Anti-skid system and anti-skid method for hydraulic support of large-dip-angle coal face

Abstract

The invention relates to the technical field of hydraulic support anti-skid, in particular to a large-dip-angle coal face hydraulic support multi-stage anti-skid system and method, and the system comprises a multi-stage anti-skid mechanism, an anti-skid grade control module, a slippage monitoring module and a feedback control module; the multi-stage anti-skid mechanism is arranged on the hydraulic support base and between the adjacent hydraulic supports and used for preventing the hydraulic supports from slipping; the anti-skid level control module is used for calculating the anti-skid level of the position where the hydraulic support is located and correspondingly controlling the multi-level anti-skid mechanism to act. The slippage monitoring module comprises an acceleration sensor and a distance sensor and is used for judging the slippage condition of the hydraulic support. And the feedback control module receives the hydraulic support slippage information judged by the slippage monitoring module and controls the multi-stage anti-skid mechanism to perform corresponding actions. The multi-stage anti-skid mechanism is arranged for the hydraulic support, the slippage condition is monitored and fed back in real time, the anti-skid mode is further adjusted, and the anti-skid effect is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of anti-slip technology for hydraulic supports, in particular to a multi-stage anti-slip system and method for hydraulic supports in a steeply inclined coal mining face. Background Art

[0002] With the advancement of China's coal mining towards deeper and more complex geological conditions, the proportion of steeply inclined coal seams mined has been increasing continuously. However, due to the large inclination angle in a steeply inclined working face, hydraulic supports are extremely prone to sliding, which not only seriously affects the coal mining efficiency but may also lead to safety accidents. Currently, most hydraulic supports on the market lack anti-slip measures, or the anti-slip devices have a single function and cannot meet the complex and changeable geological conditions and mining requirements of a steeply inclined coal mining face. In actual mining, the working effects of these hydraulic supports are often not ideal, and it is difficult to make effective adjustments and adaptations in the face of increasingly complex and changeable working face inclination angles and floor conditions. Summary of the Invention

[0003] The present invention aims to solve the above problems and provides a multi-stage anti-slip system and method for hydraulic supports in a steeply inclined coal mining face. The technical solutions adopted are as follows: A multi-stage anti-slip system for hydraulic supports in a steeply inclined coal mining face includes a multi-stage anti-slip mechanism, an anti-slip level control module, a slip monitoring module, and a feedback control module; The multi-stage anti-slip mechanism is arranged on the base of the hydraulic support and between adjacent hydraulic supports to prevent the hydraulic support from sliding; The anti-slip level control module is used to calculate the anti-slip level of the position where the hydraulic support is located and control the action of the multi-stage anti-slip mechanism accordingly; The slip monitoring module includes an acceleration sensor and a distance sensor, and determines the sliding condition of the hydraulic support by monitoring the downward trend of a single hydraulic support and the change in the relative distance between adjacent hydraulic supports; The feedback control module receives the hydraulic support sliding information determined by the slip monitoring module and controls the multi-stage anti-slip mechanism to perform corresponding actions.

[0004] On the basis of the above solution, the multi-stage anti-slip mechanism includes anti-slip ribs, anti-slip anchors, and anti-slip jacks. The anti-slip ribs are fixedly arranged at the bottom of the base of the hydraulic support. The anti-slip anchors are arranged vertically on one side of the base. The anti-slip anchor includes an anti-slip anchor jack and an anchor head. The anchor head extends downward to below the base under the action of the anti-slip anchor jack. The anti-slip jacks are arranged horizontally between the bases of adjacent hydraulic supports.

[0005] On the basis of the above solution, the multi-stage anti-slip mechanism includes a first-level anti-slip mode, a second-level anti-slip mode, and a third-level anti-slip mode: In the first-level anti-slip mode, the anti-slip anchors and the anti-slip jacks do not act; In the secondary anti-slip mode, the anti-slip anchor jack acts to insert the anchor head into the coal seam under the base; In the tertiary anti-slip mode, the anti-slip anchor jack acts to insert the anchor head into the coal seam under the base, and at the same time the anti-slip jack acts.

[0006] Preferably, the anti-slip ribs are regular triangular prisms, and the length direction of the regular triangular prism extends along the front-back direction of the hydraulic support. The width of the cross-section of the anti-slip ribs gradually shortens from top to bottom; the cross-section of the anchor head is triangular, and the tip of the triangle points downward.

[0007] Preferably, the anti-slip grade control module includes an inclination sensor and a coal quality sensor, which are respectively used to detect the floor inclination angle θ of the hydraulic support and the softness of the coal quality.

[0008] Preferably, it further includes a ground data processing center, which is used to receive the slip warning information of the slip monitoring module, process the slip warning information, send the processing result to the feedback control module, and receive the control result of the feedback control module; The ground data processing center includes a memory, a processor, a display, an artificial emergency controller, a communication cable and an alarm.

[0009] A method for preventing the hydraulic support from slipping in a large-inclination coal mining face, using the above-mentioned multi-level anti-slip system for the hydraulic support in a large-inclination coal mining face, includes the following steps: S1. The anti-slip grade control module receives the floor inclination angle θ detected by the inclination sensor and the softness of the coal quality detected by the coal quality sensor. The softness of the coal quality is converted into a parameter S, and the value range of S is [0, 1]. When S = 0, it means that the coal quality reaches the highest hardness, and when S = 1, it means that the coal quality reaches the lowest hardness. Calculate the anti-slip grade G, then

[0010] where the anti-slip grade G is a positive integer from 1 to 3, and the function floor() represents rounding down; S2. According to the anti-slip grade, control the multi-level anti-slip mechanism to act according to the corresponding anti-slip mode: When the anti-slip grade G = 1, select the primary anti-slip mode, and at this time the anti-slip anchor and the anti-slip jack do not act; When the anti-slip grade G = 2, select the secondary anti-slip mode, and at this time the anti-slip anchor jack acts to insert the anchor head into the coal seam under the base; When the anti-slip grade G = 3, select the tertiary anti-slip mode, and at this time the anti-slip anchor jack acts to insert the anchor head into the coal seam under the base, and at the same time the anti-slip jack acts to keep the relative positions of adjacent hydraulic supports fixed; S3. The slip monitoring module monitors the downward trend of each hydraulic support and the distance change from adjacent hydraulic supports. If it is found that a hydraulic support slips and / or the distance from an adjacent hydraulic support changes, a slip warning signal is sent to the feedback control module; S4. After receiving the slip warning signal, the feedback control module sends a control signal to the multi - level anti - slip mechanism to adjust the anti - slip mode and / or the structural action.

[0011] Based on the above - mentioned solution, step S1 includes, S1 - 1. The anti - slip level control module receives the floor dip angle θ detected by the dip angle sensor; S1 - 2. The coal quality sensor emits a high - frequency alternating current signal to the coal and rock area to be detected and detects the output electrical signal; S1 - 3. The preset rated output range of the electrical signal is [a, b]. The numerical range of [a, b] is equally divided into several equal parts, and the value range of parameter S [0, 1] is correspondingly divided into equal parts. Each value in the electrical signal output range corresponds one - to - one; S1 - 4. The electrical signal detected and output by the coal quality sensor is converted into parameter S; S1 - 5. Calculate the anti - slip level G.

[0012] Preferably, in step S4, the feedback control module analyzes the moving distance of the slipping hydraulic support in the slip warning signal and sends the distance data to the anti - slip jack of the multi - level anti - slip mechanism. The anti - slip jack extends or retracts the same distance in the opposite direction according to the moving direction of the hydraulic support.

[0013] Preferably, the slip warning signal of the slip monitoring module is sent to the ground data processing center. Its memory stores the slip warning signal, the processor processes the slip warning information, and sends the processing result to the feedback control module, and receives the processing result of the feedback control module. The display shows the above content.

[0014] The beneficial effects of the present invention are: 1. For the hydraulic supports in the large - dip coal mining face, a multi - level anti - slip mechanism is set up, and the corresponding anti - slip mode is selected according to the working face angle and coal seam conditions, which can not only ensure good anti - slip effect, but also effectively save energy and ensure the safe and efficient progress of coal mining work; 2. The anti - slip level control module monitors the coal quality of the large - dip working face in real time, so as to adjust the anti - slip level according to the actual situation; the slip monitoring module monitors the slip situation of the hydraulic support in real time and feeds it back to the feedback control module, so as to adjust the structural action according to the actual situation, such as adjusting or resetting the anti - slip action; 3. By setting anti-slip devices between adjacent hydraulic supports and judging the slip tendency according to the change of the relative distance between adjacent hydraulic supports, the anti-slip effect and the accuracy of result monitoring are effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 : Structural and control flow chart of the anti-slip system of the present invention; Figure 2 : Schematic layout diagram of the structure of the anti-slip system of the present invention; Figure 3 : Schematic installation diagram of the multi-stage anti-slip mechanism of the present invention; Figure 4 : Schematic diagram of the bottom structure of the hydraulic support of the present invention; Figure 5 : Schematic diagram of the retracted state of the anti-slip anchor of the present invention; Figure 6 : Schematic diagram of the extended state of the anti-slip anchor of the present invention DETAILED DESCRIPTION OF THE EMBODIMENTS The present invention will be further described below with reference to the drawings and embodiments: In the present invention, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0016] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "center", "length", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise stated, the meaning of "a plurality" is two or more.

[0017] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may include direct contact between the first and second features, or may include the first and second features not being in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is less than that of the second feature.

[0018] As Figure 1 and Figure 2 shown, a multi-stage anti-slip system for a hydraulic support in a large dip coal mining face includes a multi-stage anti-slip mechanism, an anti-slip level control module 8, a slip monitoring module 6 and a feedback control module 7; The multi-stage anti-slip mechanism is arranged on the base of the hydraulic support and between adjacent hydraulic supports to prevent the hydraulic support from slipping; The anti-slip level control module 8 is used to calculate the anti-slip level of the position where the hydraulic support is located and correspondingly control the action of the multi-stage anti-slip mechanism; The slip monitoring module 6 includes an acceleration sensor and a distance sensor, and determines the slip condition of the hydraulic support by monitoring the downward trend of a single hydraulic support and the change of the relative distance between adjacent hydraulic supports; The feedback control module 7 receives the slip information of the hydraulic support determined by the slip monitoring module 6 and controls the multi-stage anti-slip mechanism to perform corresponding actions.

[0019] It further includes a ground data processing center 10, which is used to receive the slip warning information of the slip monitoring module 6, process the slip warning information, send the processing result to the feedback control module 7, and receive the control result of the feedback control module 7; The ground data processing center 10 includes a memory 101, a processor 102, a display 103, an artificial emergency controller 104, a communication cable 105 and an alarm 106.

[0020] The anti-slip level control module 8 includes an inclination sensor and a coal quality sensor, which are respectively used to detect the floor inclination angle θ of the hydraulic support 2 and the softness of the coal quality.

[0021] The coal quality sensor is designed based on radio frequency admittance technology. By transmitting high-frequency voltage signals, it measures the change in the admittance of coal, thereby reflecting the softness of the coal quality. Admittance is a physical quantity used to describe the difficulty of current passing through a circuit or system. When the pores in the coal material increase, the effective cross-sectional area for conduction decreases, which hinders the directional movement of free electrons, resulting in a decrease in the conductivity of the coal material. Therefore, the softness of the coal quality will change the admittance value. The softer the coal quality, the worse the conductivity, and the smaller the admittance. Thus, the softness of the coal quality can be measured through the admittance.

[0022] As Figures 3 to 6 shown, the multi-stage anti-slip mechanism includes anti-slip ribs 3, anti-slip anchors 4, and anti-slip jacks 5, and drives and controls the actions of the anti-slip anchors 4 and anti-slip jacks 5 through a hydraulic pump station 12, hydraulic pipelines 11, and related valve bodies.

[0023] The anti-slip ribs 3 are fixedly arranged at the bottom of the base 2 of the hydraulic support 1. The anti-slip anchors 4 are arranged vertically on one side of the base 2. The anti-slip ribs 3 are regular triangular prisms, and the length direction of the regular triangular prism extends along the front-back direction of the hydraulic support. The width of the cross-section of the anti-slip ribs 3 gradually shortens from top to bottom. This can not only ensure a good embedding effect with the working face but also avoid excessive wear of the anti-slip ribs 3. The number of anti-slip ribs 3 under each base 2 is at least 2. Through the biting action between the anti-slip ribs 3 and the floor coal seam, the lateral friction is increased to resist the lateral sliding trend of the hydraulic support, but at the same time, it does not affect the pushing movement of the hydraulic support in the front-back direction.

[0024] The anti-slip anchor 4 includes an anti-slip anchor jack 41 and an anchor head 42. The anchor head 42 extends downward to the bottom of the base 2 under the action of the anti-slip anchor jack 41. The cross-section of the anchor head 42 is triangular, and the triangular tip points downward. The anchoring effect is achieved by inserting the anchor head 42 into the floor coal seam, effectively transferring the sliding force received by the hydraulic support to the deeper and more stable floor coal seam, further preventing the hydraulic support 1 from sliding. The anchoring depth can be adjusted according to the inclination angle of the floor coal seam and the hardness of the coal quality, and the depth range is usually between 0.2m - 1m. Thus, it can not only prevent the hydraulic support 1 from sliding but also resist the offset force from the roof. The materials of the anti-slip ribs 3 and the anti-slip anchors 4 need to have high hardness and wear resistance. High-strength alloy steel is used, such as 40CrNiMoA after quenching and tempering treatment, with a hardness reaching HRC40 - 50, which can meet the requirements of resisting meshing wear and deformation under various coal quality conditions.

[0025] The anti-slip jack 5 is arranged horizontally between the bases 2 of adjacent hydraulic supports 1. When the anti-slip jack 5 acts, through stretching or retracting actions, it ensures that the adjacent hydraulic supports 1 maintain a fixed relative position. Thus, in the scenario where a large number of hydraulic supports are arranged in rows, the positions of each hydraulic support are stable and sliding is avoided.

[0026] The multi - level anti - slip mechanism includes a primary anti - slip mode, a secondary anti - slip mode, and a tertiary anti - slip mode: In the primary anti - slip mode, the anti - slip anchor 4 and the anti - slip jack 5 do not actuate; In the secondary anti - slip mode, the anti - slip anchor jack 41 actuates, causing the anchor head 42 to insert into the coal seam below the base 2; In the tertiary anti - slip mode, the anti - slip anchor jack 41 actuates, causing the anchor head 42 to insert into the coal seam below the base 2, and at the same time, the anti - slip jack 5 actuates.

[0027] A method for preventing the hydraulic support from slipping in a steep coal mining face, using the above - mentioned multi - level anti - slip system for the hydraulic support in a steep coal mining face, includes the following steps: S1. The anti - slip level control module 8 receives the floor dip angle θ detected by the dip angle sensor and the softness degree of the coal quality detected by the coal quality sensor. The softness degree of the coal quality is converted into a parameter S, and the value range of S is [0, 1]. When S = 0, it means the coal quality reaches the highest hardness level, and when S = 1, it means the coal quality reaches the lowest hardness level. Calculate the anti - slip level G, then (1) where the anti - slip level G is a positive integer from 1 to 3, and the function floor() represents rounding down; For example, assuming the floor dip angle is 20° and the softness degree of the coal quality is 0.5, then:

[0028] The calculated anti - slip level is level 2; Specifically, the step S1 includes S1 - 1. The anti - slip level control module 8 receives the floor dip angle θ detected by the dip angle sensor; S1 - 2. The coal quality sensor emits a high - frequency alternating current signal to the coal and rock area to be detected and detects the output electrical signal; the frequency of the emitted signal is in the MHz level, and the output electrical signal is an mA - level current signal; S1 - 3. Preset the rated output range of the electrical signal as [a, b], divide the numerical range of [a, b] into several equal parts, and divide the value range of the parameter S [0, 1] into the same number of equal parts, corresponding one - to - one to each value in the electrical signal output range; S1 - 4. Convert the electrical signal detected and output by the coal quality sensor into the parameter S; S1 - 5. Calculate the anti - slip level G.

[0029] S2. Control the multi - level anti - slip mechanism to act according to the corresponding anti - slip mode according to the anti - slip level: When the anti - slip level G = 1, select the primary anti - slip mode. At this time, the anti - slip anchor 4 and the anti - slip jack 5 do not actuate; When the anti-slip level G = 2, the secondary anti-slip mode is selected. At this time, the anti-slip anchor jack 41 acts, and the anchor head 42 is inserted into the coal seam under the base 2; When the anti-slip level G = 3, the tertiary anti-slip mode is selected. At this time, the anti-slip anchor jack 41 acts, and the anchor head 42 is inserted into the coal seam under the base 2. At the same time, the anti-slip jack 5 acts to keep the relative positions of adjacent hydraulic supports 2 fixed; S3. The slip monitoring module 6 monitors the downward slip trend of each hydraulic support 2 and the distance change from adjacent hydraulic supports 2. If it is found that the hydraulic support 2 slips and / or the distance from the adjacent hydraulic support 2 changes, a slip warning signal is sent to the feedback control module 7; S4. After receiving the slip warning signal, the feedback control module 7 sends a control signal to the multi-level anti-slip mechanism to adjust the anti-slip mode and / or the structure action; When adjusting the anti-slip mode, the anti-slip mode is adjusted step by step according to the warning signal until the slip warning signal disappears. For example, from the primary anti-slip mode to the secondary anti-slip mode. If the slip monitoring module 6 still monitors the slip warning signal, it is further adjusted to the tertiary anti-slip mode; When adjusting the structure action, the feedback control module 7 can analyze the moving distance of the slipping hydraulic support 2 in the slip warning signal and send the distance data to the anti-slip jack 5 of the multi-level anti-slip mechanism. The anti-slip jack 5 extends or retracts the same distance in the opposite direction according to the moving direction of the hydraulic support 2, so as to realize the emergency reset function of the hydraulic support and effectively prevent the hydraulic support from slipping further.

[0030] The slip warning signal of the slip monitoring module 6 is sent to the ground data processing center 10. Its memory 101 stores the slip warning signal, the processor 102 processes the slip warning information, and sends the processing result to the feedback control module 7, and receives the processing result of the feedback control module 7. The display 103 displays the above content.

[0031] If the hydraulic support slips severely or the feedback control fails, the alarm 106 sends an alarm signal, and the operator performs emergency treatment through the manual emergency controller 107. The emergency treatment includes: ① manually operating the hydraulic support 2 and the anti-slip jack 5 to try to reset; ② reminding the underground workers of the dangerous situation; ③ notifying the maintenance personnel when manual reset is impossible.

[0032] The present invention has been described by way of example above, but the present invention is not limited to the above specific embodiments. Any modification or variation based on the present invention falls within the scope of protection required by the present invention.

Claims

1. A multi - stage anti - slip system for hydraulic supports in a coal mining face with a large dip angle, characterized in that, It includes a multi-level anti-slip mechanism, an anti-slip level control module (8), a slip monitoring module (6) and a feedback control module (7); The multi-level anti-slip mechanism is arranged on the base of the hydraulic support and between adjacent hydraulic supports to prevent the hydraulic support from slipping; The anti-slip level control module (8) is used to calculate the anti-slip level of the position where the hydraulic support is located and correspondingly control the action of the multi-level anti-slip mechanism; The slip monitoring module (6) includes an acceleration sensor and a distance sensor. By monitoring the downward trend of a single hydraulic support and the relative distance change between adjacent hydraulic supports, the slip condition of the hydraulic support is determined; The feedback control module (7) receives the slip information of the hydraulic support determined by the slip monitoring module (6) and controls the multi-level anti-slip mechanism to perform corresponding actions.

2. The multi - stage anti - slip system of a hydraulic support for a coal mining face with a large dip angle according to claim 1, characterized in that, The multi-level anti-slip mechanism includes anti-slip ribs (3), anti-slip anchors (4) and anti-slip jacks (5). The anti-slip ribs (3) are fixedly arranged at the bottom of the base (2) of the hydraulic support (1). The anti-slip anchors (4) are arranged vertically on one side of the base (2). The anti-slip anchor (4) includes an anti-slip anchor jack (41) and an anchor head (42). The anchor head (42) extends downward below the base (2) under the action of the anti-slip anchor jack (41). The anti-slip jack (5) is arranged horizontally between the bases (2) of adjacent hydraulic supports (1).

3. A multi-stage anti-slip system for hydraulic supports in a steeply inclined coal mining face according to claim 2, characterized in that, The multi-level anti-slip mechanism includes a first-level anti-slip mode, a second-level anti-slip mode and a third-level anti-slip mode: In the first-level anti-slip mode, the anti-slip anchor (4) and the anti-slip jack (5) do not act; In the second-level anti-slip mode, the anti-slip anchor jack (41) acts to insert the anchor head (42) into the coal seam below the base (2); In the third-level anti-slip mode, the anti-slip anchor jack (41) acts to insert the anchor head (42) into the coal seam below the base (2), and at the same time the anti-slip jack (5) acts.

4. A multi - level anti - slip system for hydraulic supports in a steeply inclined coal mining face according to claim 2, characterized in that, The anti-slip rib (3) is a regular triangular prism, and the length direction of the regular triangular prism extends along the front-back direction of the hydraulic support. The width of the cross-section of the anti-slip rib (3) gradually shortens from top to bottom; the cross-section of the anchor head (42) is triangular, and the triangle tip is downward.

5. A multi-stage anti-slip system for a hydraulic support in a large dip angle coal mining face according to claim 1, characterized in that, The anti-slip level control module (8) includes an inclination sensor and a coal quality sensor, which are respectively used to detect the floor inclination angle θ of the hydraulic support (2) and the softness degree of the coal quality.

6. The multi-stage anti-slip system for hydraulic supports in a steeply inclined coal mining face according to claim 1, wherein, It also includes a ground data processing center (10), which is used to receive the slip warning information of the slip monitoring module (6), process the slip warning information, send the processing result to the feedback control module (7), and receive the control result of the feedback control module (7); The ground data processing center (10) includes a memory (101), a processor (102), a display (103), an artificial emergency controller (104), a communication cable (105) and an alarm (106).

7. A method for preventing the hydraulic support from slipping on a steeply inclined coal mining face, characterized in that, Using the multi-level anti-slip system for hydraulic supports in steep coal mining faces according to any one of claims 1 to 6, includes the following steps: S1. The anti-slip level control module (8) receives the inclination angle θ of the bottom plate detected by the inclination sensor and the softness degree of the coal quality detected by the coal quality sensor. The softness degree of the coal quality is converted into a parameter S, and the value range of S is [0,1]. When S = 0, it means that the coal quality reaches the highest hardness level; when S = 1, it means that the coal quality reaches the lowest hardness level. Calculate the anti-slip level G, then （1） where the anti-slip level G is a positive integer from 1 to 3, and the function floor() represents rounding down; S2. According to the anti-slip level, control the multi-stage anti-slip mechanism to act according to the corresponding anti-slip mode: When the anti-slip level G = 1, select the first-level anti-slip mode. At this time, the anti-slip anchor (4) and the anti-slip jack (5) do not act; When the anti-slip level G = 2, select the second-level anti-slip mode. At this time, the anti-slip anchor jack (41) acts to insert the anchor head (42) into the coal seam under the base (2); When the anti-slip level G = 3, select the third-level anti-slip mode. At this time, the anti-slip anchor jack (41) acts to insert the anchor head (42) into the coal seam under the base (2), and at the same time the anti-slip jack (5) acts to keep the relative positions of adjacent hydraulic supports (2) fixed; S3. The slip monitoring module (6) monitors the sliding trend of each hydraulic support (2) and the distance change from the adjacent hydraulic support (2). If it is found that the hydraulic support (2) slides and / or the distance from the adjacent hydraulic support (2) changes, a slip warning signal is sent to the feedback control module (7); S4. After receiving the slip warning signal, the feedback control module (7) sends a control signal to the multi-stage anti-slip mechanism to adjust the anti-slip mode and / or adjust the structural action.

8. A method for preventing slip of a hydraulic support in a steeply inclined coal mining face according to claim 7, characterized in that, The step S1 includes S1-1. The anti-slip level control module (8) receives the inclination angle θ of the bottom plate detected by the inclination sensor; S1-2. The coal quality sensor emits a high-frequency alternating current signal to the coal and rock area to be detected and detects the output electrical signal; S1-3. Preset the rated output range of the electrical signal as [a,b], equally divide the numerical range of [a,b] into several equal parts, and correspondingly divide the value range of the parameter S [0,1] into equal parts in equal amounts, corresponding to each value in the electrical signal output range one by one; S1-4. Convert the electrical signal detected and output by the coal quality sensor into the parameter S; S1-5. Calculate the anti-slip level G.

9. A method for preventing slip of a hydraulic support in a steeply inclined coal mining face according to claim 7, characterized in that, In step S4, the feedback control module (7) analyzes the moving distance of the sliding hydraulic support (2) in the slip warning signal, and sends this distance data to the anti-slip jack (5) of the multi-stage anti-slip mechanism. The anti-slip jack (5) extends or retracts the same distance in the opposite direction according to the moving direction of the hydraulic support (2).

10. A method for preventing slip of a hydraulic support in a large dip coal mining face according to claim 7, characterized in that, The slip warning signal of the slip monitoring module (6) is sent to the ground data processing center (10). Its memory (101) stores the slip warning signal, the processor (102) processes the slip warning information, and sends the processing result to the feedback control module (7), and receives the processing result of the feedback control module (7), and the display (103) displays the above content.

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