Parallel hydraulic support based on bionic kangaroo legs and monitoring system

Abstract

The invention relates to a parallel hydraulic support based on bionic kangaroo legs and a monitoring system.The bionic support is characterized in that bionic kangaroo leg mechanisms are arranged on the two sides of a traditional hydraulic support stand column respectively, and each bionic kangaroo leg mechanism comprises two single-leg bionic mechanisms connected in parallel; the single-leg bionic mechanism comprises a metatarsal bone plate, a magnetorheological damper, a tibia plate, a hydraulic cylinder and a thighbone plate; wherein the metatarsal bone plate, the tibia plate and the femur plate are sequentially hinged, the top end of the metatarsal bone plate is hinged to the top beam, the bottom end of the femur plate is hinged to the base, the two ends of the magnetorheological damper are hinged to the metatarsal bone plate and the tibia plate respectively, and the two ends of the hydraulic cylinder are hinged to the tibia plate and the femur plate respectively; the two sets of parallel single-leg bionic mechanisms are connected through the fibula plate, and the two ends of the fibula plate are hinged to the metatarsal bone plate and the thighbone plate respectively. By means of the unique mechanical characteristics of the bionic kangaroo leg mechanism, under the complex working condition of rock burst, intelligent correspondence of the bionic support can be achieved, and operation safety is improved.

Description

Technical Field

[0001] The present invention relates to a parallel hydraulic support and a monitoring system based on bionic kangaroo legs, and in particular to a parallel intelligent tunnel anti-collision hydraulic support based on bionic kangaroo legs using digital twin technology, belonging to the technical field of hydraulic supports. Background Art

[0002] Intelligent coal mining technology has been widely adopted in the coal mining industry both domestically and internationally. It automates mining, transportation, and processing, improving production efficiency and quality. Intelligent sensors and monitoring systems provide real-time monitoring and early warning of the coal mine environment and equipment, reducing the incidence of coal mine accidents. With the continuous development of emerging technologies such as artificial intelligence, big data, and cloud computing, intelligent coal mining technology continues to innovate, and intelligent equipment and systems are gradually being applied in the coal mining industry.

[0003] With the continuous advancement of science and technology and the deepening of research and imitation of nature, the theory and application of bionics have been continuously refined and innovated, and has now developed into an emerging technology. Bionics draws on the morphology, structure, function, and movement mechanisms of nature and applies them to fields such as robotics, intelligent manufacturing, and aerospace. Bionic robots can be used in surgery, precisely positioning and probing tissue. In vehicle manufacturing, bionics mimics the biological structure, functional characteristics, and skills of animals, making vehicles more flexible and adaptable. In aerospace, the flexible structure of bionic wings can reduce flight resistance.

[0004] Relevant research shows that through long-term natural selection, animals in nature have evolved a variety of impact protection mechanisms that are more efficient, reliable, and adaptable than traditional engineering protection structures to resist collisions and impact loads from the complex surrounding environment. These natural biological defense systems are recoverable, adaptable in real time, have excellent impact resistance, and have high energy dissipation rates. Taking kangaroos as an example, the excellent impact resistance mechanism of their legs can ensure that their body functions are not damaged during long-term, high-speed, long-distance jumps and landings (kangaroos can jump at a maximum speed of 70 km / h, jump up to a height of 1.8 meters, and move up to 7.6 meters after jumping).

[0005] Digital twin technology accurately models and simulates real-world physical entities, processes, or systems through digital models. It enables prediction, optimization, and monitoring of real-world objects in a virtual environment, supporting applications across various fields. In the manufacturing industry, digital twin technology can help companies establish complete digital production lines, simulate and manage products throughout their lifecycle, and thus improve production efficiency and quality. In the coal mining sector, digital twin technology can help mines establish comprehensive safety monitoring systems and digital visualization platforms, ensuring safer and more efficient operations.

[0006] Today, my country's rock burst tunnel support technology has evolved from enhancing the strength and rigidity of support by improving the mechanical properties and structure of anchor bolts, optimizing support parameters, and using combined or composite support methods. Towards a stage where active and passive support are combined to resist strong dynamic load disturbances, and a rigid-flexible coupling approach is employed to absorb energy. While refining rock burst tunnel support theory, strong energy-absorbing support equipment has also been developed. For example, advanced anti-impact hydraulic supports with crushing energy-absorbing components installed on the hydraulic support columns can passively yield and release pressure during rock bursts, improving the stability of rock burst tunnel support.

[0007] Improving the impact resistance of support equipment and enabling real-time adjustment of energy absorption under impact conditions are key to achieving intelligent impact resistance. Impact-absorbing components primarily based on crushing are not reusable after crushing deformation, and their energy absorption state cannot be adjusted according to the impact state, making them incompatible with various operating conditions. Limited by space dimensions, the structural dimensions of the MR damper, and the shear saturation of the MR fluid, MR dampers are unable to more effectively utilize their energy absorption state adjustment capabilities. Summary of the Invention

[0008] In response to the deficiencies of the existing technology, the present invention provides a parallel intelligent tunnel anti-impact hydraulic support based on bionic kangaroo legs using digital twin technology. The support is based on the anti-impact mechanism of kangaroo legs, the kinematics and dynamics of bionic mechanisms, and magnetorheological control technology. Combined with the response surface method, a magnetorheological intelligent anti-impact mechanism based on bionic kangaroo legs for tunnel advance hydraulic supports is developed. By coupling the mechanical characteristics of the bionic mechanism with the adjustable characteristics of the magnetorheological damper, the adjustable characteristics of the energy absorption state of the magnetorheological damper are more efficiently utilized, and at the same time, the overall energy absorption state of the bionic mechanism is adjusted according to the impact state. The purpose is to solve the problems of non-reusability of anti-impact energy absorption components, non-adjustable energy absorption state, and limited adjustable capacity of magnetorheological dampers, and to improve the support performance of tunnel hydraulic supports under impact loads.

[0009] The present invention also provides a monitoring system for a parallel intelligent tunnel anti-collision hydraulic support based on bionic kangaroo legs using digital twin technology.

[0010] The technical solutions of the present invention are as follows:

[0011] A parallel hydraulic support based on bionic kangaroo legs comprises a top beam, a shielding beam, a connecting rod, a column, a base and a bionic kangaroo leg mechanism; the top beam is connected to the shielding beam, the two ends of the connecting rod are respectively connected to the shielding beam and the base, the two ends of the column are respectively connected to the top beam and the base, the bionic kangaroo leg mechanism is respectively provided on both sides of the column, and the two ends of the bionic kangaroo leg mechanism are respectively connected to the top beam and the base;

[0012] The bionic kangaroo leg mechanism includes two groups of parallel single-leg bionic mechanisms, which include metatarsal plates, magnetorheological dampers, tibial plates, hydraulic cylinders and femoral plates; wherein the metatarsal plates, tibial plates and femoral plates are hinged in sequence, the top of the metatarsal plates are hinged to the top beam, the bottom of the femoral plates are hinged to the base, the two ends of the magnetorheological damper are hinged to the metatarsal plates and tibial plates respectively, and the two ends of the hydraulic cylinder are hinged to the tibial plates and femoral plates respectively; the two groups of parallel single-leg bionic mechanisms are connected through the fibula plate, and the two ends of the fibula plate are hinged to the metatarsal plates and femoral plates respectively.

[0013] Preferably, the magnetorheological damper is a multi-channel multi-ring magnetorheological damper.

[0014] Preferably, both the column and the hydraulic cylinder are telescopic two-stage hydraulic cylinders.

[0015] A digital twin monitoring system for a parallel hydraulic support based on a bionic kangaroo leg, comprising a bionic kangaroo leg mechanism active controller, a bionic support active controller, a bionic support physical model, a bionic support twin model, a data acquisition system, and a data interaction interface;

[0016] Relevant data of the bionic bracket under the working state is obtained through the data acquisition system, and these data are transmitted and analyzed between the bionic bracket physical model and the bionic bracket twin model through the data interaction interface, so as to adjust the support strategy. The bionic bracket active controller then adjusts the energy absorption ratio between the control column and the bionic kangaroo leg mechanism. Finally, the bionic kangaroo leg mechanism active controller adjusts the movement of the bionic kangaroo leg mechanism.

[0017] Preferably, the bionic kangaroo leg mechanism active controller includes a bionic kangaroo leg mechanism active control algorithm and a bionic kangaroo leg mechanism active control hardware system. The advantage of this design is that the bionic kangaroo leg mechanism active control algorithm is used to adjust the operation of the bionic kangaroo leg mechanism active control hardware system, thereby causing the bionic kangaroo leg mechanism to perform corresponding movements.

[0018] Preferably, the bionic support active controller includes a bionic support active control algorithm and a bionic support active controller hardware system. The advantage of this design is that under the control of the bionic support active control algorithm, the bionic kangaroo leg mechanism active controller cooperates with the bionic kangaroo leg mechanism to adjust the energy absorption ratio between the bionic kangaroo leg mechanism and the column in real time.

[0019] Preferably, the physical model of the bionic support includes a physical model of a bionic kangaroo leg mechanism, a physical model of a column, a physical model of a top beam, a physical model of a shield beam, a physical model of a connecting rod, a physical model of a base, a physical model of a bionic support active controller, a physical model of a bionic kangaroo leg mechanism active controller, and a physical model of the spatial environment in which the bionic support is located.

[0020] Preferably, the data acquisition system includes a bionic support sensor network and a top beam status monitoring equipment network.

[0021] Preferably, the data interaction interface includes a data interaction channel between the bionic scaffold physical model and the bionic scaffold twin model, a data interaction protocol, and a data structure during data interaction.

[0022] Preferably, the bionic stent twin model includes a bionic stent equipment virtual model, a twin model kinematic model, a twin model dynamic model, twin data, and a bionic stent equipment support strategy adjustment service.

[0023] Preferably, the virtual model of the bionic support equipment includes a virtual model of the bionic support as a whole and the distribution of sensors thereon, as well as a virtual model of the tunnel environment in which the bionic support is located.

[0024] Preferably, the twin model kinematic model includes a bionic support forward kinematic model and a bionic support inverse kinematic model.

[0025] Preferably, the twin model dynamics model includes a bionic support forward dynamics model and a bionic support inverse dynamics model.

[0026] Preferably, the twin data includes bionic support posture data, bionic support force data, tunnel top beam status data and support strategy adjustment data.

[0027] Preferably, the bionic support equipment support strategy adjustment service includes a support strategy adjustment algorithm under normal support conditions and a support strategy adjustment algorithm under rock burst conditions.

[0028] The technical features and beneficial effects of the present invention are as follows:

[0029] 1. The parallel hydraulic support based on the bionic kangaroo leg of the present invention introduces the bionic kangaroo leg mechanism on the basis of the traditional hydraulic support, changing the traditional reliance on columns for buffering to intelligent composite buffering. By utilizing the unique mechanical characteristics of the bionic kangaroo leg mechanism, the bionic support can achieve intelligent response in the face of complex working conditions of impact ground pressure, thereby improving operation safety.

[0030] 2. The present invention's monitoring system for a parallel hydraulic support based on a bionic kangaroo leg collects relevant data, interacts and analyzes it between the bionic support physical model and the twin model to adjust the support strategy. The bionic support active controller then adjusts the energy absorption ratio between the control column and the bionic kangaroo leg mechanism. Finally, the bionic kangaroo leg mechanism active controller adjusts the movement of the bionic kangaroo leg mechanism. The monitoring system uses automatic monitoring, intelligent data analysis, and autonomous adjustment of the support strategy to ultimately adjust the energy absorption ratio between the bionic kangaroo leg mechanism and the column. This improves the hydraulic support's buffering capabilities under varying rock burst conditions, ensuring underground operation safety and preventing human harm. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the structure of the bionic kangaroo leg mechanism;

[0032] Figure 2 This is a schematic structural diagram of a parallel hydraulic support with a bionic kangaroo leg mechanism according to the present invention;

[0033] Figure 3 Schematic diagram of the anti-impact mode of the parallel hydraulic support of the present invention;

[0034] Figure 4 This is a schematic diagram of the digital twin monitoring system for parallel hydraulic supports of the present invention;

[0035] Figure 5 This is a schematic diagram of the operation flow of the digital twin monitoring system for parallel hydraulic supports of the present invention;

[0036] Figure 6 Schematic diagram of the support strategy adjustment process of the hydraulic support of the present invention under rock burst conditions;

[0037] In the figure: 1-top beam, 2-metatarsal plate, 3-magnetorheological damper, 4-tibial plate, 5-fibular plate, 6-hydraulic cylinder, 7-femoral plate, 8-base. DETAILED DESCRIPTION

[0038] The present invention will be further described below with reference to embodiments and accompanying drawings, but is not limited thereto.

[0039] Example 1:

[0040] like Figure 1-2As shown, this embodiment provides a parallel hydraulic support based on bionic kangaroo legs (hereinafter referred to as bionic support), including a top beam 1, a shielding beam, a connecting rod, a column, a base 8 and a bionic kangaroo leg mechanism; the top beam 1 is connected to the shielding beam, the two ends of the connecting rod are respectively connected to the shielding beam and the base, the two ends of the column are respectively connected to the top beam and the base, the bionic kangaroo leg mechanism is respectively provided on both sides of the column, and the two ends of the bionic kangaroo leg mechanism are respectively connected to the top beam 1 and the base 8;

[0041] The bionic kangaroo leg mechanism includes two groups of parallel single-leg bionic mechanisms, and the single-leg bionic mechanisms include a metatarsal plate 2, a magnetorheological damper 3, a tibial plate 4, a hydraulic cylinder 6 and a femoral plate 7; wherein, the metatarsal plate 2, the tibial plate 4 and the femoral plate 7 are hinged in sequence, the top end of the metatarsal plate 2 is hinged to the top beam 1, the bottom end of the femoral plate 7 is hinged to the base 8, the two ends of the magnetorheological damper 3 are hinged to the metatarsal plate 2 and the tibial plate 4 respectively, and the two ends of the hydraulic cylinder 6 are hinged to the tibial plate 4 and the femoral plate 7 respectively; the two groups of parallel single-leg bionic mechanisms are connected through the fibula plate 5, and the two ends of the fibula plate 5 are hinged to the metatarsal plate 2 and the femoral plate 7 respectively.

[0042] Specifically, the top beam 1 is hinged to the metatarsal plate 2 at point A in a hinged manner; the metatarsal plate 2 is hinged to the tibial plate 4 and the fibula plate 5 at points C (compound hinge) and D respectively in a hinged manner; the tibial plate 4 and the fibula plate 5 are hinged to points G (compound hinge) and H of the femoral plate 7 respectively in a hinged manner; the femoral plate 7 and the base 8 are hinged to point J in a hinged manner; the multi-ring multi-channel magnetorheological damper 3 is hinged to point B of the metatarsal plate 2 and point F of the tibial plate 4 in a hinged manner; the hydraulic cylinder 6 is hinged to point E of the tibial plate 4 and point I of the femoral plate in a hinged manner. The above-described assembly of components forms a single-leg bionic mechanism. Two sets of these mechanisms are connected in parallel and hinged to composite hinges C and G on the fibular plate 5. These two sets of mechanisms are hinged to composite hinges A on the top beam 1 and J on the base 8, forming the main body of the bionic kangaroo leg intelligent impact resistance mechanism. The bionic kangaroo leg intelligent impact resistance mechanism bodies L and R are mounted on either side of the traditional hydraulic support columns L and R, respectively, to form the bionic support.

[0043] The magnetorheological damper 3 is a multi-channel multi-ring magnetorheological damper. Both the column and the hydraulic cylinder are telescopic two-stage hydraulic cylinders.

[0044] The technical solution of this embodiment introduces a bionic kangaroo leg mechanism into a traditional hydraulic support, and parallel bionic kangaroo leg intelligent anti-impact mechanisms are set on both sides of the left and right columns of the hydraulic support. The improved bionic support studies a bionic kangaroo leg anti-impact mechanism applied to a tunnel hydraulic support from the perspective of energy conversion, and further obtains an optimized bionic kangaroo leg anti-impact mechanism through a response surface optimization algorithm. The energy absorption ratio of the column and the bionic kangaroo leg mechanism is adjusted through the support strategy, and the corresponding actions are adjusted by the bionic support active controller and the bionic kangaroo leg mechanism active controller, so that effective support can always be achieved under different impact ground pressure conditions.

[0045] Example 2:

[0046] like Figure 3-6 As shown, this embodiment provides a digital twin monitoring system for a parallel hydraulic support based on a bionic kangaroo leg, including a bionic kangaroo leg mechanism active controller, a bionic support active controller, a bionic support physical model, a bionic support twin model, a data acquisition system, and a data interaction interface;

[0047] Relevant data of the bionic bracket under the working state is obtained through the data acquisition system, and these data are transmitted and analyzed between the bionic bracket physical model and the bionic bracket twin model through the data interaction interface, so as to adjust the support strategy. The bionic bracket active controller then adjusts the energy absorption ratio between the control column and the bionic kangaroo leg mechanism. Finally, the bionic kangaroo leg mechanism active controller adjusts the movement of the bionic kangaroo leg mechanism.

[0048] The bionic kangaroo leg mechanism active controller includes a bionic kangaroo leg mechanism active control algorithm and a bionic kangaroo leg mechanism active control hardware system. The hardware system primarily includes a programmable logic controller (PLC) and controllers for various drive components. The bionic kangaroo leg mechanism active control algorithm adjusts the hardware system's operation, causing the bionic kangaroo leg mechanism to perform corresponding movements.

[0049] The bionic support active controller includes a bionic support active control algorithm and a bionic support active controller hardware system. Under the control of the bionic support active control algorithm, it works in conjunction with the bionic kangaroo leg mechanism active controller to adjust the energy absorption ratio between the bionic kangaroo leg mechanism and the pillar in real time.

[0050] The physical model of the bionic bracket includes the physical model of the bionic kangaroo leg mechanism, the physical model of the column, the physical model of the top beam, the physical model of the shield beam, the physical model of the connecting rod, the physical model of the base, the physical model of the bionic bracket active controller, the physical model of the bionic kangaroo leg mechanism active controller and the physical model of the spatial environment in which the bionic bracket is located.

[0051] The data acquisition system includes a bionic support sensor network and a top beam status monitoring equipment network.

[0052] The data interaction interface includes a data interaction channel between the bionic scaffold physical model and the bionic scaffold twin model, a data interaction protocol between the bionic scaffold physical model and the bionic scaffold twin model, and a data structure for data interaction between the bionic scaffold physical model and the bionic scaffold twin model.

[0053] The bionic bracket twin model includes the bionic bracket equipment virtual model, twin model kinematic model, twin model dynamic model, twin data and bionic bracket equipment support strategy adjustment service.

[0054] The virtual model of the bionic support equipment includes a virtual model of the bionic support as a whole and the distribution of sensors thereon, as well as a virtual model of the tunnel environment in which the bionic support is located.

[0055] The twin model kinematic model includes the forward kinematic model of the bionic bracket and the inverse kinematic model of the bionic bracket.

[0056] The twin model dynamics model includes the bionic bracket forward dynamics model and the bionic bracket inverse dynamics model.

[0057] Twin data includes bionic support posture data, bionic support force data, tunnel top beam status data and support strategy adjustment data.

[0058] The support strategy adjustment service for bionic support equipment includes the support strategy adjustment algorithm under normal support conditions and the support strategy adjustment algorithm under impact ground pressure conditions.

[0059] The above description is only a specific embodiment of the present invention, and the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention.

Claims

1. A parallel hydraulic support based on bionic kangaroo legs, characterized in that: It includes a top beam, a shield beam, a connecting rod, a column, a base and a bionic kangaroo leg mechanism; the top beam is connected to the shield beam, the two ends of the connecting rod are respectively connected to the shield beam and the base, the two ends of the column are respectively connected to the top beam and the base, and the bionic kangaroo leg mechanism is respectively provided on both sides of the column, and the two ends of the bionic kangaroo leg mechanism are respectively connected to the top beam and the base; The bionic kangaroo leg mechanism includes two groups of parallel single-leg bionic mechanisms, which include metatarsal plates, magnetorheological dampers, tibial plates, hydraulic cylinders and femoral plates; wherein the metatarsal plates, tibial plates and femoral plates are hinged in sequence, the top of the metatarsal plates are hinged to the top beam, the bottom of the femoral plates are hinged to the base, the two ends of the magnetorheological damper are hinged to the metatarsal plates and tibial plates respectively, and the two ends of the hydraulic cylinder are hinged to the tibial plates and femoral plates respectively; the two groups of parallel single-leg bionic mechanisms are connected through the fibula plate, and the two ends of the fibula plate are hinged to the metatarsal plates and femoral plates respectively.

2. A digital twin monitoring system for the parallel hydraulic support based on the bionic kangaroo leg according to claim 1, characterized in that: Including bionic kangaroo leg mechanism active controller, bionic bracket active controller, bionic bracket physical model, bionic bracket twin model, data acquisition system and data interaction interface; Relevant data of the bionic bracket under the working state is obtained through the data acquisition system, and these data are transmitted and analyzed between the bionic bracket physical model and the bionic bracket twin model through the data interaction interface, so as to adjust the support strategy. The bionic bracket active controller then adjusts the energy absorption ratio between the control column and the bionic kangaroo leg mechanism. Finally, the bionic kangaroo leg mechanism active controller adjusts the movement of the bionic kangaroo leg mechanism.

3. The digital twin monitoring system according to claim 2, characterized in that: The bionic kangaroo leg mechanism active controller includes a bionic kangaroo leg mechanism active control algorithm and a bionic kangaroo leg mechanism active control hardware system.

4. The digital twin monitoring system according to claim 2, wherein: The bionic support active controller includes a bionic support active control algorithm and a bionic support active controller hardware system.

5. The digital twin monitoring system according to claim 2, characterized in that: The physical model of the bionic support includes a physical model of a bionic kangaroo leg mechanism, a physical model of a column, a physical model of a top beam, a physical model of a shield beam, a physical model of a connecting rod, a physical model of a base, a physical model of a bionic support active controller, a physical model of a bionic kangaroo leg mechanism active controller, and a physical model of the spatial environment in which the bionic support is located.

6. The digital twin monitoring system according to claim 2, characterized in that: The data acquisition system includes a bionic support sensor network and a top beam status monitoring equipment network.

7. The digital twin monitoring system according to claim 2, characterized in that: The data interaction interface includes a data interaction channel between the bionic support physical model and the bionic support twin model, a data interaction protocol, and a data structure during data interaction.

8. The digital twin monitoring system according to claim 2, characterized in that: The bionic bracket twin model includes a bionic bracket equipment virtual model, a twin model kinematic model, a twin model dynamic model, twin data, and a bionic bracket equipment support strategy adjustment service.

9. The digital twin monitoring system according to claim 8, characterized in that: The bionic support equipment virtual model includes a bionic support complete machine and a virtual model of sensor distribution thereon, as well as a virtual model of the lane environment in which the bionic support is located.

10. The digital twin monitoring system according to claim 8, characterized in that: The twin data includes bionic support posture data, bionic support force data, tunnel top beam status data and support strategy adjustment data.

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