output shaft of the angle adjustment motor is connected to the worm. The worm is meshed with the worm gear. The angle sensor is used to detect the rotation angle of the corresponding joint of the boom body and transmit the angle information to the control system so that the control system controls the angle adjustment motor to work.

5. The hydraulic support for intelligent assembly of prefabricated filling bodies behind the support according to claim 3, characterized in that: The angle adjustment range of the angle adjustment mechanism in the horizontal direction is -15° to +15°, the angle adjustment range of the angle adjustment mechanism in the vertical direction is -30° to +30°, and the adjustment accuracy of the angle adjustment mechanism is ±1°.

6. The hydraulic support for intelligent post-assembly prefabricated filling body according to claim 2, characterized in that: The grasping mechanism includes a mounting frame and a plurality of claw pieces. The mounting frame has a plurality of mounting ends, and the plurality of claw pieces can be detachably mounted on different mounting ends respectively. Anti-slip patterns are provided on the inner side walls of the claw pieces. A plurality of grasping cylinders are mounted on the mounting frame. The plurality of grasping cylinders are used to drive the corresponding claw pieces to rotate towards or away from each other. Grasping force sensors are provided on each claw piece. The grasping force sensors and the grasping cylinders are both electrically connected to the control system. The grasping force sensors are used to detect the pressure when the claw pieces grasp the prefabricated filling body and transmit the pressure signal to the control system so that the control system controls the working state of the grasping cylinders to be adjusted.

7. The hydraulic support for intelligent assembling prefabricated filling body behind the support according to claim 6, characterized in that: The mounting frame is cross-shaped, and the four ends of the mounting frame form four mounting ends. The claw pieces are two or four. When the claw pieces are two, the two claw pieces are symmetrically arranged. When the claw pieces are four, the four claw pieces correspond to the four mounting ends one by one.

8. The hydraulic support for intelligent post-assembly precast filling body according to claim 1, wherein: The hydraulic support group includes a support base, a pushing mechanism, a top beam, a front shield beam, a rear shield beam, a plurality of shield beam actuators and a plurality of support columns. The pushing mechanism is mounted at the front end of the support base, and the pushing mechanism is used to connect the scraper conveyor. The pushing mechanism can drive the support base to move forward along the scraper conveyor after the shearer cuts coal. A roof pressure sensor and a pushing displacement sensor are provided on the top beam. The roof pressure sensor and the pushing displacement sensor are both electrically connected to the control system. The roof pressure sensor is used to detect the pressure when the top beam supports the goaf and transmit the pressure to the control system. The pushing displacement sensor is used to detect the moving distance of the support base and transmit the distance information to the control system. The front shield beam is rotatably mounted at the front end of the top beam, and the rear shield beam is rotatably mounted at the rear end of the top beam. The robot arm and the support columns are both mounted on the support base, and each support column supports the lower end of the top beam. Each support column can be telescoped. The lower ends of the front shield beam and the rear shield beam are both provided with the shield beam actuators. The two ends of the shield beam actuator at the lower end of the front shield beam respectively support the lower end of the front shield beam and the lower end of the top beam, and the shield beam actuator at the lower end of the front shield beam can drive the front shield beam to rotate to be deployed or retracted. The two ends of the shield beam actuator at the lower end of the rear shield beam respectively support the lower end of the rear shield beam and the upper end of the support base, and the shield beam actuator at the lower end of the rear shield beam can drive the rear shield beam to rotate to be deployed or retracted.

9. A precise assembly process for intelligent post-frame prefabricated filling bodies, characterized in that: Using the hydraulic support for intelligent post-rack assembly of prefabricated filling bodies according to any one of claims 1-8, includes the following steps: S1. Fabricate and assemble the hydraulic support group according to the design requirements and move the hydraulic support group underground; S2. Conduct tests on the hydraulic support group underground. The test contents include commissioning the hydraulic system of the hydraulic support group, checking whether the telescopic movement of the support columns is smooth, whether the pushing mechanism can accurately control the movement of the hydraulic support group, and checking the performance of each component in the hydraulic support group under different pressures and loads; S3. Install the robot arm at the rear of the hydraulic support group; S4. Commission each joint and each connecting rod of the robot arm, and check the flexibility and sealing performance of each joint and each connecting rod. Then commission the grasping mechanism, and adjust the shape, opening and closing angle, and grasping force of the claw according to the shape and topological interlocking interface of the prefabricated filling body; S5. Calibrate the stroke of the telescopic mechanism, install and commission the telescopic displacement sensor. At the same time, test the angle adjustment mechanism. Through the cooperation of the rotary motors at each joint and the angle adjustment mechanism, realize the rotation and fine angle adjustment of the robot arm body in all directions, and feedback the data through the corresponding angle sensors to the control system for correction; S6. Integration and commissioning of the control system. Build a control system with a programmable logic controller as the core, and correctly connect the drive parts and each sensor in the hydraulic support group and the robot arm to the programmable logic controller; S7. Write the control system software, including the movement control module of the hydraulic support group, the action control module of the robot arm, and the fault diagnosis and safety protection module. During the underground commissioning process, input the data of each sensor using analog signals to check the calculation accuracy of the control system for the movement speed and pushing force of the hydraulic support group, as well as the precise control ability of the robot arm action. At the same time, test the response speed and reliability of the fault diagnosis and safety protection module; S8. Install the debugged hydraulic support with intelligent assembly of prefabricated filling body behind the support at the underground coal mining face according to the predetermined position, connect the hydraulic support group and the scraper conveyor through the pushing mechanism, drive the front shield beam and the rear shield beam to extend respectively through the shield beam actuator, and make the upper end surfaces of the front shield beam and the rear shield beam flush with the upper end surface of the top beam. At this time, use the front shield beam, the top beam and the rear shield beam to support the roof of the goaf simultaneously; S9. Complete the connection between the control system and the control mechanism at the shearer, and conduct on-line commissioning of the overall equipment. According to the coal cutting speed of the shearer and the actual underground geological conditions, adjust the movement speed and pushing force parameters of the hydraulic support group again to achieve coordinated operation. At the same time, conduct on-site fine adjustment of the action of the robot arm to ensure that the robot arm can accurately grasp the prefabricated filling body from the scraper conveyor and assemble the prefabricated filling body into the goaf according to the design requirements; S10. During the coal cutting process of the shearer, the hydraulic support group monitors the roof pressure in real time, automatically adjusts the supporting force of the support columns according to the pressure change to keep the roof stable. After the shearer completes coal cutting, the pushing mechanism drives the hydraulic support group to move forward and leaves an assembly space behind the hydraulic support group; S11. Install the image acquisition mechanism at the middle rear of the hydraulic support group, and use the image acquisition system to shoot videos of the gob area to collect image information. Select video segments of the blanking and ramming process, and construct a target data set. Process the images, then select a suitable model for training, evaluate the trained model, find the best parameters of the corresponding model, and then compare various models with each other. Finally, select the best working condition recognition algorithm model. This step is closely combined with the assembly operation process of the robot arm, and data is obtained, the working condition is analyzed and adjusted in real time during each assembly process; S12. The robot arm starts to work under the coordination of the control system. The grasping mechanism grabs the prefabricated filling body from the scraper conveyor, and the telescopic mechanism moves the prefabricated filling body to the predetermined position in the gob area. The angle adjustment mechanism at each joint of the robot arm accurately adjusts the placement angle of the prefabricated filling body according to the design requirements to achieve accurate placement layer by layer; S13. The control system collects the data of each sensor in real time, and transmits the operation data of the equipment to the ground monitoring center through remote communication. The ground operators can grasp the working state of the equipment at any time according to the monitoring data. If any abnormality is found, remote parameter adjustment or shutdown instructions can be issued in time. At the same time, the fault diagnosis and alarm function runs continuously, and an alarm signal is immediately issued once an abnormal situation is detected.

10. The precise assembly process of the intelligent post-assembly prefabricated filling body according to claim 9, characterized in that: In S11, the image acquisition mechanism is a high-definition camera, and a video AI algorithm is embedded inside the high-definition camera. The video AI algorithm can distinguish the working condition according to the preset model. The working conditions are divided into normal working conditions and abnormal working conditions. The normal working conditions include successful grasping of the prefabricated filling body, accurate placement position of the prefabricated filling body, detection data of each sensor within the set threshold, and no abnormality in the video image; The abnormal working conditions include that the detection data of any sensor exceeds the limit, an abnormality is detected in the video image, the equipment movement deviates from the preset trajectory, communication interruption, environmental interference, and the scraper conveyor fails to convey the prefabricated filling body in time.

Images