Stepping self-moving and posture self-adaptive temporary supporting device and application method thereof

Abstract

The invention belongs to the technical field of coal mine tunnel supporting equipment, and particularly relates to a stepping self-moving and posture self-adaptive temporary supporting device and an application method thereof. The device comprises a controller, and further comprises an alternate stepping supporting component, an integrated net laying component, a traction steering component and a self-adaptive posture adjusting component. According to the device, self-moving-supporting-net laying integrated operation can be achieved, manual dragging is replaced with stepping type moving, conditions are created for rapid tunneling, anchor net laying is synchronously completed through the integrated net laying component in the supporting process, and through differential control of two traction steering oil cylinders of the traction steering component, the supporting efficiency is greatly improved. The whole device is endowed with the small-angle steering capacity, so that the device can better adapt to the tunneling requirement of a curved roadway, the postures of the top beam and the supporting legs of the device can be actively or passively adjusted through the self-adaptive posture adjusting component so as to adapt to complex conditions such as unevenness of a top plate and a bottom plate of the roadway and gradient change, the working efficiency is improved, and the adaptability is high; the application scene is wide.

Description

Technical Field

[0001] This invention belongs to the technical field of coal mine roadway support equipment, specifically relating to a step-by-step self-moving and posture-adaptive temporary support device and its application method. Background Technology

[0002] Temporary support in coal mine tunneling is a crucial link that provides immediate and temporary support to newly exposed roof areas between the tunneling face and permanent support. Its core function is to quickly stabilize the surrounding rock after tunneling, effectively preventing roof collapse and fall accidents, providing a safe working space for underground workers, and creating conditions for subsequent permanent support work. The lack of timely and effective temporary support directly leads to excessively long exposure time of the tunneling face, significantly increasing the risk of roof instability and spalling, which is one of the main causes of frequent roof fall accidents in coal mines. Furthermore, this exacerbates the contradiction of "tunneling-support imbalance," where the tunneling speed far exceeds the support capacity, ultimately severely restricting overall production efficiency and safety levels.

[0003] Although temporary support technology and equipment for coal roadway excavation have undergone development, significant limitations remain in terms of safety, efficiency, and adaptability. Traditional simple support systems, represented by single hydraulic props and forward-reaching beams, rely entirely on manual entry into unsupported roof areas, posing extremely high safety risks, high labor intensity, and low efficiency—a key bottleneck restricting excavation speed. While machine-mounted temporary support systems, developed to improve integration, reduce manual handling, they introduce the fatal flaw of repeated stress disturbance to the roof during tunneling machine movement, easily exacerbating surrounding rock fracturing and failing to fundamentally achieve parallel excavation and support operations. Current self-propelled support equipment, due to its rigid structure, generally exhibits poor adaptability to uneven roadway floors and slope variations under complex geological conditions, making it even more difficult to meet the excavation requirements of curved roadways. The speed, stability, and reliability of its moving process itself often become weaknesses in the entire rapid tunneling system. Therefore, those skilled in the art have provided a temporary support device that integrates step-like self-movement, attitude self-adaptation, and synchronous net laying functions to solve the problems mentioned in the background art. Summary of the Invention

[0004] The technical problem to be solved by this invention is to provide a stepping self-moving and attitude-adaptive temporary support device and its application method. Through the coordinated action of alternating stepping support components, the device achieves unassisted movement, reduces manual intervention and equipment downtime, can quickly follow the tunnel face, reduces roof gap time, eliminates roof gaps, prevents local roof collapses, and simultaneously lays netting to achieve immediate fixation between the anchor netting and the roof. The adopted technical solution is as follows:

[0005] A stepping self-movement and attitude-adaptive temporary support device includes a controller, as well as an alternating stepping support component, an integrated netting component, a traction steering component, and an adaptive attitude adjustment component.

[0006] The alternating stepping support component includes a sliding shoe base, with two support lifting cylinders vertically installed above the sliding shoe base. A linked stabilizing leg is also installed on the sliding shoe base between the two support lifting cylinders. The sliding shoe base, support lifting cylinders, and linked stabilizing leg are symmetrically installed. A longitudinally extending crossbeam is connected between the tops of the two symmetrical support lifting cylinders. Several top beams are laid horizontally on the top of the crossbeam. The crossbeams and top beams are set according to the required width, with at least two top beams.

[0007] The integrated mesh laying component is located at the front end of the top beam. It includes a forward-protruding guide mesh laying pressure plate and a metal mesh roll. The metal mesh roll is located behind the forward-protruding guide mesh laying pressure plate. The anchor mesh unfolded on the metal mesh roll is laid flat and pressed by the forward-protruding guide mesh laying pressure plate.

[0008] The traction steering component is located between two crossbeams and includes a traction steering cylinder and a traction steering articulated support.

[0009] The adaptive attitude adjustment component is located at the connection between the support lifting cylinder and the crossbeam;

[0010] The alternating stepping support component, integrated netting component, traction steering component, and adaptive attitude adjustment component are all connected to the controller, which remotely coordinates the control of each component.

[0011] Preferably, the alternating step support component includes a front alternating step support component and a rear alternating step support component. The width of the inner side between the two slipper bases of the front alternating step support component is less than or equal to the width between the outer sides of the two slipper bases of the rear alternating step support component. The front ends of the two slipper bases of the rear alternating step support component are positioned between the two slipper bases of the front alternating step support component.

[0012] Preferably, the width between the inner sides of the outermost top beams of the front alternating stepping support member is less than or equal to the width between the outer sides of the outermost top beams of the rear alternating stepping support member, the front end of the outermost top beam of the rear alternating stepping support member is placed between the outermost top beams of the front alternating stepping support member, and the other front and rear top beams are installed alternately.

[0013] As a further preferred option, rubber protective sleeves are installed at both the front and rear ends of the top beam.

[0014] Preferably, a traction steering component is installed between the crossbeams of adjacent front alternating stepping support components and rear alternating stepping support components. The traction steering component consists of two sets, with each traction steering hinge support installed on the crossbeam of the front alternating stepping support component and each traction steering cylinder installed on the crossbeam of the rear alternating stepping support component.

[0015] Preferably, the adaptive attitude adjustment component includes a hinged base, an attitude adjustment cylinder, and an attitude adjustment cylinder base, with the top of the supporting lifting cylinder connected to the bottom of the crossbeam via the hinged base.

[0016] Preferably, the attitude adjustment cylinder base is installed at the bottom end of the crossbeam, one end of the attitude adjustment cylinder is connected to the attitude adjustment cylinder base, and the other end is inclinedly connected to the hinge base.

[0017] Preferably, the front-protruding guide mesh laying plate is provided with pressure plate drive cylinders on both sides of the lower rear part, which drive the metal mesh roll to move; the front-protruding guide mesh laying plate is inclined downward.

[0018] Preferably, the linkage stabilizing outrigger includes an upper connecting rod, a joint, a lower connecting rod, and an outrigger base, which is mounted on the ski boot base.

[0019] Preferably, the lower connecting rod is a double connecting rod with an inverted Z-shaped structure. Both connecting rods are telescopic connecting rods, with their bottom ends mounted on the support leg base and their top ends connected to the upper connecting rod via joints.

[0020] A method for applying a step-based self-movement and attitude-adaptive temporary support device includes the following steps:

[0021] (1) Deploy the device behind the tunneling face, start the device as shown in the controller, extend the support lifting cylinder upward, drive the top beam and cross beam to rise and tighten the roadway roof for initial support;

[0022] (2) When it is necessary to move forward, the support lifting cylinder of the rear alternating stepping support component retracts to separate its top beam and crossbeam from the top plate, and the traction steering cylinder retracts simultaneously to pull the sliding shoe base of the rear alternating stepping support component forward. Then, the support lifting cylinder of the front alternating stepping support component retracts to separate its top beam and crossbeam from the top plate, and the traction steering cylinder extends simultaneously to push the sliding shoe base of the front alternating stepping support component forward. The device moves forward as a whole through this alternating stepping action.

[0023] When the traction steering cylinder extends and retracts differentially, a deflection angle is generated between the front and rear sets of crossbeams, thereby driving the alternating stepping support components to achieve small-angle steering.

[0024] (3) During the overall forward movement, the integrated mesh laying component operates, the metal mesh roll rotates to release the anchor mesh, the pressure plate drives the hydraulic cylinder to operate, drives the forward-probing guide mesh laying pressure plate to rise, guide and flatten the anchor mesh and apply pressure to tighten it, and temporarily support the roof of the roadway in front. Finally, after the anchor mesh is temporarily supported on the roof by the device, the anchor drilling rig enters the operation under the safety protection of the device to complete the permanent support.

[0025] (4) When the device enters the inclined roadway, each crossbeam rotates freely through the hinged base to passively adapt to the roof slope. At the same time, the linkage stabilizing legs adjust their posture through the telescopic connecting rod to adapt to the extension and retraction of the top and bottom ends. Subsequently, the posture adjustment cylinder operates and actively adjusts each crossbeam to the optimal support angle to cope with the complex roadway by applying thrust or pull force.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0027] 1) The device of the present invention can realize the integrated operation of automatic movement, support and net laying, shorten the single cycle operation time, and replace manual dragging with step-type movement: the alternating action of the slipper base and the support lifting cylinder realizes the seamless connection of "walking-support", and the parallel and continuous operation of tunneling and support solves the contradiction of "tunneling-support imbalance" mentioned in the background technology, reduces the downtime waiting time caused by support lag, and creates conditions for achieving rapid tunneling.

[0028] 2) Through the design of the “adaptive attitude adjustment component”, the top beam and outriggers of the device can actively or passively adjust their attitude to adapt to complex situations such as uneven roof and floor slabs and slope changes in the roadway, thus ensuring the stability and reliability of the support, which is difficult to achieve with traditional rigid support equipment.

[0029] 3) This invention, through differential control of the two traction steering cylinders of the traction steering component, endows the entire device with the ability to turn at small angles, enabling it to better adapt to the tunneling requirements of curved roadways and solving the shortcoming of traditional support equipment in meeting the requirements of curved tunneling.

[0030] 4) The integrated mesh laying component of this invention completes the anchor mesh laying simultaneously during the support process, avoiding the separate operation of "support first and then lay mesh" in the traditional process, and significantly improving the work efficiency.

[0031] 5) This invention is highly adaptable and has a wide range of applications. The adaptive attitude adjustment component can cope with geological changes such as roof tilt and undulation without frequent manual adjustments; it is applicable to multiple engineering scenarios and is suitable for temporary support needs in coal mine tunneling faces, metal mine roadways, tunnel excavation, water conservancy culverts, etc., and is especially suitable for dangerous environments such as high gas and high ground pressure. Attached Figure Description

[0032] Figure 1This is a schematic diagram of the temporary support device of the present invention;

[0033] Figure 2 This is a schematic diagram of the alternating stepping support component in the temporary support device of the present invention;

[0034] Figure 3 This is a schematic diagram of the integrated mesh laying component in the temporary support device of the present invention;

[0035] Figure 4 This is a schematic diagram of the traction steering component in the temporary support device of the present invention;

[0036] Figure 5 This is a schematic diagram of the adaptive attitude adjustment component in the temporary support device of the present invention.

[0037] In the diagram, 1. Alternating stepping support component; 1-1. Front alternating stepping support component; 1-2. Rear alternating stepping support component; 2. Integrated mesh laying component; 3. Traction steering component; 4. Adaptive attitude adjustment component; 5. Top beam; 6. Main crossbeam; 7. Support lifting cylinder; 8. Slipper base; 9. Metal mesh roll; 10. Forward-protruding guide mesh laying pressure plate; 11. Pressure plate drive cylinder; 12. Anchor mesh; 13. Traction steering cylinder; 14. Traction steering hinge support; 15. Linked stabilizing outrigger; 15-1. Upper connecting rod; 15-2. Joint; 15-3. Lower connecting rod; 15-4. Outrigger base; 16. Hinge base; 17. Attitude adjustment cylinder; 18. Attitude adjustment cylinder base. Detailed Implementation

[0038] The accompanying drawings are for illustrative purposes only. The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0039] Example 1

[0040] like Figure 1 , 2 As shown, a stepping self-movement and attitude adaptive temporary support device includes a controller, as well as an alternating stepping support component 1, an integrated netting component 2, a traction steering component 3 and an adaptive attitude adjustment component 4.

[0041] The alternating stepping support component 1 includes a sliding shoe base 8, with two support lifting cylinders 7 vertically installed above the sliding shoe base 8. A linkage stabilizing support leg 15 is also installed on the sliding shoe base 8 between the two support lifting cylinders 7. The sliding shoe base 8, support lifting cylinders 7, and linkage stabilizing support leg 15 are symmetrically installed. A longitudinally extending crossbeam 6 is connected between the top ends of the two symmetrical support lifting cylinders 7. Several top beams 5 are laid horizontally on the top end of the crossbeam 6. The crossbeam 6 and top beams 5 are set according to the required width. In this embodiment, six top beams 5 are set.

[0042] The alternating stepping support component 1 includes a front alternating stepping support component 1-1 and a rear alternating stepping support component 1-2. The inner width between the two sliding shoe bases of the front alternating stepping support component 1-1 is slightly smaller than the outer width between the two sliding shoe bases of the rear alternating stepping support component 1-2. The front ends of the two sliding shoe bases of the rear alternating stepping support component 1-2 are positioned between the two sliding shoe bases of the front alternating stepping support component. The inner width between the outermost top beams of the front alternating stepping support component 1-1 is slightly smaller than the outer width between the outermost top beams of the rear alternating stepping support component 1-2. The front ends of the outermost top beams of the rear alternating stepping support component 1-2 are positioned between the outermost top beams of the front alternating stepping support component. The lengths of the other front and rear top beams are all longer than the outermost top beams, and they are laid in an alternating pattern.

[0043] like Figure 4 As shown, the traction steering component 3 is located between two crossbeams and includes a traction steering cylinder 13 and a traction steering hinge support 14. The traction steering component 3 is installed between the crossbeams of adjacent front alternating step support components 1-1 and rear alternating step support components 1-2. The traction steering component 3 consists of two sets, with each traction steering hinge support installed on the crossbeam of the front alternating step support component 1-1 and each traction steering cylinder installed on the crossbeam of the rear alternating step support component 1-2.

[0044] like Figure 3 As shown, the integrated mesh laying component 2 is located at the front end of the top beam 5. It includes a forward-protruding guide mesh laying pressure plate 10 and a metal mesh roll 9. The metal mesh roll 9 is located behind the forward-protruding guide mesh laying pressure plate 10. The anchor mesh unfolded on the metal mesh roll 9 is laid flat and pressed by the forward-protruding guide mesh laying pressure plate 10. Pressure plate drive cylinders 11 are provided on both sides of the lower rear part of the forward-protruding guide mesh laying pressure plate 10. The pressure plate drive cylinders 11 drive the metal mesh roll 9 to move.

[0045] like Figure 5As shown, the linkage-type stabilizing outrigger 15 includes an upper connecting rod 15-1, a joint 15-2, a lower connecting rod 15-3, and an outrigger base 15-4, which is mounted on the skid base 8 via the outrigger base 15-4. Preferably, the lower connecting rod 15-3 is a double connecting rod with an inverted Z-shaped structure. Both connecting rods are telescopic connecting rods, with their bottom ends mounted on the outrigger base 15-4 and their top ends connected to the upper connecting rod 15-1 via the joint 15-2, and they have a connecting shaft that allows them to tilt.

[0046] The adaptive posture adjustment component 4 is located at the connection between the support lifting cylinder 7 and the crossbeam 6; the adaptive posture adjustment component 4 includes a hinge base 16, a posture adjustment cylinder 17 and a posture adjustment cylinder base 18, and the top of the support lifting cylinder 7 is connected to the bottom of the crossbeam 6 through the hinge base 16.

[0047] The attitude adjustment cylinder base 18 is installed at the bottom of the crossbeam 6, and one end of the attitude adjustment cylinder 17 is connected to the attitude adjustment cylinder base 18, while the other end is inclinedly connected to the hinge base 16.

[0048] The alternating stepping support component 1, the integrated netting component 2, the traction steering component 3, and the adaptive attitude adjustment component 4 are connected to a controller, which enables remote coordinated control.

[0049] A method for applying a step-based self-movement and attitude-adaptive temporary support device includes the following steps:

[0050] (1) Deploy the device behind the tunneling face, start the device as shown in the controller, extend the support lifting cylinder upward, drive the top beam and cross beam to rise and tighten the roadway roof for initial support;

[0051] (2) When it is necessary to move forward, the support lifting cylinder of the rear alternating stepping support component retracts to separate its top beam and crossbeam from the top plate, and the traction steering cylinder retracts simultaneously to pull the sliding shoe base of the rear alternating stepping support component forward. Then, the support lifting cylinder of the front alternating stepping support component retracts to separate its top beam and crossbeam from the top plate, and the traction steering cylinder extends simultaneously to push the sliding shoe base of the front alternating stepping support component forward, causing the crossbeam and top beam to slide forward. The device moves forward as a whole through this alternating stepping action.

[0052] Alternatively, when the traction steering cylinder extends and retracts differentially, a deflection angle is generated between the front and rear sets of crossbeams, thereby driving the alternating stepping support components to achieve small-angle steering.

[0053] (3) During the overall forward movement, the integrated mesh laying component operates, the metal mesh roll rotates to release the anchor mesh, the pressure plate drives the hydraulic cylinder to operate, drives the forward-probing guide mesh laying pressure plate to rise, guide and flatten the anchor mesh and apply pressure to tighten it, and temporarily support the roof of the roadway in front. Finally, after the anchor mesh is temporarily supported on the roof by the device, the anchor drilling rig enters the operation under the safety protection of the device to complete the permanent support.

[0054] (4) When the device enters the inclined roadway, each crossbeam rotates freely through the hinged base to passively adapt to the roof slope. At the same time, the linkage stabilizing legs adjust their posture through the telescopic connecting rod to adapt to the extension and retraction of the top and bottom ends. Subsequently, the posture adjustment cylinder operates and actively adjusts each crossbeam to the optimal support angle to cope with the complex roadway by applying thrust or pull force.

[0055] Example 2

[0056] A stepping self-movement and attitude-adaptive temporary support device includes a controller, as well as alternating stepping support components, an integrated netting component, a traction steering component, and an adaptive attitude adjustment component.

[0057] The alternating stepping support components include a front alternating stepping support component, a middle alternating stepping support component, and a rear alternating stepping support component.

[0058] Other areas not mentioned are the same as in Example 1.

[0059] Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A step-based self-movement and attitude-adaptive temporary support device, comprising a controller, characterized in that, It also includes alternating stepping support components, integrated mesh laying components, traction steering components, and adaptive attitude adjustment components; The alternating stepping support component includes a sliding shoe base, two support lifting cylinders are vertically installed above the sliding shoe base, and a linkage stabilizing leg is also installed on the sliding shoe base between the two support lifting cylinders; the sliding shoe base, support lifting cylinders, and linkage stabilizing leg are symmetrically installed, and a longitudinally extending crossbeam is connected between the tops of the two symmetrical support lifting cylinders, and several top beams are laid horizontally on the top of the crossbeam. The integrated mesh laying component is located at the front end of the top beam. It includes a forward-protruding guide mesh laying pressure plate and a metal mesh roll. The metal mesh roll is located behind the forward-protruding guide mesh laying pressure plate. The anchor mesh unfolded on the metal mesh roll is laid flat and pressed by the forward-protruding guide mesh laying pressure plate. The traction steering component is located between two crossbeams and includes a traction steering cylinder and a traction steering articulated support. The adaptive attitude adjustment component is located at the connection between the support lifting cylinder and the crossbeam; The alternating stepping support component, integrated netting component, traction steering component, and adaptive attitude adjustment component are all connected to the controller, which remotely coordinates the control of each component.

2. The stepping self-movement and attitude adaptive temporary support device according to claim 1, characterized in that, The alternating step support component includes a front alternating step support component and a rear alternating step support component. The inner width between the two slipper bases of the front alternating step support component is less than or equal to the width between the outer sides of the two slipper bases of the rear alternating step support component. The front ends of the two slipper bases of the rear alternating step support component are positioned between the two slipper bases of the front alternating step support component.

3. The stepping self-movement and attitude adaptive temporary support device according to claim 2, characterized in that, The width between the inner sides of the outermost top beams of the front alternating stepping support component is less than or equal to the width between the outer sides of the outermost top beams of the rear alternating stepping support component. The front end of the outermost top beam of the rear alternating stepping support component is placed between the outermost top beams of the front alternating stepping support component, and the other front and rear top beams are installed alternately.

4. The stepping self-movement and attitude adaptive temporary support device according to claim 3, characterized in that, A traction steering component is installed between the crossbeams of adjacent front alternating stepping support components and rear alternating stepping support components. The traction steering component consists of two sets, with each traction steering hinge support installed on the crossbeam of the front alternating stepping support component and each traction steering cylinder installed on the crossbeam of the rear alternating stepping support component.

5. A stepping self-movement and attitude adaptive temporary support device according to claim 2, characterized in that, The adaptive attitude adjustment component includes a hinged base, an attitude adjustment cylinder, and an attitude adjustment cylinder base. The top of the supporting lifting cylinder is connected to the bottom of the crossbeam through the hinged base.

6. The stepping self-movement and attitude adaptive temporary support device according to claim 5, characterized in that, The attitude adjustment cylinder base is installed at the bottom of the crossbeam. One end of the attitude adjustment cylinder is connected to the attitude adjustment cylinder base, and the other end is inclinedly connected to the hinge base.

7. The stepping self-movement and attitude adaptive temporary support device according to claim 2, characterized in that, The front-mounted guide plate is equipped with pressure plate drive cylinders on both sides of its lower rear part, which drive the metal mesh roll to move.

8. A stepping self-movement and attitude adaptive temporary support device according to claim 2, characterized in that, The linkage stabilizing outrigger includes an upper connecting rod, a joint, a lower connecting rod, and an outrigger base, which is mounted on the ski boot base.

9. A stepping self-movement and attitude adaptive temporary support device according to claim 8, characterized in that, The lower connecting rod is a double connecting rod with an inverted Z-shaped structure. Both rods are telescopic connecting rods, with their bottom ends mounted on the support leg base and their top ends connected to the upper connecting rod via joints.

10. The application method of the stepping self-movement and attitude adaptive temporary support device as described in any one of claims 1-9, characterized in that, Includes the following steps: (1) Deploy the device behind the tunneling face, start the device as shown in the controller, extend the support lifting cylinder upward, drive the top beam and cross beam to rise and tighten the roadway roof for initial support; (2) When it is necessary to move forward, the support lifting cylinder of the rear alternating stepping support component retracts to separate its top beam and crossbeam from the top plate, and the traction steering cylinder retracts simultaneously to pull the sliding shoe base of the rear alternating stepping support component forward. Then, the support lifting cylinder of the front alternating stepping support component retracts to separate its top beam and crossbeam from the top plate, and the traction steering cylinder extends simultaneously to push the sliding shoe base of the front alternating stepping support component forward. The device moves forward as a whole through this alternating stepping action. When the traction steering cylinder extends and retracts differentially, a deflection angle is generated between the front and rear sets of crossbeams, thereby driving the alternating stepping support components to achieve small-angle steering. (3) During the overall forward movement, the integrated mesh laying component operates, the metal mesh roll rotates to release the anchor mesh, the pressure plate drives the hydraulic cylinder to operate, drives the forward-probing guide mesh laying pressure plate to rise, guide and flatten the anchor mesh and apply pressure to tighten it, and temporarily support the roof of the roadway in front. Finally, after the anchor mesh is temporarily supported on the roof by the device, the anchor drilling rig enters its safe protection range to carry out operations and install anchor bolts to complete permanent support. (4) When the device enters the inclined roadway, each crossbeam rotates freely through the hinged base to passively adapt to the roof slope. At the same time, the linkage stabilizing legs adjust their posture through the telescopic connecting rod to adapt to the extension and retraction of the top and bottom ends. Subsequently, the posture adjustment cylinder operates and actively adjusts each crossbeam to the optimal support angle to cope with the complex roadway by applying thrust or pull force.

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