Supporting device for coal mine roadway tunneling based on complex environment

Abstract

The invention relates to the technical field of coal mining equipment, and discloses a supporting device for coal mine tunnel tunneling based on a complex environment, which comprises the following steps: S1, arranging a top plate supporting structure comprising a main hydraulic prop and a telescopic top beam, S2, integrating a pressure sensor array in the top beam, S3, configuring a self-adaptive pressure regulating mechanism, and S4, arranging a pressure sensor array in the top beam. S4, multiple stages of supporting assemblies are installed on the side wall of the roadway; and S5, data of the geological radar and data of the displacement sensor are fused through the central controller, and supporting parameters are optimized in real time. A honeycomb pressure sensor array integrated with a top beam monitors vertical pressure distribution of a top plate in real time, a central controller constructs a top plate stress model and predicts a risk area in combination with data of a geological radar and a displacement sensor, and a lateral multi-stage supporting assembly is matched with an elastic buffer layer according to the deformation modulus of surrounding rock. And anchor cable pre-tightening force is applied according to the shear strength of the rock mass, a plastic zone is covered in a radial layout mode, and full-autonomous safety regulation and control under the complex geological condition are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mining equipment, in particular to a supporting device for coal mine tunnel excavation based on a complex environment. Background Art

[0002] Coal mines in my country are mainly mined underground, which requires the excavation of a large number of tunnels underground. The use of tunnel support to keep the tunnels unobstructed and the surrounding rock stable is of great significance to coal mine construction and production. Coal needs to be frequently transported in coal mine tunnels, which leads to greater vibration in the coal mine tunnels, and in turn causes greater vibration of the support device. Long-term vibration can easily lead to loosening of the external soil layer and easily cause collapse. Summary of the Invention

[0003] The purpose of the present invention is to provide a supporting device for coal mine tunnel excavation based on a complex environment to solve the problems raised in the above background technology.

[0004] To solve the above technical problems, the present invention is achieved through the following technical solutions: The present invention is a support device for coal mine tunnel excavation based on complex environment, which includes the following steps: S1. Set up the roof support structure, including main hydraulic struts and retractable roof beams.

[0005] S2. Integrate a pressure sensor array inside the top beam to monitor the vertical pressure distribution of the top plate in real time.

[0006] S3. Configure an adaptive pressure regulating mechanism to dynamically adjust the supporting force of each main hydraulic support according to the pressure data.

[0007] S4. Install multi-stage support assemblies on the sidewalls of the tunnel, including deployable lateral support plates and anchoring mechanisms.

[0008] The S5 uses a central controller to fuse geological radar and displacement sensor data to optimize support parameters in real time.

[0009] Furthermore, the pressure sensor array is distributed in a honeycomb grid, and the sensor spacing d satisfies: in is the top beam length, is the top beam width, used to capture local stress concentration points.

[0010] Furthermore, the adaptive pressure regulating mechanism includes a hydraulic servo valve group, the output pressure of which is With target pressure The adjustment process satisfies PID control: Where e(t)=P t (t)-P m (t), P m(t) is the real-time measured pressure, K p 、Kᵢ、K o It is the adaptive parameter of the surrounding rock type of the roadway.

[0011] Furthermore, the anchoring mechanism includes a rotating anchor rod and a prestressed anchor cable, and the anchor cable preload force F a Design based on surrounding rock shear strength τ: , where d s is the diameter of the anchor cable, k is the safety factor (1.5~2.0), φ is the friction angle in the rock mass, and θ is the inclination angle of the anchor cable installation.

[0012] Furthermore, the anchor cables are distributed radially, and the angle α between adjacent anchor cables satisfies:

[0013] Where D is the diameter of the plastic zone, R is the effective length of the anchor cable, and α∈[15°,30°].

[0014] Furthermore, the lateral support plate is embedded with an elastic buffer layer, and the ratio of its elastic modulus E to the deformation modulus Eᵣ of the surrounding rock satisfies:

[0015] Furthermore, the central controller constructs a top plate stress distribution model:

[0016] Where Pᵢ is the support force of the i-th pillar, (xᵢ, yᵢ) is the sensor coordinate, h is the influence depth of the surrounding rock, and when σ(x, y) ≥ 0.85 Trigger local reinforcement.

[0017] Furthermore, it also includes a hydrological monitoring unit, which starts the drainage mode according to the correlation equation between the water inflow Q and the roof sinking speed v. , is the correction factor for rock mass permeability coefficient.

[0018] Furthermore, a gas concentration sensor is provided at the edge of the top beam, which automatically starts when the detected concentration C is ≥ 0.8%: ,in is the ventilation enhancement factor.

[0019] Furthermore, the central controller executes a multi-objective optimization algorithm, and the objective function is , where ΔPᵢ is the pressure fluctuation of the support, δⱼ is the lateral displacement, and E c is the system energy consumption, , is the weighting coefficient of geological risk level.

[0020] The present invention has the following beneficial effects: (1) The pressure sensors of the present invention are distributed in a honeycomb grid, which can cover the top beam area with high density and accurately identify local stress peak points (such as fault zones or crack areas). Compared with the uniform distribution scheme, this design improves the resolution of stress anomaly detection, provides a data basis for targeted pressure regulation of hydraulic supports, and effectively avoids chain damage caused by local instability.

[0021] (2) The present invention adopts PID hydraulic control based on surrounding rock type, which significantly improves the system response speed and stability, and dynamically adjusts the system according to different surrounding rock grades (such as soft rock / hard rock). , , Parameters, so that the support force quickly converges to the target value P t , suppress pressure fluctuations within ±5% to prevent roof damage or support failure caused by over-adjustment.

[0022] (3) The present invention uses anchor cable preload Based on the shear strength of the surrounding rock and rock mass mechanical parameters Scientific design ensures the anchoring system effectively suppresses shear slip. The radial anchor cable layout is designed to optimally cover the plastic zone diameter D. This distribution enables the anchor cable group to form a coordinated support network, reducing support blind spots, improving surrounding rock restraint efficiency compared to parallel arrangements, and avoiding material waste caused by excessive anchor cable density.

[0023] (4) The multi-objective optimization function of the present invention realizes dynamic balance between support stability and energy consumption, and the geological risk level weighted coefficient , , realize differentiated regulation (such as focusing on high gas mines Energy saving, strengthening of weak surrounding rock , displacement control), comprehensively improve the system adaptability and economy, and extend the service life of the equipment.

[0024] (5) The present invention transforms traditional passive support into a closed-loop system that actively adapts to complex geological environments through an innovative architecture of intelligent perception, dynamic control, and multi-source collaboration. It achieves technological breakthroughs in roof control, disaster warning, and energy consumption optimization, providing core guarantees for safe and efficient excavation in coal mines.

[0025] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 This is a schematic diagram of the coordinated control principle of the complete set of equipment for the comprehensive excavation working face of the present invention. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] Example 1 See also Figure 1 As shown, the present invention is a support device for coal mine tunnel excavation based on complex environment, comprising the following steps: S1. Set up the roof support structure, including the main hydraulic support and retractable roof beam; S2. Integrate a pressure sensor array inside the roof beam to monitor the vertical pressure distribution of the roof in real time; S3. Configure an adaptive pressure regulating mechanism to dynamically adjust the support force of each main hydraulic support according to the pressure data; S4. Install a multi-stage support assembly on the tunnel sidewall, including deployable lateral support plates and anchoring mechanisms; S5. The central controller integrates geological radar and displacement sensor data to optimize support parameters in real time.

[0030] In this embodiment, the pressure sensor array is distributed in a honeycomb grid, and the sensor spacing d satisfies: in is the top beam length, is the width of the top beam, which is used to capture local stress concentration points. Among them, the pressure sensors are distributed in a honeycomb grid, which can cover the top beam area with high density and accurately identify local stress peak points (such as fault zones or crack areas). Compared with the uniform distribution scheme, this design improves the resolution of stress anomaly detection, provides a data basis for targeted pressure regulation of hydraulic supports, and effectively avoids chain damage caused by local instability.

[0031] By controlling the pressure, the adaptive pressure regulating mechanism includes a hydraulic servo valve group, and its output pressure With target pressure The adjustment process satisfies PID control: Where e(t)=P t (t)-P m (t), P m (t) is the real-time measured pressure, K p 、Kᵢ、K o Adaptive parameters for tunnel surrounding rock types, using PID hydraulic control based on surrounding rock types, significantly improving system response speed and stability, and dynamically adjusting for different surrounding rock grades (such as soft rock / hard rock) , , Parameters, so that the support force quickly converges to the target value P t , suppress pressure fluctuations within ±5% to prevent roof damage or support failure caused by over-adjustment.

[0032] Example 2 See also Figure 1 As shown, a technical solution is provided based on Example 1, wherein the anchoring mechanism includes a rotating anchor rod and a prestressed anchor cable, and the anchor cable preload force F a Design based on surrounding rock shear strength τ: , where d s is the anchor cable diameter, k is the safety factor (1.5~2.0), φ is the friction angle in the rock mass, θ is the anchor cable installation angle, and the anchor cable preload is calculated. Based on the shear strength of the surrounding rock and rock mass mechanical parameters Scientific design ensures that the anchoring system effectively suppresses shear slip. Safety factor Taking into account both economy and reliability, the shear resistance is improved compared to traditional empirical designs, and the lateral deformation of the tunnel is significantly controlled. In this embodiment, the anchor cables are distributed radially, and the angle α between adjacent anchor cables satisfies:

[0033] Where D is the diameter of the plastic zone, R is the effective length of the anchor cable, and α∈[15°,30°]. The designed radial anchor cable layout optimally covers the plastic zone diameter D. This distribution enables the anchor cable group to form a coordinated support network, reducing support blind spots, improving the surrounding rock restraint efficiency compared to the parallel arrangement, and avoiding material waste caused by excessive anchor cable density.

[0034] This embodiment also involves a technical solution in which an elastic buffer layer is embedded in the support plate, and the ratio of its elastic modulus E to the deformation modulus Eᵣ of the surrounding rock satisfies: This design enables the support plate and surrounding rock to deform synergistically, improving the absorption of impact energy, preventing rock fragmentation caused by rigid contact, and extending the life of the support structure.

[0035] Example 3 See also Figure 1 As shown, based on Example 1 and Example 2, the present invention also relates to a technical solution, in which the central controller constructs a top plate stress distribution model:

[0036] Where Pᵢ is the support force of the i-th pillar, (xᵢ, yᵢ) is the sensor coordinate, h is the influence depth of the surrounding rock, and when σ(x, y) ≥ 0.85 Trigger local reinforcement in time, warn high-risk areas in advance, and reduce the probability of roof collapse. At the same time, the hydrological monitoring unit starts the drainage mode according to the correlation equation between the water inflow Q and the roof sinking speed v. , is a correction factor for the rock mass permeability coefficient. This model quantifies the impact of hydrogeology on support stability and activates the drainage system earlier than single parameter monitoring, reducing roof instability accidents caused by water-softened surrounding rock.

[0037] In this embodiment, a gas concentration sensor is set at the edge of the top beam, which automatically starts when the detected concentration C is ≥ 0.8%: ,in For the ventilation enhancement coefficient, the nonlinear ventilation strategy takes into account both response speed and energy consumption control, reduces the risk of gas accumulation, and avoids secondary dust pollution caused by excessive ventilation.

[0038] In addition, the central controller executes a multi-objective optimization algorithm with the objective function being , where ΔPᵢ is the pressure fluctuation of the support, δⱼ is the lateral displacement, and E c is the system energy consumption, , is the geological risk level weighting coefficient. Furthermore, the multi-objective optimization function realizes the dynamic balance between support stability and energy consumption. , , realize differentiated regulation (such as focusing on high gas mines Energy saving, strengthening of weak surrounding rock , displacement control), comprehensively improve the system adaptability and economy, and extend the service life of the equipment.

[0039] Through the description of the above embodiments, this device transforms traditional passive support into a closed-loop system that actively adapts to complex geological environments through the innovative architecture of intelligent perception-dynamic control-multi-source collaboration, achieving technological breakthroughs in roof control, disaster warning, energy consumption optimization and other dimensions, providing core guarantees for safe and efficient excavation in coal mines.

[0040] During use, first, the honeycomb pressure sensor array integrated in the top beam monitors the vertical pressure distribution of the roof in real time. Combined with the geological radar and displacement sensor data, the central controller constructs a roof stress model and predicts the risk area; secondly, the adaptive pressure regulating mechanism dynamically adjusts the PID parameters based on the surrounding rock type, and accurately controls the support output pressure through the hydraulic servo valve group to offset local stress concentration; at the same time, the lateral multi-level support assembly matches the elastic buffer layer according to the deformation modulus of the surrounding rock, and applies anchor cable pre-tightening force according to the shear strength of the rock mass, with a radial layout covering the plastic zone; in addition, the hydrological unit triggers drainage through the water inflow-sinking velocity equation, and the gas sensor strengthens the airflow according to the nonlinear ventilation coefficient; finally, the central controller dynamically balances the support strength, displacement control and energy consumption with a multi-objective optimization function to achieve fully autonomous and safe regulation under complex geological conditions.

[0041] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A support device for coal mine tunnel excavation based on complex environment, characterized by: The following steps are included S1. Set up the roof support structure, including the main hydraulic support and retractable roof beam; S2. Integrate a pressure sensor array inside the roof beam to monitor the vertical pressure distribution of the roof in real time; S3. Configure an adaptive pressure regulating mechanism to dynamically adjust the support force of each main hydraulic support according to the pressure data; S4. Install a multi-stage support assembly on the tunnel sidewall, including deployable lateral support plates and anchoring mechanisms; The S5 uses a central controller to fuse geological radar and displacement sensor data to optimize support parameters in real time.

2. A supporting device for coal mine tunnel excavation in a complex environment according to claim 1, characterized in that: The pressure sensor array is distributed in a honeycomb grid, and the sensor spacing d satisfies: in is the top beam length, is the top beam width, used to capture local stress concentration points.

3. The supporting device for coal mine tunnel excavation in a complex environment according to claim 1, characterized in that: The adaptive pressure regulating mechanism includes a hydraulic servo valve group, which outputs pressure With target pressure The adjustment process satisfies PID control: Where e(t)=P t (t)-P m (t), P m (t) is the real-time measured pressure, K p , Kᵢ, and K0 are adaptive parameters of the surrounding rock type of the roadway.

4. The supporting device for coal mine tunnel excavation in a complex environment according to claim 1, characterized in that: The anchoring mechanism includes a rotating anchor rod and a prestressed anchor cable. The anchor cable preload force F a Design based on surrounding rock shear strength τ: , where d s is the diameter of the anchor cable, k is the safety factor (1.5~2.0), φ is the friction angle in the rock mass, and θ is the inclination angle of the anchor cable installation.

5. The supporting device for coal mine tunnel excavation in a complex environment according to claim 4, characterized in that: The anchor cables are distributed radially, and the angle α between adjacent anchor cables satisfies: Where D is the diameter of the plastic zone, R is the effective length of the anchor cable, and α∈[15°,30°].

6. The supporting device for coal mine tunnel excavation in a complex environment according to claim 1, characterized in that: The lateral support plate is embedded with an elastic buffer layer, and the ratio of its elastic modulus E to the deformation modulus Eᵣ of the surrounding rock satisfies:

7. The supporting device for coal mine tunnel excavation in a complex environment according to claim 1, characterized in that: The central controller constructs a top plate stress distribution model: Where Pᵢ is the support force of the i-th pillar, (xᵢ, yᵢ) is the sensor coordinate, h is the influence depth of the surrounding rock, and when σ(x, y) ≥ 0.85 Trigger local reinforcement.

8. The supporting device for coal mine tunnel excavation in a complex environment according to claim 1, characterized in that: It also includes a hydrological monitoring unit, which starts the drainage mode according to the correlation equation between the water inflow Q and the roof sinking speed v. , is the correction factor for rock mass permeability coefficient.

9. The supporting device for coal mine tunnel excavation in a complex environment according to claim 1, characterized in that: A gas concentration sensor is set at the edge of the top beam, which automatically starts when the detected concentration C is ≥ 0.8%: ,in is the ventilation enhancement factor.

10. The supporting device for coal mine tunnel excavation in a complex environment according to claim 1, characterized in that: The central controller executes a multi-objective optimization algorithm, and the objective function is , where ΔPᵢ is the pressure fluctuation of the support, δⱼ is the lateral displacement, and E c is the system energy consumption, , is the weighting coefficient of geological risk level.

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