Repeated-free self-adaptive anchor hiding supporting structure and supporting method thereof

Abstract

The invention discloses a repeated-free self-adaptive anchor hiding supporting structure and a supporting method thereof. Comprising a coal mining support, a front-end support, a supporting support, a recognition device, a distance measuring device and a main server. The front end support comprises a first front stand column and a first rear stand column which are connected through a first connecting piece and connected with the supporting support through a telescopic jack. Each supporting support comprises a second front stand column and a second rear stand column which are connected through a second connecting piece, and every two adjacent supporting supports are connected through a push-pull jack. The recognition device is used for acquiring position information; the distance measuring device is used for acquiring distance information and travel information; the main server comprises a model building module and a travel comparison module, and the model building module is used for building a three-dimensional model and outputting standard spacing and standard stretching; the stroke comparison module is used for judging whether the standard distance is the same as the stroke information or not, and if not, a first instruction is sent. The moving distance is precisely calculated, and the problem that a supporting structure on the top of a roadway is damaged due to contact with an anchor rod (cable) is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal mine support, and particularly relates to a non-repeated self-adaptive anchor-avoiding support structure and a support method thereof. Background Technique

[0002] When the gob-side entry retaining coal mining operation is adopted, the original return airway (or auxiliary transportation roadway) needs to be used as the auxiliary transportation roadway (or intake airway) of the next coal mining face, so it must be protected. At present, the roof rock anchoring method is generally adopted in coal mines. Its basic principle is to use the shear strength of the rock and soil strata around the bolt (cable) to transfer the tension of the structure to maintain the stability of the roof itself.

[0003] At present, in the prior art, for example, the Chinese invention patent with the publication number of CN119102698A discloses a mine hydraulic support cable-avoiding device, which specifically discloses; including a top beam, a front base is installed on the upper side wall of the top beam through a first connection mechanism, a first mounting plate is installed on the upper surface of the front base through a first driving mechanism, and front cable-avoiding mechanisms are uniformly and fixedly installed on the upper surface of the first mounting plate from left to right in sequence. A front beam assembly is arranged on the left side surface of the top beam, a shield beam is installed on the right side surface of the top beam through a movable shaft assembly, a rear base is installed on the upper side wall of the shield beam through a second connection mechanism, and a second mounting plate is installed on the upper surface of the rear base through a second driving mechanism; the present invention solves the problem of the conflict between the cable-avoiding mechanism of the gob-side entry retaining end hydraulic support and the roadway cable, and cleverly moves the cable-avoiding mechanism back and forth through a telescopic jack at an appropriate position of the support to avoid direct conflict with the cable, and at the same time makes the support force more uniform to ensure the support effect.

[0004] However, due to different degrees of errors in the layout of bolts (cables) according to the geological conditions of the roadway, the equally spaced distributed top beam will still damage some bolts (cables), resulting in roof fragmentation and shedding, bringing certain safety hazards to the subsequent coal mining work and seriously affecting coal mine production. Summary of the Invention

[0005] Based on this, in view of the problem that due to different degrees of errors in the layout of bolts (cables) according to the geological conditions of the roadway, the equally spaced distributed top beam will still damage some bolts (cables), resulting in roof fragmentation and shedding, bringing certain safety hazards to the subsequent coal mining work and seriously affecting coal mine production, it is necessary to provide a non-repeated self-adaptive anchor-avoiding support structure and a support method thereof.

[0006] To achieve the above object, the present invention adopts the following solutions: An anti-anchor-repeated adaptive support structure, comprising: a coal mining support, a front support, a support bracket, an identification device, a ranging device and a main server; a coal mining device is arranged below the coal mining support; the front support includes a first front column and a first rear column, and two ends of the first front column are respectively provided with a first front base and a first front roof beam; two ends of the second rear column are respectively provided with a first rear base and a first rear roof beam, the first front base and the first rear base are slidably connected through a first connecting member, and the first front base and the adjacent support bracket are slidably connected through a telescopic jack; a plurality of support brackets are provided, and each support bracket includes a second front column and a second rear column, two ends of the second front column are respectively provided with a second front base and a second front roof beam, two ends of the second rear column are respectively provided with a second rear base and a second rear roof beam, the second front base and the second rear base are slidably connected through a second connecting member, and the second front bases and the second rear bases of two adjacent support brackets are slidably connected through a push-pull jack; the identification devices are respectively arranged on the first front roof beam, the first rear roof beam, the second front roof beam and the second rear roof beam, and are used for identifying the anchor cables at the top of the roadway and obtaining the position information of the first front roof beam, the first rear roof beam, the second front roof beam and the second rear roof beam; the ranging device includes a spacing detection component and a stroke telescopic component, the spacing detection component is arranged on one side of the identification device and is used for obtaining the spacing information between adjacent anchor cables; a plurality of stroke telescopic components are provided and are respectively arranged on the telescopic jack, the push-pull jack, the first connecting member and the second connecting member, and are used for obtaining the stroke information of the telescopic jack, the push-pull jack, the first connecting member and the second connecting member respectively; the main server includes a model establishment module and a stroke comparison module, the model establishment module is electrically connected with the spacing detection component and the identification device respectively, and is used for receiving the spacing information and the position information, establishing a three-dimensional model, and outputting a standard spacing and a standard extension; the stroke comparison module is electrically connected with the stroke telescopic component and is used for receiving the spacing information and judging whether the standard spacing is the same as the stroke information, and if not, issuing a first instruction to extend or contract.

[0007] Preferably, the ranging device further includes position sensors which are respectively arranged on the first front column, the first rear column, the second front column and the second rear column, and are used for obtaining the telescopic information of the first front column, the first rear column, the second front column and the second rear column; the main server further includes a telescopic control module, the telescopic control module is electrically connected with the position sensors, and based on the standard extension of the three-dimensional model, judges whether the telescopic information is the same as the standard extension, and if not, issues a second instruction to extend or contract.

[0008] Preferably, it further includes a marking component disposed on the coal mining device for obtaining coal mining information; the main server further includes a coal mining control module electrically connected to the marking component for determining whether coal mining is completed based on the coal mining information, and if so, issuing a third instruction to turn on the position sensor and obtain telescopic information.

[0009] Preferably, one end of the first rear base away from the first front base is hinged with an inclined column, and the other end of the inclined column is connected with an adaptive roof.

[0010] Preferably, a stabilizing jack is hinged on the first rear column, and the other end of the stabilizing jack is hinged to the inclined column.

[0011] Preferably, a first auxiliary telescopic rod is arranged between the first front column and the first rear column; a second auxiliary telescopic rod is arranged between the second front column and the second rear column.

[0012] Preferably, the coal mining device and the bottom of the coal mining support are slidably connected through a third connecting piece.

[0013] A support method for a support structure with non-repeated adaptive anchor avoidance, applied to the support structure with non-repeated adaptive anchor avoidance as described in any one of the above, includes the following steps: Step S10. Obtain coal mining information and determine whether coal mining is completed; If so, issue an instruction to turn on the position sensor and obtain telescopic information; Step S20. Obtain anchor cable spacing information, all position information, and all stroke information, establish a three-dimensional model, and output standard spacing and standard telescopic; Step S30. Based on the telescopic information of the support bracket, determine whether the telescopic information of the support bracket is the same as the standard telescopic; If not, issue an instruction to contract the support bracket; If so, obtain the stroke information of the push-pull jack; Step S40. Based on the stroke information of the push-pull jack, determine whether the standard spacing of the push-pull jack is the same as the stroke information of the push-pull jack; If not, issue an instruction to extend the push-pull jack; Step S50. Obtain anchor cable spacing information, all position information, and all stroke information again, establish a three-dimensional model, and output standard spacing and standard telescopic, establish a three-dimensional model again, and output standard spacing and standard telescopic; Step S60. Determine whether the telescopic information of all support brackets is the same as the standard telescopic; If not, repeat steps S10 to S60; If so, obtain the telescopic information of the front support; Step S70. Determine whether the telescopic information of the front support is the same as the standard telescopic length of the front support; If not, issue an instruction to retract the front support; If so, obtain the stroke information of the telescopic jack; Step S80. Determine whether the stroke information of the telescopic jack is the same as the standard spacing of the telescopic jack; If not, issue an instruction to retract the telescopic jack; If so, issue an instruction to extend the front support.

[0014] Preferably, in step S40, based on the stroke information of the push-pull jack, determine whether the standard spacing of the push-pull jack is the same as the stroke information of the push-pull jack; the following steps are further included: Step S41. Obtain the stroke information of the second connecting member, and determine whether the stroke information of the second connecting member is the same as the standard spacing of the second connecting member; If so, issue an instruction to extend the support bracket; If not, issue an instruction to extend the second connecting member, and repeat step S41.

[0015] Preferably, in step S80, determine whether the stroke information of the telescopic jack is the same as the standard spacing of the telescopic jack: the following steps are further included: Step S81. Obtain the stroke information of the first connecting member, and determine whether the stroke information of the first connecting member is the same as the standard spacing of the first connecting member; If so, issue an instruction to extend the front support; If not, issue an instruction to extend the first connecting member.

[0016] The technical solution adopted in this application can achieve the following beneficial effects: 1. By scanning and identifying the top of the roadway, obtaining the spacing between the bolts (cables), modeling by the main server, and then obtaining the position information of the support bracket, front support, etc., precisely calculating the distance that the support bracket and front support need to move, which solves the problem of difficult manual operation and is likely to cause the support bracket or front support to contact the bolts (cables), resulting in damage to the support structure at the top of the roadway; at the same time, it reduces the damage of the bolts (cables) to the support bracket or front support.

[0017] 2. Through the control of the telescopic jack and push-pull jack by the main server, the telescoping is more accurate, solving the problem that the distances between adjacent bolts (cables) are different, resulting in large manual operation errors and causing damage to the support bracket and front support; at the same time, it reduces manual control and the operation is simpler and more convenient. Brief Description of the Drawings

[0018] Figure 1 This is the overall top view of the non-reciprocating support structure for the entire cross-section of the return airway disclosed in the embodiments of the present application.

[0019] Figure 2 This is the overall front view of the non-reciprocating support structure for the entire cross-section of the return airway disclosed in the embodiments of the present application.

[0020] Figure 3 This is the front view of the front support of the non-reciprocating support structure for the entire cross-section of the return airway disclosed in the embodiments of the present application.

[0021] Figure 4 This is the side view of the support bracket of the non-reciprocating support structure for the entire cross-section of the return airway disclosed in the embodiments of the present application.

[0022] Figure 5 This is the flow chart of the support method for the non-reciprocating support structure for the entire cross-section of the return airway disclosed in the embodiments of the present application.

[0023] Among them: coal mining support 100, coal mining device 110, front support 200, first front upright post 210, first front base 211, first front roof beam 212, first connecting member 213, inclined upright post 214, stabilizing jack 215, first rear upright post 220, first rear base 221, first rear roof beam 222, telescopic jack 223, first auxiliary telescopic rod 230, support bracket 300, second front upright post 310, second front base 311, second front roof beam 312, second connecting member 313, second rear upright post 320, second rear base 321, second rear roof beam 322, push-pull jack 323, second auxiliary telescopic rod 330, identification device 400, spacing detection assembly 510, stroke telescopic assembly 520, position sensor 530, marking assembly 540. Detailed implementation manners

[0024] To facilitate the understanding of the present application, the present application will be described more comprehensively below with reference to the relevant accompanying drawings. The preferred embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0025] It should be noted that when a device is considered to be "connected" to another device, it can be directly connected to the other device or there may be an intermediate device present. The terms "internal", "top", "upper", "lower", "up", "down" and similar expressions used herein are only for illustrative purposes and do not represent the only embodiments.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the related listed items.

[0027] See Figures 1 to 5, this application provides a non-repetitive adaptive anchor-avoiding support structure, including: a coal mining support 100, a front support 200, a support bracket 300, an identification device 400, a ranging device, and a main server; a coal mining device 110 is arranged below the coal mining support 100; the front support 200 includes a first front column 210 and a first rear column 220, and two ends of the first front column 210 are respectively provided with a first front base 211 and a first front roof beam 212; two ends of the second rear column 320 are respectively provided with a first rear base 221 and a first rear roof beam 222, the first front base 211 and the first rear base 221 are slidably connected through a first connecting member 213, and the first front base 211 and the adjacent support bracket 300 are slidably connected through a telescopic jack 223; a plurality of support brackets 300 are arranged, and each support bracket 300 includes a second front column 310 and a second rear column 320, two ends of the second front column 310 are respectively provided with a second front base 311 and a second front roof beam 312, two ends of the second rear column 320 are respectively provided with a second rear base 321 and a second rear roof beam 322, the second front base 311 and the second rear base 321 are slidably connected through a second connecting member 313, and the second front bases 311 and the second rear bases 321 of two adjacent support brackets 300 are slidably connected through a push-pull jack 323; the identification device 400 is respectively arranged on the first front roof beam 212, the first rear roof beam 222, the second front roof beam 312, and the second rear roof beam 322, and is used for identifying the anchor cables on the top of the roadway and obtaining the position information of the first front roof beam 212, the first rear roof beam 222, the second front roof beam 312, and the second rear roof beam 322; the ranging device includes a spacing detection component 510 and a stroke telescopic component 520, the spacing detection component 510 is arranged on one side of the identification device 400 and is used for obtaining the spacing information between adjacent anchor cables; a plurality of stroke telescopic components 520 are arranged and are respectively arranged on the telescopic jack 223, the push-pull jack 323, the first connecting member 213, and the second connecting member 313, and are used for respectively obtaining the stroke information of the telescopic jack 223, the push-pull jack 323, the first connecting member 213, and the second connecting member 313; the main server includes a model establishment module and a stroke comparison module, the model establishment module is electrically connected to the spacing detection component 510 and the identification device 400 respectively, and is used for receiving the spacing information and the position information, establishing a three-dimensional model, and outputting a standard spacing and a standard expansion; the stroke comparison module is electrically connected to the stroke telescopic component 520, and is used for receiving the spacing information and judging whether the standard spacing is the same as the stroke information, and if not, issuing a first instruction to extend or contract.

[0028] Specifically, at least one front support 200 is provided, and in sequence according to the working face trend are the coal mining support 100, the coal mining device 110 below the coal mining support 100, the front support 200, and several support supports 300 (according to the roadway support situation, another front support 200 can be provided at one end of the support support 300 away from the coal mining support 100). Taking three support supports 300 and one front support 200 as an example, according to the roadway trend, the working face is supported by the coal mining support 100, the coal mining device 110 is arranged directly below the coal mining support 100, one end of the coal mining support 100 close to the roadway entrance is supported by the front support 200, and one end of the front support 200 away from the coal mining support 100 is successively supported by the first support support 300, the second support support 300, and the third support support 300.

[0029] The coal mining support 100 can use a common advanced support support 300, and the coal mining device 110 uses common coal mining equipment in existing technologies; the first front column 210, the first rear column 220, the second front column 310, and the second rear column 320 are all triple-extension columns, and the first front base 211, the first rear base 221, the second front base 311, and the second rear base 321 are all the same and can use the base of existing supports. The first front roof beam 212, the first rear roof beam 222, the second front roof beam 312, and the second rear roof beam 322 can use existing support roof beams, and the first front roof beam 212, the first rear roof beam 222, the second front roof beam 312, and the second rear roof beam 322 are all supported between two adjacent bolts (cables); when in the support state: the first front column 210, the first rear column 220, the second front column 310, and the second rear column 320 are all in the extended state, and the first front roof beam 212, the first rear roof beam 222, the second front roof beam 312, and the second rear roof beam 322 are all supported between two adjacent bolts (cables), the first front base 211, the first rear base 221, the second front base 311, and the second rear base 321 are in contact with the ground, and the first connecting piece 213, the second connecting piece 313, the telescopic jack 223, and the push-pull jack 323 are all in the contracted state.

[0030] A number of identification devices 400 are provided, which may include, but are not limited to, devices with identification capabilities such as cameras and laser scanners. Identification devices 400 are respectively provided on the first front roof beam 212, the first rear roof beam 222, the second front roof beam 312, and the second rear roof beam 322 (for ease of understanding, they are the first front identification device 400, the first rear identification device 400, the second front identification device 400, and the second rear identification device 400 in sequence). A number of spacing detection components 510 in the distance measurement device are also provided and are all arranged on one side of the identification device 400, which may include, but are not limited to, equipment and instruments with distance measurement capabilities such as rangefinders and electronic distance measuring tapes, and are used to detect the interval length between adjacent bolts (cables); A number of stroke expansion and contraction components 520 are provided and are respectively arranged on the first connecting piece 213, the second connecting piece 313, the push-pull jack 323, and the telescopic jack 223, and control the length of their extension or contraction; The main server may include, but is not limited to, devices with instructions such as acquisition, judgment, and output, such as single-chip microcomputers and computers.

[0031] Furthermore, when the coal mining support 100, the front support 200, and the support support 300 are all in the support state, after the coal mining device 110 finishes coal mining, the identification device 400 is turned on, and scans and identifies the top of the roadway, marks the bolts (cables) on the top of the roadway, and the first front identification device 400, the first rear identification device 400, the second front identification device 400, and the second rear identification device 400 send the position information of the first front roof beam 212, the first rear roof beam 222, the second front roof beam 312, and the second rear roof beam 322 to the main server. At the same time, the spacing detection component 510 measures the spacing between adjacent bolts (cables) and sends each spacing information to the main server. The model establishment module in the main server establishes the three-dimensional distribution of the support of the front support 200 and the support support 300 and the three-dimensional distribution of the bolts (cables) on the top of the roadway according to the position information and the spacing information, and summarizes them into a three-dimensional model to output the standard spacing and the standard expansion; Among them, the standard spacing includes the standard spacing of the first connecting piece 213, the standard spacing of the second connecting piece 313, the standard spacing of the push-pull jack 323, and the standard spacing of the telescopic jack 223 (the standard spacing of the second connecting piece 313 and the push-pull jack 323 both include the second connecting piece 313 and the push-pull jack 323 on the first support support 300, the second support support 300, and the third support support 300); The standard expansion includes the standard extension or contraction of the first front column 210, the standard extension or contraction of the first rear column 220, the standard extension or contraction of the second front column 310, and the standard extension or contraction of the second rear column 320 (the standard extension or contraction of the second front column 310 and the standard extension or contraction of the second rear column 320 include the second front column 310 and the second rear column 320 on the first support support 300, the second support support 300, and the third support support 300).

[0032] When the operator contracts the second front column 310 and the second rear column 320 of the third support bracket 300, the stroke comparison module in the main server starts to compare the stroke information of the push-pull jack 323 between the third and the second support brackets 300 with the standard spacing of the push-pull jack 323 between the third and the second support brackets 300; if they are the same, the push-pull jack 323 does not extend or contract, if they are different, the push-pull jack 323 extends, so as to push the third support bracket 300 to move in the predetermined direction with the second support bracket 300 as the fulcrum.

[0033] After the movement is completed, the operator extends the second front column 310 and the second rear column 320 of the third support bracket 300 to make it support, and contracts the second front column 310 and the second rear column 320 of the second support bracket 300; the stroke comparison module in the main server starts to compare the stroke information of the push-pull jack 323 between the second and the first support brackets 300 with the standard spacing of the push-pull jack 323 between the second and the first support brackets 300; at the same time, it compares the stroke information of the push-pull jack 323 between the third and the second support brackets 300 with the standard spacing of the push-pull jack 323 between the third and the second support brackets 300; thus, with the third support bracket 300 and the first support bracket 300 as the fulcrums, the first support bracket 300 pushes the second support bracket 300 to move, and the third support bracket 300 pulls the second support bracket 300 to move; and the moving distance is the standard spacing (the standard spacing here is the spacing between two adjacent anchor cables at the top of the corresponding roadway, so that both the second front roof beam 312 and the second rear roof beam 322 can avoid the anchor cables).

[0034] After the movement is completed, the operator extends the second front column 310 and the second rear column 320 of the second support bracket 300 to make it support, and contracts the second front column 310 and the second rear column 320 of the first support bracket 300; the stroke comparison module in the main server starts to compare the stroke information of the push-pull jack 323 between the second and the first support brackets 300 with the standard spacing of the push-pull jack 323 between the second and the first support brackets 300; at the same time, it compares the stroke information of the telescopic jack 223 with the standard spacing of the telescopic jack 223; thus, with the second support bracket 300 and the front-end bracket 200 as the fulcrums, the second support bracket 300 pulls the first support bracket 300 to move, and the front-end bracket 200 pushes the first support bracket 300 to move, so as to complete the movement.

[0035] After the movement is completed, the operator extends the second front column 310 and the second rear column 320 of the first support bracket 300 to support it, and contracts the first front column 210 and the first rear column 220 of the front-end bracket 200; the stroke comparison module in the main server starts to compare the stroke information of the telescopic jack 223 with the standard spacing of the telescopic jack 223; thus, with the first support bracket 300 as the fulcrum, the front-end bracket 200 is pulled to move, and after moving the corresponding standard spacing, the first front column 210 and the first rear column 220 of the front-end bracket 200 are extended.

[0036] Repeat the above steps. After reaching the predetermined position, stop the movement of the support bracket 300 and the front-end bracket 200, and move the coal mining device 110 and the coal mining support 100 to one side of the front-end bracket 200 by means of jacks, hydraulic columns, etc., and start to continue the coal mining work; thus, the movement is completed.

[0037] The technical solution of the present application adopting a non-repeated self-adaptive anchor-avoiding support structure can achieve the following beneficial effects: 1. By scanning and identifying the top of the roadway, obtaining the spacing between the anchor bolts (cables), modeling by the main server, and then obtaining the position information of the support bracket 300, the front-end bracket 200, etc., accurately calculating the distances that the support bracket 300 and the front-end bracket 200 need to move, solving the problem of difficult manual operation and easily causing the support bracket 300 or the front-end bracket 200 to contact the anchor bolts (cables), thereby causing damage to the support structure at the top of the roadway; at the same time, reducing the damage of the anchor bolts (cables) to the support bracket 300 or the front-end bracket 200.

[0038] 2. Through the control of the main server on the telescopic jack 223 and the push-pull jack 323, the telescoping is more accurate, solving the problem that the distances between adjacent anchor bolts (cables) are different, resulting in large manual operation errors and causing damage to the support bracket 300 and the front-end bracket 200; at the same time, reducing manual control and making the operation simpler and more convenient.

[0039] Based on the above solution, the ranging device further includes a position sensor 530, and the position sensors 530 are respectively arranged on the first front column 210, the first rear column 220, the second front column 310 and the second rear column 320, and are used to obtain the telescopic information of the first front column 210, the first rear column 220, the second front column 310 and the second rear column 320; the main server further includes a telescopic control module, and the telescopic control module is electrically connected to the position sensor 530, and based on the standard telescoping of the three-dimensional model, determines whether the telescopic information is the same as the standard telescoping, and if not, issues a second instruction to extend or contract.

[0040] Specifically, the position sensors 530 are arranged on the outer walls of the first front upright column 210, the first rear upright column 220, the second front upright column 310, and the second rear upright column 320 near one end close to the top of the roadway, and are used to obtain whether the first front upright column 210, the first rear upright column 220, the second front upright column 310, and the second rear upright column 320 are in an extended or contracted state (telescopic information); when the third support bracket 300 needs to move, the position sensors 530 on the third support bracket 300 obtain the telescopic information of the second front upright column 310 and the second rear upright column 320 on the third support bracket 300, and the telescopic control module of the main server receives it and compares it with the standard telescopic state (the standard telescopic state is that when the third support bracket 300 needs to move, the telescopic states of its second front upright column 310 and second rear upright column 320 during movement, and both are in a contracted state); if the telescopic information is different from the standard telescopic state, the second front upright column 310 and the second rear upright column 320 of the third support bracket 300 are contracted to make them the same as the standard telescopic state; then, it is judged by the travel comparison module, and the push-pull jack 323 is controlled to expand and contract to make it move along a predetermined direction.

[0041] After the movement is completed, the telescopic information of the second front upright column 310 and the second rear upright column 320 of the new third support bracket 300 is obtained, and the telescopic control module of the main server receives it and compares it with the new standard telescopic state (the new standard telescopic state is that when the third support bracket 300 needs to provide support after the movement is completed, the telescopic states of its second front upright column 310 and second rear upright column 320 during movement, and both are in an extended state); if the new telescopic information is different from the new standard telescopic state, the second front upright column 310 and the second rear upright column 320 of the third support bracket 300 are extended to make them the same as the new standard telescopic state; at the same time, the telescopic information of the second front upright column 310 and the second rear upright column 320 of the second support bracket 300 is obtained, and the above steps are repeated, so as to complete the automatic telescoping, replace manual operation, reduce the labor intensity, and be more intelligent at the same time.

[0042] Furthermore, in the above operations, the travel comparison module in the main server continuously compares the travel information of the second connecting members 313 of the third, second, and first support brackets 300 with the standard spacing of the second connecting members 313 of the third, second, and first support brackets 300, and controls the second connecting members 313 of the third, second, and first support brackets 300 to expand and contract, so as to finely adjust the spacing between the second front upright column 310 and the second rear upright column 320; similarly, the travel comparison module in the main server continuously compares the travel information of the first connecting member 213 with the standard spacing of the first connecting member 213, and controls the spacing between the first front upright column 210 and the first rear upright column 220.

[0043] Through the telescopic control module and the position sensor 530, while the first front column 210, the first rear column 220, the second front column 310 and the second rear column 320 are moving, they can adjust their telescopic lengths according to the standard three-dimensional model by themselves. At the same time, by adjusting the telescopic length and movement by themselves, the problems of cumbersome manual control and difficult accuracy control are solved.

[0044] In a preferred implementation of this application, it further includes a marking component 540, which is arranged on the coal mining device 110 and is used to obtain coal mining information; the main server further includes a coal mining control module, and the coal mining control module is electrically connected to the marking component 540 and is used to judge whether the coal mining is over based on the coal mining information. If so, it issues a third instruction to turn on the position sensor 530 and obtain the telescopic information.

[0045] The marking component 540 uses, but is not limited to, devices such as cameras or scanners that can detect the coal content, and is arranged on the side of the coal mining device 110 facing the coal mining; when the coal mining device 110 continues to mine coal, the marking component 540 also continuously identifies and scans, obtains the coal mining information, sends it to the coal mining control module, and conducts a comparison. When the coal mining is over, the position sensor 530 is turned on, and the telescopic information of the first front column 210, the first rear column 220, the second front column 310 and the second rear column 320 is started to be obtained, and the control steps of the above-mentioned main server are repeated; through the marking component 540, the problem of incomplete coal mining caused by many human factors is solved, thereby improving the coal mining efficiency and reducing the problem of mechanical idling.

[0046] In another preferred embodiment of this application, one end of the first rear base 221 away from the first front base 211 is hinged with an inclined column 214, and the other end of the inclined column 214 is connected with an adaptive roof. A stabilizing jack 215 is hinged on the first rear column 220, and the other end of the stabilizing jack 215 is hinged to the inclined column 214.

[0047] Specifically, by setting the inclined column 214, an adaptive spherical seat is arranged at one end of the inclined column 214, and a baffle is arranged on it. The angle of the inclined column 214 is adjusted by the stabilizing jack 215; through the setting of the inclined column 214, the void area between the front support 200 and the coal mining support 100 is reduced, thereby improving the safety of support.

[0048] Based on the above solution, a first auxiliary telescopic rod 230 is arranged between the first front column 210 and the first rear column 220; a second auxiliary telescopic rod 330 is arranged between the second front column 310 and the second rear column 320.

[0049] The first auxiliary telescopic rod 230 is connected to the bottoms of the first front column 210 and the first rear column 220 for improving stability. The second auxiliary telescopic rod 330 is arranged between the second front column 310 and the second rear column 320, also playing a role in improving stability. At the same time, the telescoping of both the first auxiliary telescopic rod 230 and the second auxiliary telescopic rod 330 serves as an auxiliary function, telescoping following the movement of the first connecting member 213 and the second connecting member 313, and both the first connecting member 213 and the second connecting member 313 are common jacks or jack telescopic structures.

[0050] Furthermore, the coal mining device 110 and the bottom of the coal mining support 100 are slidably connected through a third connecting member.

[0051] For the convenience of the movement of the coal mining device 110 and the coal mining support 100, the third connecting member adopts but is not limited to a jack or a structure similar to a jack; when the coal mining device 110 moves, taking the coal mining support 100 as a fulcrum, the third connecting member extends to push the coal mining device 110 to move. After the coal mining device 110 finishes moving, the coal mining support 100 descends, and the coal mining device 110 is connected to the front-end support 200. Taking the front-end support 200 and the coal mining device 110 as fulcrums, the third connecting member contracts, thereby driving the coal mining support 100 to move. After the coal mining support 100 finishes moving, it extends to complete the movement and support; the operation is more convenient, and the movement is more convenient.

[0052] Specifically, a stroke telescopic assembly 520 is installed on the third connecting member to obtain the stroke information of the third connecting member; a position sensor 530 is arranged on the coal mining support 100 for obtaining the telescopic information of the coal mining support 100; the model establishment module outputs the standard spacing of the third connecting member and the standard telescopic of the coal mining support 100, and the stroke comparison module compares the stroke information of the third connecting member with the standard spacing of the third connecting member; the telescopic control module compares the telescopic information of the coal mining support 100 with the standard telescopic of the coal mining support 100, thereby completing the automatic movement and support.

[0053] See Figure 5 , a support method for a non-repeated self-adaptive anchor-avoiding support structure is provided, which is applied to the non-repeated self-adaptive anchor-avoiding support structure as described in any one of the above, and includes the following steps: Step S10. Obtain coal mining information and judge whether coal mining is completed; If so, issue an instruction to turn on the position sensor 530 and obtain the telescopic information; Step S20. Obtain the anchor cable spacing information, all position information and all stroke information, establish a three-dimensional model, and output the standard spacing and the standard telescopic; Step S30. Based on the telescopic information of the support bracket 300, judge whether the telescopic information of the support bracket 300 is the same as the standard telescopic; If not, issue an instruction to retract the support bracket 300; If so, obtain the stroke information of the push - pull jack 323; Step S40. Based on the stroke information of the push - pull jack 323, determine whether the standard spacing of the push - pull jack 323 is the same as the stroke information of the push - pull jack 323; If not, issue an instruction to extend the push - pull jack 323; Step S50. Obtain the cable - anchor spacing information, all position information, and all stroke information again, establish a 3D model, and output the standard spacing and standard expansion / contraction. Then establish a 3D model again and output the standard spacing and standard expansion / contraction; Step S60. Determine whether the expansion / contraction information of all support brackets 300 is the same as the standard expansion / contraction; If not, repeat steps S10 to S60; If so, obtain the expansion / contraction information of the front support 200; Step S70. Determine whether the expansion / contraction information of the front support 200 is the same as the standard expansion / contraction of the front support 200; If not, issue an instruction to retract the front support bracket 300; If so, obtain the stroke information of the expansion / contraction jack 223; Step S80. Determine whether the stroke information of the expansion / contraction jack 223 is the same as the standard spacing of the expansion / contraction jack 223; If not, issue an instruction to retract the expansion / contraction jack 223; If so, issue an instruction to extend the front support 200.

[0054] Preferably, step S40. Based on the stroke information of the push - pull jack 323, determine whether the standard spacing of the push - pull jack 323 is the same as the stroke information of the push - pull jack 323; further includes the following steps: Step S41. Obtain the stroke information of the second connector 313, and determine whether the stroke information of the second connector 313 is the same as the standard spacing of the second connector 313; If so, issue an instruction to extend the support bracket 300; If not, issue an instruction to extend the second connector 313 and repeat step S41.

[0055] Preferably, step S80. Determine whether the stroke information of the expansion / contraction jack 223 is the same as the standard spacing of the expansion / contraction jack 223: further includes the following steps: Step S81. Obtain the stroke information of the first connector 213, and determine whether the stroke information of the first connector 213 is the same as the standard spacing of the first connector 213; If so, issue an instruction to extend the front support 200; If not, issue an instruction to extend the first connecting member 213.

[0056] The specific operation steps are as follows: For clarity of expression, take a support bracket 300, a front support 200, a coal mining device 110, and a coal mining support 100 as examples: The coal mining device 110 conducts coal mining work in the working area. The marking component 540 records the coal mining information (coal content) in the working area and sends the coal mining information to the coal mining control module for comparison. When the coal content feedback in the coal mining information is lower than the preset value, the position sensor 530, the identification device 400, and the distance measuring device are activated. The identification device 400 starts to scan and identify the top of the roadway and sends the obtained position information to the model building module. Similarly, the spacing detection component 510 obtains the spacing information between adjacent anchor cables and sends it to the model building module. The model building module builds a three-dimensional model and outputs the standard spacing and the standard elongation.

[0057] Movement of the support bracket 300: The position sensor 530 obtains the position information of all the second front columns 310, the second rear columns 320, the first front columns 210, and the second rear columns 320 and compares them with the corresponding standard elongation. (If there are multiple support brackets 300, first compare the second front column 310 of the support bracket 300 at the end far from the coal mining support 100, and then compare its second rear column 320; judge in sequence from the direction far from the coal mining support 100 to the direction close to the coal mining support 100; and issue an instruction each time a judgment is made, and obtain new position information, elongation information, and stroke information, and at the same time establish a new three-dimensional model, so as to output a new standard elongation and standard spacing). If they are different, output an instruction to contract the second front column 310 and the second rear column 320 of the support bracket 300; if they are the same, obtain the stroke information of the push-pull jack 323, and the stroke control module compares the stroke information of the push-pull jack 323 with the standard spacing of the push-pull jack 323; if they are different, output an instruction to extend the push-pull jack 323, and at the same time the telescopic jack 223 is stretched (if there are multiple support brackets 300, the adjacent push-pull jacks 323 are stretched separately); if they are the same, obtain the stroke information of the second connecting member 313 and judge whether the stroke information of the second connecting member 313 is the same as the standard spacing of the second connecting member 313: If they are different, the second connecting member 313 is extended; if they are the same, the support bracket 300 is extended to complete the movement and support of the support bracket 300. If there are several support brackets 300, repeat the above steps until all the support brackets 300 have moved and been supported.

[0058] Movement of the front support 200: After the support bracket 300 moves and the support is completed, obtain the position information, telescopic information, and stroke information of the support bracket 300 and the front support 200, and rebuild the 3D model for the third time, and output the corresponding standard spacing and standard telescopic; obtain whether the telescopic information of the first front column 210 and the first rear column 220 of the front support 200 is the same as the corresponding standard telescopic. If different, the first front column 210 and the first rear column 220 of the front support 200 contract, and re-obtain the telescopic information of the front support 200 and judge; if the same, obtain the stroke information of the telescopic jack 223, and judge whether the stroke information of the telescopic jack 223 is the same as the standard spacing of the telescopic jack 223: if different, issue an instruction for the telescopic jack 223 to contract, and re-obtain the stroke information of the telescopic jack 223 and make a re-judgment; if the same, obtain the stroke information of the first connecting member 213, and judge whether the stroke information of the first connecting member 213 is the same as the standard spacing of the first connecting member 213. If different, issue an instruction for the first connecting member 213 to extend, and re-obtain and judge; if the same, issue an instruction for the first front column 210 and the first rear column 220 of the front support 200 to extend, thus completing the movement and support.

[0059] The coal mining support 100 moves: Obtain all the position information, telescopic information, and stroke information of the support bracket 300, the front support 200, the coal mining support 100, and the coal mining device 110, rebuild the 3D model for the fourth time, and output the corresponding standard spacing and standard telescopic. Obtain the telescopic information of the coal mining support 100 and judge whether it is the same as the standard telescopic of the coal mining support 100: if different, issue an instruction for the coal mining support 100 to extend; if the same, obtain the stroke information of the third connecting member, and judge whether the stroke information of the third connecting member is the same as the standard spacing of the third connecting member: if different, output an instruction to extend the third connecting member; if the same, output an instruction for the coal mining support 100 to contract; obtain all the position information, telescopic information, and stroke information of the support bracket 300, the front support 200, the coal mining support 100, and the coal mining device 110, rebuild the 3D model for the fifth time, and output the corresponding standard spacing and standard telescopic, and judge whether the stroke information of the third connecting member is the same as the standard spacing of the third connecting member: if different, issue an instruction for the third connecting member to contract; if the same, issue an instruction for the coal mining support 100 to extend.

[0060] After the above steps are completed, the coal mining device 110 continues to carry out coal mining work, and the marking component 540 continues to obtain coal mining information so as to realize continuous cyclic movement and support. The above-described embodiments only express the device layout mode of the present application, and its description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patented application; it should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several adjustments and improvements can still be made, and these all belong to the protection scope of the present application; therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. An anti-repeated adaptive anchor-avoiding support structure, characterized in that Including: Coal mining support, front support, support bracket, identification device, distance measuring device and main server; A coal mining device is arranged below the coal mining support; The front support includes a first front column and a first rear column. A first front base and a first front roof beam are respectively arranged at both ends of the first front column; A first rear base and a first rear roof beam are respectively arranged at both ends of the second rear column. The first front base and the first rear base are slidably connected through a first connecting piece, and the first front base and the adjacent support bracket are slidably connected through a telescopic jack; A plurality of the support brackets are arranged and include a second front column and a second rear column. A second front base and a second front roof beam are respectively arranged at both ends of the second front column. A second rear base and a second rear roof beam are respectively arranged at both ends of the second rear column. The second front base and the second rear base are slidably connected through a second connecting piece, and the second front bases and the second rear bases of two adjacent support brackets are slidably connected through a push-pull jack; The identification devices are respectively arranged on the first front roof beam, the first rear roof beam, the second front roof beam and the second rear roof beam, and are used for identifying the anchor cables on the top of the roadway and obtaining the position information of the first front roof beam, the first rear roof beam, the second front roof beam and the second rear roof beam; The distance measuring device includes a spacing detection component and a stroke telescopic component. The spacing detection component is arranged on one side of the identification device and is used for obtaining the spacing information between adjacent anchor cables; A plurality of the stroke telescopic components are arranged and are respectively arranged on the telescopic jack, the push-pull jack, the first connecting piece and the second connecting piece, and are used for respectively obtaining the stroke information of the telescopic jack, the push-pull jack, the first connecting piece and the second connecting piece; The main server includes a model establishment module and a stroke comparison module. The model establishment module is electrically connected to the spacing detection component and the identification device respectively, and is used for receiving the spacing information and the position information, establishing a three-dimensional model, and outputting a standard spacing and a standard extension; The stroke comparison module is electrically connected to the stroke telescopic component and is used for receiving the spacing information and judging whether the standard spacing is the same as the stroke information. If not, a first instruction to extend or contract is issued.

2. The non-repetitive adaptive anchor-avoiding support structure according to claim 1, characterized in that The distance measuring device further includes position sensors which are respectively arranged on the first front column, the first rear column, the second front column and the second rear column, and are used for obtaining the telescopic information of the first front column, the first rear column, the second front column and the second rear column; The main server further includes a telescopic control module. The telescopic control module is electrically connected to the position sensors and judges whether the telescopic information is the same as the standard extension based on the standard extension of the three-dimensional model. If not, a second instruction to extend or contract is issued.

3. The non-repeated adaptive anchor-avoiding support structure according to claim 2, characterized in that, It further includes a marking component which is arranged on the coal mining device and is used for obtaining coal mining information; The main server further includes a coal mining control module, which is electrically connected to the marking component and is used to judge whether coal mining is completed based on coal mining information. If so, it issues a third instruction to turn on the position sensor and obtain the telescopic information.

4. The non-repetitive adaptive anchor-avoiding support structure according to claim 1, characterized in that, One end of the first rear base away from the first front base is hinged with an inclined column, and the other end of the inclined column is connected with an adaptive roof.

5. The non-repeated adaptive anchor-avoiding support structure according to claim 4, characterized in that, A stabilizing jack is hinged on the first rear column, and the other end of the stabilizing jack is hinged to the inclined column.

6. The non-repeated adaptive anchor-avoiding support structure according to claim 1, wherein A first auxiliary telescopic rod is arranged between the first front column and the first rear column; a second auxiliary telescopic rod is arranged between the second front column and the second rear column.

7. The non-repeated adaptive anchor-avoiding support structure according to claim 1, characterized in that, The coal mining device is slidably connected to the bottom of the coal mining support through a third connecting piece.

8. A support method for a non-repetitive adaptive anchor-avoiding support structure, characterized in that, Applied to the non-repeated adaptive anchor-avoiding support structure according to any one of claims 1-7, it includes the following steps: Step S10. Obtain coal mining information and judge whether coal mining is completed; If so, issue an instruction to turn on the position sensor and obtain the telescopic information; Step S20. Obtain the anchor cable spacing information, all position information and all stroke information, establish a three-dimensional model, and output the standard spacing and standard telescopic; Step S30. Based on the telescopic information of the support bracket, judge whether the telescopic information of the support bracket is the same as the standard telescopic; If not, issue an instruction to contract the support bracket; If so, obtain the stroke information of the push-pull jack; Step S40. Based on the stroke information of the push-pull jack, judge whether the standard spacing of the push-pull jack is the same as the stroke information of the push-pull jack; If not, issue an instruction to extend the push-pull jack; Step S50. Obtain the anchor cable spacing information, all position information and all stroke information again, establish a three-dimensional model, and output the standard spacing and standard telescopic, establish a three-dimensional model again, and output the standard spacing and standard telescopic; Step S60. Judge whether the telescopic information of all support brackets is the same as the standard telescopic; If not, repeat steps S10 to S60; If so, obtain the telescopic information of the front support; Step S70. Judge whether the telescopic information of the front support is the same as the standard telescopic of the front support; If not, issue an instruction to contract the front support bracket; If so, obtain the stroke information of the telescopic jack; Step S80. Judge whether the stroke information of the telescopic jack is the same as the standard spacing of the telescopic jack; If not, issue an instruction to contract the telescopic jack; If so, issue an instruction to extend the front support.

9. The support method of the non-repeated adaptive anchor-avoiding support structure according to claim 8, characterized in that, Step S40. Based on the stroke information of the push-pull jack, judge whether the standard spacing of the push-pull jack is the same as the stroke information of the push-pull jack; It further includes the following steps: Step S41. Obtain the stroke information of the second connecting piece and judge whether the stroke information of the second connecting piece is the same as the standard spacing of the second connecting piece; If so, issue an instruction to extend the support bracket; If not, issue an instruction to extend the second connecting piece and repeat step S41.

10. The support method of the non-repetitive adaptive anchor-avoiding support structure according to claim 9, characterized in that, Step S80. Judge whether the stroke information of the telescopic jack is the same as the standard spacing of the telescopic jack: It further includes the following steps: Step S81. Obtain the travel information of the first connecting member, and determine whether the travel information of the first connecting member is the same as the standard spacing of the first connecting member; If so, issue an instruction for the front bracket to extend; If not, issue an instruction for the first connecting member to extend.

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