Hydraulic support and precise assembly process for intelligent assembly of prefabricated filling bodies after erection

Abstract

The present invention discloses a hydraulic support and a precise assembly process for intelligently assembling a prefabricated filling body behind the support, and relates to the technical field of coal mining equipment. An image acquisition system is installed at the rear middle of the hydraulic support group, and the acquisition end faces the robot rocker arm. The robot rocker arm is rotatably installed at the rear of the hydraulic support group. The grabbing end of the robot rocker arm can move in multiple directions. The grabbing end of the robot rocker arm is used to grab the prefabricated filling body and assemble the prefabricated filling body to the goaf with the assistance of the image acquisition system. The driving part of the hydraulic support group and the driving part of the robot rocker arm are both operated under the control of the control system. After the robot rocker 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. The present invention can improve the filling efficiency and quality of the goaf, enhance the synergy between the filling operation and the coal mining operation, realize intelligent and automated filling operations, and ensure the efficiency, safety and environmental protection of coal mining.

Description

Technical Field

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

[0002] The process of coal mining can easily cause surface subsidence and waste rock discharge, posing a serious threat to the ecological environment and human production and life.

[0003] In terms of filling treatment of goaf, gangue filling, paste filling and ground delamination grouting filling are commonly used at present. Although these technologies have solved the current filling problems in coal mining, there is still room for improvement and development.

[0004] The advantage of waste rock filling is that it effectively utilizes waste rock, a byproduct of coal mining, achieving secondary resource utilization to a certain extent. However, in practice, this method faces the difficulty of accurately controlling the degree of compaction of the waste rock after filling. This can easily lead to uneven settlement in the goaf, posing 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 needs, but its cost is relatively high, and the preparation process of the filling material is cumbersome and complicated. During the filling process, the balance between the fluidity and solidification properties of the paste is extremely difficult to grasp, which may lead to adverse consequences such as loose filling or insufficient filling strength, affecting the long-term stability of the goaf.

[0006] As for ground delamination grouting, it can play a certain role under specific geological conditions and can effectively reinforce some mined-out areas. However, this technology has extremely stringent requirements on geological conditions, a relatively narrow scope of application, and great difficulties in monitoring and evaluating the grouting effect. It is difficult to fully and accurately ensure effective control of surface subsidence.

[0007] Furthermore, traditional filling methods generally have a low degree of automation and poor coordination with coal mining operations. The shearer's coal cutting speed is difficult to perfectly match with the filling operation speed, resulting in inefficient coordination between mining and filling operations, which in turn affects overall production efficiency. Furthermore, existing filling equipment struggles to quickly and accurately position the filling material in the goaf after the hydraulic supports are moved, resulting in low filling efficiency and failure to meet the demands of efficient production. Summary of the Invention

[0008] The purpose of the present invention is to provide a hydraulic support and precise assembly process for intelligently assembling prefabricated filling bodies after the frame is erected, so as to solve the problems existing in the above-mentioned prior art, improve the filling efficiency and quality of the goaf, enhance the synergy between filling operations and coal mining operations, realize intelligent and automated filling operations, and ensure the efficiency, safety and environmental protection of coal mining.

[0009] To achieve the above object, the present invention provides the following solutions:

[0010] The present invention provides a hydraulic support for intelligently assembling prefabricated filling bodies behind the frame, comprising a hydraulic support group, a robot rocker 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 is set toward the robot rocker arm, the mounting end of the robot rocker arm is rotatably installed at the rear of the hydraulic support group, the grabbing end of the robot rocker arm can move in multiple directions, the image acquisition system is electrically connected to the control system, and the grabbing end of the robot rocker arm is used to grab the prefabricated filling body and assemble the prefabricated filling body to the goaf with the assistance of the image acquisition system, the driving part of the hydraulic support group and the driving part of the robot rocker arm are both electrically connected to the control system and operate under the control of the control system, after the robot rocker arm completes the assembly of one point in the goaf, the control system controls the hydraulic support group to move forward to the next point along the scraper conveyor.

[0011] Preferably, the robot rocker arm includes a rocker arm body and a gripping mechanism, the mounting end of the rocker arm body is rotatably mounted on the rear of the hydraulic support group, the free end of the rocker arm body is connected to the gripping mechanism through a connecting mechanism, and the rocker arm body can drive the gripping mechanism to move in multiple directions, and the connecting mechanism can drive the gripping mechanism to rotate.

[0012] Preferably, the rocker arm body is installed on the rear part of the hydraulic support group through a rotating rocker arm base, and a telescopic mechanism is provided at the arm connecting rod of the rocker arm body, and the telescopic mechanism includes a multi-stage telescopic cylinder, and the output end of the telescopic mechanism is connected to the wrist joint of the rocker arm body, and the telescopic mechanism is used to drive the grasping mechanism to extend and retract, and a telescopic displacement sensor is also installed at the telescopic mechanism, and the telescopic displacement sensor is used to detect the telescopic stroke of the telescopic mechanism, and the telescopic displacement sensor is electrically connected to the control system, and angle adjustment mechanisms are installed at the rotating rocker arm base, the shoulder joint, the elbow joint and the wrist joint of the rocker arm body, and the angle adjustment mechanism can adjust the movement of the rocker arm body under the control of the control system, and enable the rocker arm body to drive the prefabricated filling body to move in the horizontal and vertical directions.

[0013] 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, and the worm is engaged with the worm gear. 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.

[0014] Preferably, 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°.

[0015] Preferably, the gripping mechanism includes a mounting frame and a plurality of claws, the mounting frame has a plurality of mounting ends, and the plurality of claws can be detachably mounted on different mounting ends, the inner side wall of each claw is provided with anti-slip grooves, and a plurality of gripping cylinders are installed on the mounting frame, and the plurality of gripping cylinders are used to drive the corresponding claws to rotate in a direction closer to or away from each other, and a gripping force sensor is provided on each claw, the gripping force sensor and the gripping cylinder are electrically connected to the control system, and the gripping force sensor is used to detect the pressure when the claw grabs the prefabricated filling body, and transmit the pressure signal to the control system so that the control system controls the gripping cylinder to adjust the working state.

[0016] Preferably, the mounting frame is cross-shaped, and the four ends of the mounting frame form four mounting ends, and the number of claws is two or four. When there are two claws, the two claws are symmetrically arranged. When there are four claws, the four claws correspond one to one with the four mounting ends.

[0017] 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 coal mining machine cuts coal, a top plate pressure sensor and a pushing displacement sensor are provided on the top beam, the top plate pressure sensor and the pushing displacement sensor are both electrically connected to the control system, the top plate pressure sensor is used to detect the pressure exerted on the top beam when supporting the goaf, 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 on the top beam The front end, the rear shield beam is rotatably installed at the rear end of the top beam, the robot rocker arm and the supporting column are both installed on the bracket base, and each supporting column is supported by the lower end of the top beam, and each supporting column can be extended and retracted, and the lower end of the front shield beam and the lower end of the rear shield beam are both installed with the shield beam actuator, the two ends of the shield beam actuator located at the lower end of the front shield beam are respectively supported by 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, and the two ends of the shield beam actuator located at the lower end of the rear shield beam are respectively supported by the lower end of the rear shield beam and the upper end of the bracket 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.

[0018] The present invention also provides a precise assembly process for prefabricated filling bodies by intelligently assembling them after erection. The hydraulic support for intelligently assembling prefabricated filling bodies after erection in the above technical solution includes the following steps:

[0019] S1. Assemble the hydraulic support assembly according to the design requirements and move the hydraulic support assembly underground;

[0020] S2. Test the hydraulic support assembly underground. This includes debugging the hydraulic system, checking the smooth extension and retraction of the support columns, and verifying the accuracy of the push mechanism in controlling the movement of the hydraulic support assembly. Furthermore, the performance of each component of the hydraulic support assembly under varying pressures and loads is also examined.

[0021] S3. Install the robot rocker arm on the rear of the hydraulic support group;

[0022] S4. Debug the joints and links of the robot's rocker arm and check their flexibility and sealing. Then, debug the gripping mechanism, adjusting the claw shape, opening and closing angle, and gripping force based on the prefabricated filling's shape and topological interlocking interface.

[0023] S5. Calibrate the telescopic mechanism's travel, install and debug the telescopic displacement sensor, and test the angle adjustment mechanism. By coordinating the rotary motors at each joint with the angle adjustment mechanism, the rocker arm's body can be rotated in all directions and its angle fine-tuned. The corresponding angle sensors then feed data back to the control system for correction.

[0024] S6. Integration and debugging of the control system. Build a control system with a programmable logic controller as the core, and properly connect the hydraulic support assembly, the drive components of the robot rocker arm, and various sensors to the programmable logic controller.

[0025] S7. Develop the control system software, including the hydraulic support group movement control module, the robotic rocker arm motion control module, and the fault diagnosis and safety protection module. During downhole commissioning, use analog signals to input data from various sensors to verify the control system's accuracy in calculating the hydraulic support group's movement speed and thrust, as well as its ability to precisely control the robotic rocker arm's motion. Additionally, test the response speed and reliability of the fault diagnosis and safety protection module.

[0026] S8. Install the debugged hydraulic support with prefabricated filling elements at the pre-determined location on the underground coal mining face. Connect the hydraulic support assembly to the scraper conveyor via a push mechanism. Use the shield beam actuators to extend the front and rear shield beams, respectively, ensuring that the upper ends of the front and rear shield beams are flush with the upper end of the top beam. The front, top, and rear shield beams now simultaneously support the goaf roof.

[0027] S9. Complete the connection between the control system and the shearer's control mechanism and conduct online debugging of the entire equipment. Based on the shearer's coal cutting speed and the actual underground geological conditions, adjust the hydraulic support group's movement speed and thrust parameters to achieve coordinated operation. Simultaneously, fine-tune the robot's rocker arm's motion on-site to ensure it can accurately grab the prefabricated filling from the scraper conveyor and install it in the goaf according to design requirements.

[0028] S10. While the shearer is cutting coal, the hydraulic support assembly monitors roof pressure in real time and automatically adjusts the support column force based on pressure changes to maintain roof stability. After the shearer completes cutting, the push mechanism drives the hydraulic support assembly forward, leaving space for rear assembly of the hydraulic support assembly.

[0029] S11. Install the image acquisition mechanism to the rear center of the hydraulic support assembly and use the image acquisition system to capture video of the goaf to collect image information. Select video clips of the blanking and compaction process, construct a target data set, process the images, select an appropriate model for training, evaluate the trained model, identify the optimal parameters for the corresponding model, and then compare various models to ultimately select the optimal working condition recognition algorithm model. This step is closely integrated with the assembly process of the robotic rocker arm, acquiring data, analyzing working conditions, and implementing control in real time during each assembly process.

[0030] S12. The robotic rocker arm begins operating under the coordination of the control system. The gripping mechanism grabs the prefabricated filling material from the scraper conveyor. The telescopic mechanism moves the prefabricated filling material to the predetermined position in the goaf. The angle adjustment mechanisms at each joint of the robotic rocker arm precisely adjust the placement angle of the prefabricated filling material according to design requirements, ensuring accurate placement layer by layer.

[0031] S13. The control system collects data from various sensors in real time and transmits the equipment's operating data to the ground monitoring center via remote communication. Ground operators can monitor the equipment's operating status at any time based on the monitoring data. If any abnormality is found, they can adjust parameters remotely or issue a shutdown command in a timely manner. At the same time, the fault diagnosis and alarm functions operate continuously, and an alarm signal will be issued immediately if an abnormality is detected.

[0032] 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 identify the working conditions according to the preset model. The working conditions are divided into normal working conditions and abnormal working conditions. Normal working conditions include successful grasping of the prefabricated filling body, accurate placement of the prefabricated filling body, detection data of each sensor within the set threshold, and no abnormalities in the video image; abnormal working conditions include detection data of any sensor exceeding the limit, abnormality detected in the video image, equipment movement deviating from the preset trajectory, communication interruption, environmental interference, and the scraper conveyor failing to transport the prefabricated filling body in time.

[0033] Compared with the prior art, the present invention has achieved the following technical effects:

[0034] The present invention provides a hydraulic support and a precise assembly process for intelligently assembling a prefabricated filling body behind the frame. 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 is set toward the robot rocker arm, so that the posture parameter indicators of the hydraulic support for intelligently assembling the prefabricated filling body behind the frame can be displayed in real time. The mounting end of the robot rocker arm is rotatably mounted at the rear of the hydraulic support group. The grabbing end of the robot rocker arm can move in multiple directions. The image acquisition system is electrically connected to the control system, and the grabbing end of the robot rocker arm is used to grab the prefabricated filling body and the prefabricated filling body with the assistance of the image acquisition system. The filling body is assembled to the goaf, ensuring that the prefabricated filling body can be accurately placed layer by layer in the goaf according to the design requirements, ensuring the close arrangement and good topological interlocking effect between the prefabricated filling bodies, improving the density and stability of the goaf filling, and thus 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 rocker arm will work. First, the robot rocker 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 rocker arm will perform the corresponding expansion action to carry the prefabricated filling body transported by the scraper conveyor Precisely grasp, and then use the rotation and telescopic functions to accurately fill the prefabricated filling body. When the filling is completed, the hydraulic support group performs the frame moving action to facilitate the robot rocker arm to fill and assemble the next point, realizing the "parallel mining and filling" process. The drive unit of the hydraulic support group and the drive unit of the robot rocker arm are electrically connected to the control system and move under the control of the control system. Then, the control system coordinates the actions of the hydraulic support group and the robot rocker arm to perform the assembly and filling process, realizing the efficient assembly of the prefabricated filling body in the goaf. In addition, the control system is based on PLC and combines a variety of sensor networks to realize the assembly of the prefabricated filling body in the goaf through wireless or automatic control. The system interacts with the coal mining machine through line communication, and can coordinate the movement of the hydraulic support group and the action of the robot rocker 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 working near the goaf, and ensures the efficiency, safety and environmental protection of coal mining. After the robot rocker arm completes the assembly of one point in the goaf, the control system controls the hydraulic support group to move forward along the scraper conveyor to the next point, thereby improving the continuity of coal mining, and then improving the coal mining efficiency and the assembly efficiency of the prefabricated filling body, 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

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 This is a structural diagram of the hydraulic support for intelligently assembling a prefabricated filling body behind the support in Example 1 (the gripping mechanism has two claws);

[0037] Figure 2 Schematic diagram of the structure of the robot rocker arm in Example 1 (the gripping mechanism has two claws);

[0038] Figure 3 for Figure 1 The main view;

[0039] Figure 4 for Figure 1 Right view of;

[0040] Figure 5 for Figure 1 A top view of

[0041] Figure 6 Schematic diagram of the working conditions of the underground environment of the hydraulic support with intelligent assembly of prefabricated filling bodies after erection in Example 1 (the gripping mechanism has two claws);

[0042] Figure 7 Schematic diagram of the arrangement of the hydraulic supports for intelligently assembling prefabricated filling bodies behind the support in Example 1 (the gripping mechanism has two claws);

[0043] Figure 8 This is a structural diagram of the hydraulic support for intelligently assembling a prefabricated filling body behind the support in Example 1 (the gripping mechanism has four claws);

[0044] Figure 9 Schematic diagram of the structure of the robot rocker arm in Example 1 (the gripping mechanism has four claws);

[0045] Figure 10 Schematic diagram of the working conditions of the underground environment of the hydraulic support with intelligent assembly of prefabricated filling bodies after erection in Example 1 (the gripping mechanism has four claws);

[0046] Figure 11 Schematic diagram of the arrangement of the hydraulic supports for intelligently assembling prefabricated filling bodies behind the support in Example 1 (the gripping mechanism has four claws);

[0047] Figure 12 This is a structural diagram of the hydraulic support with prefabricated filling bodies intelligently assembled behind the support in the first embodiment when it is in a contracted and static state;

[0048] Figure 13 for Figure 12 The main view;

[0049] Figure 14This is a structural diagram of the hydraulic support with prefabricated filling bodies intelligently assembled behind the support in the first embodiment when it is in a switching working state;

[0050] Figure 15 for Figure 14 The main view;

[0051] Figure 16 This is a structural diagram of the hydraulic support for intelligently assembling a prefabricated filling body behind the frame in the first embodiment when it is in a state of grabbing the prefabricated filling body;

[0052] Figure 17 for Figure 16 The main view;

[0053] Figure 18 This is a structural diagram of the hydraulic support for intelligently assembling prefabricated filling bodies behind the support in the first embodiment when the prefabricated filling bodies are placed;

[0054] Figure 19 for Figure 18 The main view;

[0055] Figure 20 This is a logic diagram of the principle flow of the video AI algorithm embedded in the high-definition camera in S11 of Example 2;

[0056] In the figure: 1-top beam, 2-sliding displacement sensor, 3-support column, 4-sliding mechanism, 5-bracket base, 6-top plate pressure sensor, 7-control system, 8-first angle sensor, 9-rotating rocker arm base, 10-third angle sensor, 11-grabbing force sensor, 12-grabbing cylinder, 13-fourth angle sensor, 14-telescopic mechanism, 15-high-definition camera, 16-connecting mechanism, 17-rear shield beam, 18-claw. DETAILED DESCRIPTION

[0057] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0058] The purpose of the present invention is to provide a hydraulic support and precise assembly process for intelligently assembling prefabricated filling bodies after the frame is erected, so as to solve the problems existing in the prior art, improve the filling efficiency and quality of the goaf, enhance the synergy between the filling operation and the coal mining operation, realize intelligent and automated filling operations, and ensure the efficiency, safety and environmental protection of coal mining.

[0059] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0060] Example 1

[0061] like Figures 1-19As shown, this embodiment provides a hydraulic support for intelligently assembling a prefabricated filling body behind the frame, including a hydraulic support group, a robot rocker 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 is set toward the robot rocker arm to ensure that it does not interfere with the movement of the mechanism and can fully capture related structures and movements, thereby being able to display the posture parameter indicators of the hydraulic support for intelligently assembling a prefabricated filling body behind the frame in real time. The mounting end of the robot rocker arm is rotatably installed at the rear of the hydraulic support group, and the grabbing end of the robot rocker arm can move in multiple directions. The image acquisition system is electrically connected to the control system 7. , and the grabbing end of the robot rocker arm is used to grab the prefabricated filling body and assemble the prefabricated filling body to the goaf with the assistance of the image acquisition system, ensuring that the prefabricated filling body can be accurately placed layer by layer in the goaf according to the design requirements, ensuring the close arrangement and good topological interlocking effect between the prefabricated filling bodies, improving the density and stability of the goaf filling, and thus 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 rocker arm will work. First, the robot rocker arm will switch from a retracted and static state to a working state, and then according to the recognition of the image acquisition system, the robot rocker arm will expand and contract accordingly. The hydraulic support group moves to accurately grab the prefabricated filling body brought by the scraper conveyor, and then uses the rotation and telescopic functions to accurately fill the prefabricated filling body. When the filling is completed, the hydraulic support group moves the frame to facilitate the robot rocker arm to fill and assemble the next point, realizing the "parallel mining and filling" process. The driving part of the hydraulic support group and the driving part of the robot rocker arm are electrically connected to the control system 7 and move under the control of the control system 7. The control system 7 coordinates the actions of the hydraulic support group and the robot rocker arm to perform the assembly and filling process, realizing the efficient assembly of the prefabricated filling body in the goaf, and the control system 7 is based on PLC and combines multiple The sensor network interacts with the coal mining machine through wireless or wired communication, and can coordinate the movement of the hydraulic support group and the action of the robot rocker 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 working near the goaf, and ensures the efficiency, safety and environmental protection of coal mining. After the robot rocker arm completes the assembly of one point in the goaf, the control system 7 controls the hydraulic support group to move forward along the scraper conveyor to the next point, thereby improving the continuity of coal mining, thereby improving the coal mining efficiency and the assembly efficiency of the prefabricated filling body, filling the gap in the existing technology, and injecting new vitality into the sustainable development of the coal mining industry.

[0062] Specifically, the robot rocker arm is designed with innovative materials and technologies, and is used to grab prefabricated filling bodies behind the hydraulic support group and accurately place the prefabricated filling bodies at the predetermined position in the goaf. The robot rocker arm includes a rocker arm body and a grabbing mechanism. The mounting end of the rocker arm body is rotatably mounted at the rear of the hydraulic support group, and the free end of the rocker arm body is connected to the grabbing mechanism through a connecting mechanism 16, and the rocker arm body can drive the grabbing mechanism to move in multiple directions. The rocker arm body adopts advanced technologies such as differential systems and multi-degree-of-freedom robotic arms to improve the environmental adaptability and work efficiency of the robot rocker arm. The connecting mechanism 16 can drive the grabbing mechanism to achieve 360° free rotation.

[0063] As a specific embodiment, the overall length of the robot rocker arm is designed to be 2 meters to 3.5 meters.

[0064] The rocker arm body is installed at the rear of the hydraulic support group through a rotating rocker arm base 9. The rocker arm body consists of multiple joints and connecting rods, and has a multi-degree-of-freedom design. The spacing 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 rocker arm body can rotate flexibly in a complex underground environment and has good sealing, preventing impurities such as coal powder from entering and affecting its performance.

[0065] A telescopic mechanism 14 is provided at the arm connecting rod of the rocker arm body. The telescopic 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 meters per second to 1.3 meters per second, and the thrust is designed to be 20kN to 50kN, ensuring that the telescopic process is smooth and has sufficient thrust. As another preferred solution, the telescopic mechanism 14 can also adopt an electric screw system, which has high-precision displacement control capability. The electric screw system drives the screw to rotate through the motor to drive the rocker arm body to extend and retract. Its telescopic stroke is designed to be 1.2 meters to 2 meters, the telescopic speed is designed to be 0.05 meters per second to 0.2 meters per second, and the thrust is designed to be 1 5kN-40kN, the output end of the telescopic mechanism 14 is connected to the wrist joint of the rocker arm body, and the telescopic mechanism 14 is used to drive the grasping mechanism to extend and retract. A telescopic displacement sensor is also installed at the telescopic mechanism 14. The telescopic displacement sensor is used to detect the telescopic stroke of the telescopic mechanism 14, and then cooperate with the control system 7 to achieve precise placement of the prefabricated filling body. The telescopic displacement sensor is electrically connected to the control system 7. Angle adjustment mechanisms are installed at the rotating rocker arm base 9, the shoulder joint, elbow joint and wrist joint of the rocker arm body. The angle adjustment mechanism can adjust the movement of the rocker arm body under the control of the control system 7, and enable the rocker arm body to drive the prefabricated filling body to move in the horizontal and vertical directions.

[0066] Each joint of the rocker arm body can rotate. The rotation of each joint is usually composed of components such as a rotating motor, a reducer, a rotating shaft and bearings. The rotating motor provides power, reduces the speed and increases the torque through the reducer, and then drives the rotating shaft to rotate, ultimately realizing the rotation of the grasping mechanism. The rotation angle range is set to 0°-180°, and the motor speed is designed to be 5r / min-15r / min. After the speed is reduced and the torque is increased through the reducer, the actual output speed of the rotating shaft is 0.5r / min-2r / min. The bearings are used to support the rotating shaft to reduce friction and wear during rotation.

[0067] For the high-precision bearings installed at each joint, deep groove ball bearings or tapered roller bearings are preferably used, with an accuracy grade of P5 or P4, an inner diameter of 50 mm-100 mm, an outer diameter of 80 mm-150 mm, and a width of 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 and can effectively prevent impurities such as coal powder from entering the bearing, ensuring the normal operation of the bearing and the flexible rotation of the rocker body, and extending the service life of the bearing.

[0068] In the specific detailed design of the robot rocker arm, the main body of the robot rocker arm adopts a new type of aluminum-based silicon carbide composite material, the rotating rocker arm base 9 adopts titanium alloy material, and the grasping mechanism adopts nickel-based titanium memory alloy material. These materials not only have the characteristics of high strength, high toughness and high stability, but can also quickly return to their original state after being subjected to external force, effectively improving the durability and reliability of the robot rocker arm.

[0069] 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, and the worm is engaged with the worm gear. The angle adjustment motor is then used to drive the worm to rotate and drive the worm gear to rotate. The angle sensor is used 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 accurately adjust the placement angle of the prefabricated 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.

[0070] The angle adjustment range of the angle adjustment mechanism in the horizontal direction is -15°~+15°, and the angle adjustment range of the angle adjustment mechanism in the vertical direction is -30°~+30°. The adjustment accuracy of the angle adjustment mechanism is ±1°, ensuring close arrangement and good topological interlocking effect between the prefabricated filling bodies.

[0071] The gripping mechanism includes a mounting frame and multiple claws 18. The mounting frame has multiple mounting ends, and the multiple claws 18 can be detachably mounted on different mounting ends. The inner wall of each claw 18 is provided with anti-slip grooves to ensure that the prefabricated filling body can be firmly grasped. Multiple gripping cylinders 12 are installed on the mounting frame. The multiple gripping cylinders 12 are used to drive the corresponding claws 18 to rotate in the direction of approaching or moving away from each other, so as to scale and adjust each claw 18 according to the size of the prefabricated filling body, so as to better adapt to the topological interlocking interface shape and size of different prefabricated filling bodies. Each claw 18 is provided with a gripping force sensor 11. The gripping force sensor 11 and the gripping cylinder 12 are electrically connected to the control system 7, and the gripping force sensor 11 is used to detect the pressure when the claw 18 grips the prefabricated filling body, and transmit the pressure signal to the control system 7, so that the control system 7 controls the gripping cylinder 12 to adjust the working state.

[0072] As another embodiment, the gripping mechanism may also be replaced by an adsorption-type gripping device, and in this case, the gripping force sensor 11 needs to be replaced by an adsorption force sensor.

[0073] The design of the gripping mechanism is targeted at the topological interlocking interface of the filling body. According to the shape, size and topological interlocking characteristics of the prefabricated filling body, the gripping mechanism can adopt a mechanical claw structure. The shape and opening and closing angle of the mechanical claw precisely match the appearance of the prefabricated filling body. The maximum width of the mechanical claw is designed to be 0.5 meters to 1.2 meters. The length of the claw piece 18 of the mechanical claw is 0.3 meters to 0.6 meters, and the thickness of the claw piece 18 is 20 mm to 30 mm. Its maximum gripping force is designed to be 5kN to 10kN. The claw piece 18 is connected to the mounting frame through the gripping cylinder 12. Under the action of the gripping cylinder 12, the claw piece 18 can contract to different degrees to achieve the gripping and release of the prefabricated filling body. At the same time, the mechanical claw can be replaced based on different prefabricated filling bodies or environmental requirements. Two-claw and four-claw mechanical structures are available for replacement.

[0074] The mounting frame is cross-shaped, and the four ends of the mounting frame form four mounting ends. There are two or four claw pieces 18. When there are two claw pieces 18, the two claw pieces 18 are symmetrically arranged. When there are four claw pieces 18, the four claw pieces 18 correspond one to one to the four mounting ends.

[0075] The hydraulic support group is used to support the roof of the goaf during the coal cutting process of the coal mining machine, and move forward after the coal mining machine cuts the coal. A space for assembling and filling the prefabricated filling body is formed 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 coal mining machine cuts the coal. The moving speed of the pushing mechanism 4 can be adjusted according to the It is adjusted according to the coal mining speed and the actual situation underground. During the movement, the various components maintain close cooperation to avoid the vibration or displacement caused by the movement 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 frame. The size and shape of the space are designed according to the size and placement requirements of the prefabricated filling body, providing convenient conditions for the subsequent operation of the robot rocker arm. A roof pressure sensor 6 and a push displacement sensor 2 are provided on the top beam 1. The roof pressure sensor 6 and the push displacement sensor 2 are both electrically connected to the control system 7. The roof pressure sensor 6 is used to detect The pressure on the top beam 1 when supporting the goaf is measured, and the pressure information is transmitted 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 support 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 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 rocker arm and the support column 3 are both installed on the support base 5, and each support column 3 is Supported at the lower end of the top beam 1, each supporting column 3 can be extended and retracted, and the lower end of the front shield beam and the lower end of the rear shield beam 17 are both equipped 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 at 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 extend or retract, and the two ends of the shield beam actuator located at the lower end of the rear shield beam 17 are respectively supported at the lower end of the rear shield beam 17 and the upper end of the bracket 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 extend or retract.

[0076] As a specific embodiment, the hydraulic support group is made by advanced welding and forging technology. The height of the hydraulic support group is designed to be 4 meters to 5 meters, the base width is 1.2 meters to 1.8 meters, and the width of the top beam 1 is 1 meter to 1.5 meters to ensure a suitable working area.

[0077] The length of the top beam 1 is designed to be 4-6 meters to disperse the pressure. The thickness of the top beam 1 is made of 30-50 mm high-strength alloy steel plate. The shape is an arch with an arch height of 0.5-1 meter and an arch radius of 2-3 meters, or a trapezoidal structure with an upper width of 1-1.2 meters, a lower base width of 1.5-1.8 meters, and a height of 0.8-1.2 meters to better disperse the top plate pressure.

[0078] 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. The upper end surface is designed to maintain the same horizontal height as the top beam 1 to prevent debris such as gangue from entering the working space. It can be adjusted from 0° to 45° according to actual working conditions, while ensuring that the goaf where the robot rocker arm is located has a certain working space.

[0079] The base provides a stable support foundation for the entire hydraulic support group. It is designed to be 3-5 meters long and 40-60 mm thick. It is made of high-strength steel plate to ensure sufficient area and strength. An anti-skid device can be installed on the bottom to adapt to different underground geological conditions. For example, polyurethane rubber with a friction coefficient of not less than 0.5 is used. The size of the anti-skid device is 1.5-2 meters long and 0.3-0.5 meters wide.

[0080] The support column 3 is the main supporting component of the hydraulic support group. It is controlled by the hydraulic system to provide support for the top beam 1. The cylinder diameter of the telescopic column is designed to be 200 mm-300 mm, the piston rod diameter is 100 mm-150 mm, the telescopic column stroke is 1 m-2 m, and the rated support force of a single telescopic column is designed to be 800 kN-1500 kN.

[0081] The pushing mechanism 4 is used to realize the forward movement of the hydraulic support group after the coal shearer cuts the coal. It includes a pushing jack and a pushing rod. The pushing jack has a stroke of 0.8 meters to 1.5 meters and the pushing rod has a diameter of 80 mm to 120 mm. It is made of high-strength alloy steel and can be connected to the scraper conveyor to ensure the relative position stability and movement coordination between the hydraulic support group and the scraper conveyor.

[0082] However, the specific size parameters of the hydraulic support group in this embodiment are not limited to the above-mentioned limitations, and those skilled in the art can also make adaptive changes according to actual needs.

[0083] 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 fatigue resistance under huge pressure and complex working conditions. The protective beam actuator adopts a hydraulic jack, and the hydraulic jack is a double-ear type, which is convenient for welding and bolting various parts together. The rear protective beam 17 and the top plate are both arranged horizontally to provide a certain working space for the filling and assembly of the prefabricated filling body. In addition, the direction of the rear protective beam 17 can be rotated and adjusted by 0°-45° according to different environmental requirements to ensure corresponding adjustments for different working environments.

[0084] In this embodiment, multiple drivers are provided, including a column hydraulic driver at the support column 3, a hydraulic jack driver at the pushing mechanism 4, a hydraulic motor driver at the rocker arm body (used for rotating joints, with an output torque of 100N / m-300N / m and a rotation speed of 5r / min-15r / min), a telescopic cylinder driver at the telescopic mechanism 14 (if it is a hydraulic telescopic mechanism 14, the working pressure is 25MPa-35MPa, and the thrust is 20kN-50kN) and an electric rotary driver at each joint (power is 3Kw-10Kw, and the rotation speed is 0.5r / min-2r / min), etc., which are used to perform corresponding actions according to the instructions of the control system 7.

[0085] The control system 7 uses a high-performance programmable logic controller (PLC) as its core, and its CPU processing speed is not less than 0.1 microseconds / instruction, ensuring sufficient computing power to process the data of each sensor and execute complex control algorithms to ensure the real-time and accuracy of the control system 7. Then, various sensors are combined to form a sensor network. Among them, the measurement range of the top plate pressure sensor 6 is 0MPa-100MPa, and the accuracy is ±0.5%FS (full scale). The linear error of each displacement sensor is no more than ±0.1%, and the measurement range is 0m-2m. The measurement range of the grasping force sensor 11 is 0kN-20kN, and the accuracy is ±1%FS. The measurement accuracy of each rotation angle sensor is ±1°, and the resolution is 0.1°, thereby achieving precise grasping and placement of the prefabricated filling body.

[0086] The control system 7 has remote monitoring and data transmission functions, and is equipped with a variety of communication interfaces, such as RS485 and Ethernet interfaces, with a communication rate of not less than 10Mbps, which facilitates data communication and information exchange with coal mining machines, ground monitoring centers, and other equipment, achieving synchronization of operations and spatial coordination. It can also transmit the operating data of the equipment to the ground monitoring center, so that operators can grasp the working status of the underground equipment in real time. As a specific embodiment, the program storage capacity of the control system 7 is 300KB-600KB, and the data storage capacity is 100KB-300KB, which can store information such as the software program of the control system 7, equipment operating parameters, and historical data. This storage capacity meets the needs of long-term stable operation of the equipment, can meet the simplicity of the control program, and can also achieve targeted data storage, so as to achieve low-cost, efficient, and accurate operation.

[0087] Example 2

[0088] like Figure 20 As shown, this embodiment provides a precise assembly process for prefabricated filling bodies with intelligent assembly after erection, using the hydraulic support for intelligent assembly of prefabricated filling bodies after erection in Example 1, including the following steps:

[0089] S1. Fabricate and assemble the hydraulic support assembly according to the design requirements. Specifically, high-strength alloy steel is selected and assembled using advanced welding and forging processes in accordance with the design requirements. Ensure that all components are securely connected and welds are free of defects. The hydraulic support assembly is then moved underground.

[0090] S2. Test the hydraulic support assembly underground. This includes debugging the hydraulic system, checking the smooth extension and retraction of support columns 3, and verifying the ability of push mechanism 4 to accurately control the movement of the hydraulic support assembly. Furthermore, the performance of each component of the hydraulic support assembly under different pressures and loads is checked to ensure the stability and reliability of the overall structure.

[0091] S3. The robot rocker arm is mounted on the rear of the hydraulic support group through high-strength bolts and a special rotary rocker arm base 9. The rotary rocker arm base 9 is made of titanium alloy to reduce the impact of the robot rocker arm on the hydraulic support group when working;

[0092] S4. Debug the various joints and connecting rods of the robot rocker arm and check the flexibility and sealing of each joint and each connecting rod. Then debug the gripping mechanism. According to the shape of the prefabricated filling body and the topological interlocking interface, adjust the shape, opening and closing angle and gripping force of the claw piece 18 to ensure that the gripping mechanism can firmly grasp the prefabricated filling body.

[0093] S5. Calibrate 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 rotary motor and the angle adjustment mechanism at each joint, the rocker arm body can be accurately rotated in all directions and the angle can be fine-tuned. The corresponding angle sensor feedback data to the control system 7 for correction.

[0094] S6. Integration and debugging of control system 7. Control system 7 is built around a programmable logic controller (PLC). The hydraulic support assembly, the drive components of the robotic rocker arm, and various sensors are properly connected to the PLC. By debugging the hydraulic support with prefabricated filling bodies after deployment on the underground working face, remote monitoring and parameter adjustment are enabled, along with automatic fault diagnosis and alarm functions. This innovative intelligent and automated system of this embodiment improves goaf filling efficiency and quality, reduces costs and risks, and enables efficient, automated "mining and filling" operations. This system has significant development value in the mining and underground engineering fields.

[0095] S7. Develop the software for control system 7, including the hydraulic support group movement control module, the robotic rocker arm motion control module, and the fault diagnosis and safety protection module. During downhole commissioning, use analog signals to input data from various sensors to verify the accuracy of control system 7's calculations of the hydraulic support group movement speed and thrust, as well as its ability to precisely control the robotic rocker arm's motion. Simultaneously, test the response speed and reliability of the fault diagnosis and safety protection module to ensure timely activation of safety protection measures in abnormal situations.

[0096] S8. Install the debugged hydraulic support with prefabricated filling bodies assembled intelligently at the pre-determined position on the underground coal mining face. Connect the hydraulic support assembly to the scraper conveyor via the push mechanism 4, ensuring stable relative positions and coordinated movement. Extend the front and rear shield beams 17 via the shield beam actuators, ensuring that the upper end faces of the front and rear shield beams 17 are flush with the upper end face of the top beam 1. The front, top, and rear shield beams 17 now simultaneously support the goaf roof.

[0097] S9. Complete the connection between control system 7 and the shearer control mechanism and conduct online debugging of the entire equipment. According to the shearer's coal cutting speed and the actual geological conditions underground, adjust the movement speed and thrust parameters of the hydraulic support group again to achieve the best working state of the three. At the same time, fine-tune the movement of the robot rocker arm on site 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.

[0098] S10. During the shearer's coal-cutting process, the hydraulic support group monitors the roof pressure in real time and automatically adjusts the support force of the support column 3 according to the pressure change to maintain roof stability. After the shearer completes coal cutting, the push mechanism 4 drives the hydraulic support group forward and leaves space for assembly of the hydraulic support group behind the frame.

[0099] S11. Install the image acquisition mechanism to the rear center of the hydraulic support assembly and use the image acquisition system to capture video of the goaf to collect image information. Select video clips of the blanking and compaction process, construct a target data set, process the images, select an appropriate model for training, evaluate the trained model, find the optimal parameters for the corresponding model, and then compare various models to ultimately select the optimal working condition recognition algorithm model (in this embodiment, a good SVM model can be selected). This step is closely integrated with the assembly process of the robotic rocker arm, acquiring data in real time, analyzing working conditions, and implementing control in each assembly process;

[0100] S12. The robot rocker arm begins working under the coordination of the control system 7. The grabbing mechanism grabs the prefabricated filling body from the scraper conveyor. The telescopic mechanism 14 moves the prefabricated filling body to the predetermined position in the goaf. The angle adjustment mechanism at each joint of the robot rocker arm precisely adjusts the placement angle of the prefabricated filling body according to the design requirements to achieve accurate placement layer by layer.

[0101] S13. The control system 7 collects data from each sensor in real time and transmits the equipment's operating data to the ground monitoring center through remote communication (wireless or wired). Ground operators can keep abreast of the equipment's working status based on the monitoring data. If any abnormality is found, remote parameter adjustments or shutdown instructions can be made in a timely manner. At the same time, the fault diagnosis and alarm functions continue to operate. The fault diagnosis and safety protection module can monitor the data of all sensors in real time. When an abnormality occurs, such as sensor failure, abnormal hydraulic system pressure, rocker arm movement beyond the normal range, etc., the corresponding safety protection measures are immediately activated, such as stopping equipment operation, issuing alarm signals, etc., to ensure the safe and reliable operation of the entire system and realize efficient and automated underground filling and mining operations in coal mines.

[0102] Specifically, in S11, the image acquisition mechanism is a high-definition camera 15, and the high-definition camera 15 is embedded with a video AI algorithm. The algorithm makes real-time judgments on the working conditions according to a preset model. When making judgments, 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 historical working condition data, thereby making judgments on two types of working conditions. The judged working conditions include normal working conditions and abnormal working conditions. Normal working conditions continue to the next operation, and abnormal working conditions are 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, iteratively optimizes the judgment accuracy through new working condition data, and adapts to the filling requirements of different coal seam hardness; the video AI algorithm uses multimodal data fusion to make comprehensive judgments based on the values of each sensor + video image (if the grasping force sensor 11 shows a force of 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.).

[0103] Among them, normal working conditions include successful grabbing 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 grabbed, the robot rocker arm moves smoothly, and the shape of the prefabricated filling body is completely aligned with the topological interlocking interface), accurate placement of the prefabricated filling body (that is, the prefabricated filling body falls accurately 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 grab the prefabricated filling body, slipping of the prefabricated filling body, and filling position deviation, etc.), abnormality detected in the video image (such as the telescopic mechanism 14 is stuck, the angle adjustment mechanism fails, and the grabbing mechanism cannot be opened and closed, etc.), the equipment movement deviates from the preset trajectory, communication is interrupted, environmental interference (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.

[0104] As a specific implementation method, during the assembly and debugging phase of the hydraulic support for the intelligent assembly of prefabricated filling bodies after the frame is erected, the assembly work shall be carried out within 48 hours after the underground working surface is arranged, and the assembly process shall be completed within 72 hours. After the assembly is completed, the test and adjustment of the simulated underground working conditions shall be carried out for no less than 12 hours. During the test, the performance indicators of each key component shall be monitored. For example, the top plate pressure bearing simulation test of the hydraulic support group shall be carried out more than 5 times, each time lasting no less than 10 minutes, and the pressure variation range shall cover 0MPa-80MPa; the grasping mechanism of the robot rocker arm shall be tested for grasping action more than 20 times, 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 meters; the angle adjustment accuracy test of the angle adjustment mechanism shall be carried out 10 times in the vertical direction and 10 times in the horizontal direction, and the error shall be controlled within ±0.5°. During the underground installation and operation phase, the connection and parameter matching with the coal mining machine and control system 7 are completed, and remote monitoring and parameter adjustment are carried out through the ground monitoring center.

[0105] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A hydraulic support with intelligent assembly of prefabricated filling bodies after erection, characterized by: It includes a hydraulic support group, a robot rocker 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 at the middle of the rear of the hydraulic support group, and the acquisition end of the image acquisition system is set toward the robot rocker arm. The installation end of the robot rocker arm is rotatably installed at the rear of the hydraulic support group. The grabbing end of the robot rocker arm can move in multiple directions. The image acquisition system is electrically connected to the control system, and the grabbing end of the robot rocker arm is used to grab the prefabricated filling body and assemble the prefabricated filling body to the goaf with the assistance of the image acquisition system. The driving part of the hydraulic support group and the driving part of the robot rocker arm are both electrically connected to the control system and move under the control of the control system. After the robot rocker arm completes the assembly of one point in the goaf, the control system controls the hydraulic support group to move forward to the next point along the scraper conveyor. 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 coal mining machine cuts coal. A roof pressure sensor and a push displacement sensor are provided on the top beam. The top plate pressure sensor and the push displacement sensor are both electrically connected to the control system. The top plate pressure sensor is used to detect the pressure exerted on the top beam when supporting the goaf, and transmit the pressure to the control system. The push 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. The rear shield beam is rotatably mounted on the rear end of the top beam, the robot rocker arm and the supporting column are both mounted on the bracket base, and each supporting column is supported by the lower end of the top beam, and each supporting column is capable of extension and contraction. The lower end of the front shield beam and the lower end of the rear shield beam are both equipped with the shield beam actuator, and the two ends of the shield beam actuator located at the lower end of the front shield beam are respectively supported by 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 extend or retract, and the two ends of the shield beam actuator located at the lower end of the rear shield beam are respectively supported by the lower end of the rear shield beam and the upper end of the bracket 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 extend or retract.

2. The hydraulic support with intelligent assembly of prefabricated filling bodies after erection according to claim 1, characterized in that: The robot rocker arm includes a rocker arm body and a gripping mechanism. The mounting end of the rocker arm body is rotatably mounted on the rear of the hydraulic support group. The free end of the rocker arm body is connected to the gripping mechanism through a connecting mechanism. The rocker arm body can drive the gripping mechanism to move in multiple directions, and the connecting mechanism can drive the gripping mechanism to rotate.

3. The hydraulic support with intelligent assembly of prefabricated filling bodies after erection according to claim 2, characterized in that: The rocker arm body is installed on the rear part of the hydraulic support group through a rotating rocker arm base. A telescopic mechanism is provided at the arm connecting rod of the rocker 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 rocker 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 rotating rocker arm base, the shoulder joint, the elbow joint and the wrist joint of the rocker arm body. The angle adjustment mechanism can adjust the movement of the rocker arm body under the control of the control system, and enable the rocker arm body to drive the prefabricated filling body to move in the horizontal and vertical directions.

4. The hydraulic support with intelligent assembly of prefabricated filling bodies after erection according to claim 3 is 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, and the worm is engaged with the worm gear. 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.

5. The hydraulic support with intelligent assembly of prefabricated filling bodies after erection according to claim 3 is characterized in that: 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°.

6. The hydraulic support with intelligent assembly of prefabricated filling bodies after erection according to claim 2, characterized in that: The gripping mechanism includes a mounting frame and multiple claws, the mounting frame has multiple mounting ends, and the multiple claws can be detachably mounted on different mounting ends, the inner wall of each claw is provided with anti-slip grooves, and multiple gripping cylinders are installed on the mounting frame. The multiple gripping cylinders are used to drive the corresponding claws to rotate in the direction of approaching or moving away from each other, and each claw is provided with a gripping force sensor, the gripping force sensor and the gripping cylinder are electrically connected to the control system, and the gripping force sensor is used to detect the pressure when the claw grabs the prefabricated filling body, and transmit the pressure signal to the control system so that the control system controls the gripping cylinder to adjust the working state.

7. The hydraulic support with intelligent assembly of prefabricated filling bodies after erection 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. There are two or four claws. When there are two claws, the two claws are symmetrically arranged. When there are four claws, the four claws correspond to the four mounting ends one by one.

8. A precise assembly process for prefabricated filling bodies with intelligent assembly after erection, characterized by: The hydraulic support with a prefabricated filling body intelligently assembled after erection according to any one of claims 1 to 7 comprises the following steps: S1. Assemble the hydraulic support assembly according to the design requirements and move the hydraulic support assembly underground; S2. Test the hydraulic support assembly underground. This includes debugging the hydraulic system, checking the smooth extension and retraction of the support columns, and verifying the accuracy of the push mechanism in controlling the movement of the hydraulic support assembly. Furthermore, the performance of each component of the hydraulic support assembly under varying pressures and loads is also examined. S3. Install the robot rocker arm on the rear of the hydraulic support group; S4. Debug the joints and links of the robot's rocker arm and check their flexibility and sealing. Then, debug the gripping mechanism, adjusting the claw shape, opening and closing angle, and gripping force based on the prefabricated filling's shape and topological interlocking interface. S5. Calibrate the telescopic mechanism's travel, install and debug the telescopic displacement sensor, and test the angle adjustment mechanism. By coordinating the rotary motors at each joint with the angle adjustment mechanism, the rocker arm's body can be rotated in all directions and its angle fine-tuned. The corresponding angle sensors then feed data back to the control system for correction. S6. Integration and debugging of the control system. Build a control system with a programmable logic controller as the core, and properly connect the hydraulic support assembly, the drive components of the robot rocker arm, and various sensors to the programmable logic controller. S7. Develop the control system software, including the hydraulic support group movement control module, the robotic rocker arm motion control module, and the fault diagnosis and safety protection module. During downhole commissioning, use analog signals to input data from various sensors to verify the control system's accuracy in calculating the hydraulic support group's movement speed and thrust, as well as its ability to precisely control the robotic rocker arm's motion. Additionally, test the response speed and reliability of the fault diagnosis and safety protection module. S8. Install the debugged hydraulic support with prefabricated filling elements at the pre-determined location on the underground coal mining face. Connect the hydraulic support assembly to the scraper conveyor via a push mechanism. Use the shield beam actuators to extend the front and rear shield beams, respectively, ensuring that the upper ends of the front and rear shield beams are flush with the upper end of the top beam. The front, top, and rear shield beams now simultaneously support the goaf roof. S9. Complete the connection between the control system and the shearer's control mechanism and conduct online debugging of the entire equipment. Based on the shearer's coal cutting speed and the actual underground geological conditions, adjust the hydraulic support group's movement speed and thrust parameters to achieve coordinated operation. Simultaneously, fine-tune the robot's rocker arm's motion on-site to ensure it can accurately grab the prefabricated filling from the scraper conveyor and install it in the goaf according to design requirements. S10. While the shearer is cutting coal, the hydraulic support assembly monitors roof pressure in real time and automatically adjusts the support column force based on pressure changes to maintain roof stability. After the shearer completes cutting, the push mechanism drives the hydraulic support assembly forward, leaving space for rear assembly of the hydraulic support assembly. S11. Install the image acquisition mechanism to the rear center of the hydraulic support assembly and use the image acquisition system to capture video of the goaf to collect image information. Select video clips of the blanking and compaction process, construct a target data set, process the images, select an appropriate model for training, evaluate the trained model, identify the optimal parameters for the corresponding model, and then compare various models to ultimately select the optimal working condition recognition algorithm model. This step is closely integrated with the assembly process of the robotic rocker arm, acquiring data, analyzing working conditions, and implementing control in real time during each assembly process. S12. The robotic rocker arm begins operating under the coordination of the control system. The gripping mechanism grabs the prefabricated filling material from the scraper conveyor. The telescopic mechanism moves the prefabricated filling material to the predetermined position in the goaf. The angle adjustment mechanisms at each joint of the robotic rocker arm precisely adjust the placement angle of the prefabricated filling material according to design requirements, ensuring accurate placement layer by layer. S13. The control system collects data from various sensors in real time and transmits the equipment's operating data to the ground monitoring center via remote communication. Ground operators can monitor the equipment's operating status at any time based on the monitoring data. If any abnormality is found, they can adjust parameters remotely or issue a shutdown command in a timely manner. At the same time, the fault diagnosis and alarm functions operate continuously, and an alarm signal will be issued immediately if an abnormality is detected.

9. The precise assembly process for prefabricated filling bodies after intelligent assembly according to claim 8, characterized in that: 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 identify the working conditions based on the preset model. The working conditions are divided into normal working conditions and abnormal working conditions. Normal working conditions include successful grasping of the prefabricated filling body, accurate placement of the prefabricated filling body, detection data of each sensor within the set threshold, and no abnormalities in the video image; abnormal working conditions include detection data of any sensor exceeding the limit, abnormalities detected in the video image, equipment movement deviating from the preset trajectory, communication interruption, environmental interference, and the scraper conveyor failing to deliver the prefabricated filling body in time.

Images