Mining surrounding rock pressure dynamic self-adaptive self-moving advance support device and support method thereof

Abstract

The invention relates to the technical field of coal mine underground fully mechanized coal mining face supporting, in particular to a mining surrounding rock pressure dynamic self-adaption self-moving type advance supporting device and a supporting method thereof.The device comprises a crawler chassis, a bearing platform, a resident hydraulic cylinder and a resident bottom plate, a hydraulic power station is integrated in the crawler chassis, and a power source and a controller are arranged on the bearing platform; and power self-sufficiency and intelligent control are realized. A residence hydraulic cylinder drives a residence bottom plate to lift, and the crawler chassis is switched between a grounding walking state and a suspended residence state by utilizing counter-acting force; a stand column cylinder barrel, a telescopic plunger and a spherical hinge type top beam are arranged above the resident hydraulic cylinder and used for supporting the top plate. The pressure sensor and the electro-hydraulic proportional control valve set are adopted for closed-loop control, and real-time sensing of surrounding rock pressure and self-adaptive adjustment of supporting resistance are achieved. The device is small in size, flexible and high in adaptability to roadway bottom plate conditions, and the problems that traditional supporting equipment is difficult to move, and passive bearing and unbalance loading damage are caused are effectively solved.

Description

Technical Field

[0001] This invention relates to the field of support technology for fully mechanized coal mining faces, specifically to a dynamic adaptive self-moving advanced support device for surrounding rock pressure and its support method. Background Technology

[0002] In the longwall mining process of underground coal mines, the advanced support of the upper and lower roadways is a crucial link in ensuring roof stability and preventing roof collapse accidents. With the increasing mechanization of coal mining and the faster pace of mining, higher demands are placed on the movement speed, adaptability, and intelligence level of advanced support equipment. Currently, the mainstream advanced support methods in underground mines mainly include traditional single hydraulic props and advanced hydraulic supports. However, existing technical solutions still have the following technical problems in practical applications:

[0003] Traditional single hydraulic props rely primarily on manual handling and erection. As the working face advances, frequent retraction and re-support are required, which not only consumes a large amount of manpower and severely restricts the advancement efficiency of the fully mechanized mining face, but also forces operators to enter unsupported "empty roof areas" during prop relocation, exposing them to the risks of roof collapse and spalling, posing personal safety hazards. At the same time, these props mostly adopt a constant resistance working principle relying solely on the overflow of safety valves, which is in a "passive load-bearing" state. When the surrounding rock pressure undergoes nonlinear and drastic changes, they cannot actively adjust the support force, making it difficult to achieve dynamic coupling between support resistance and surrounding rock pressure. Insufficient initial support force can easily lead to roof delamination, and local pressure concentration can easily cause prop damage or drilling to the bottom. In addition, because single props are slender rods with a high center of gravity, they are at risk of tipping over when the floor is uneven or the roof pressure is uneven, resulting in relatively low overall stability.

[0004] While existing advanced hydraulic supports have achieved mechanized movement, their complex structure, large size, and heavy weight often limit their mobility and adaptability in older mines and complex roadways with complex geological conditions, soft floors, severe floor heave, or narrow and deformed cross-sections. Furthermore, because large supports typically use slippers or large bases for stepping movement, they require high flatness and compressive strength of the floor. In wet, muddy, or uneven roadways, they are prone to getting stuck, overturning, or being unable to move. Moreover, these devices usually require long-distance high-pressure hoses to connect to emulsion pump stations for power, resulting in cumbersome pipeline work that severely restricts their maneuverability. In addition, most of these devices lack sufficient intelligent control, with control logic remaining at basic on / off control levels. They lack real-time perception and dynamic response capabilities to surrounding rock loads, exhibiting control lag and low accuracy, making it difficult to achieve real-time matching of support resistance and surrounding rock pressure. Their fault response capabilities are weak, failing to meet the development needs of intelligent and unmanned coal mining.

[0005] In conclusion, the development of a miniaturized self-propelled advanced support device that integrates mobility, dynamic self-adaptation, and intelligent safety has become an urgent need to solve the problem of safe and efficient coal mine production under complex geological conditions. Summary of the Invention

[0006] In view of this, the present invention provides a dynamic adaptive self-moving advanced support device for surrounding rock pressure in mining and its support method, so as to solve or alleviate the technical problems existing in the prior art, and at least provide a beneficial option.

[0007] The technical solution of this invention is implemented as follows:

[0008] A dynamic adaptive self-moving advanced support device for surrounding rock pressure in mining includes a tracked chassis as its main structure. A bearing platform is fixedly connected to the tracked chassis, and a stationary hydraulic cylinder is installed at the center of the bearing platform. The telescopic end of the stationary hydraulic cylinder extends downward and is fixedly connected to a stationary base plate. The stationary hydraulic cylinder is configured to drive the stationary base plate to rise and fall vertically relative to the tracked chassis. By utilizing the reaction force between the stationary base plate and the ground, the tracked chassis can freely switch between a "grounded walking state" and a "suspended stationary state," thereby realizing the autonomous movement and positioning of the device.

[0009] The top of the stationary hydraulic cylinder is fixedly connected to a support base. A column cylinder is mounted on the upper surface of the support base, and a telescopic piston is sleeved inside the cylinder. The telescopic piston extends upward to abut against the roadway roof for active support. A pressure sensor is installed on the top of the telescopic piston to sense the roof load.

[0010] The tracked chassis integrates a hydraulic power station inside its body, and a controller is installed on the load-bearing platform. The hydraulic power station includes an explosion-proof motor, a hydraulic pump, and a hydraulic oil tank, which provide power to the stationary hydraulic cylinder and the column cylinder through hydraulic pipelines. The controller is electrically connected to the hydraulic power station, the stationary hydraulic cylinder, the column cylinder, the pressure sensor, and the walking drive unit of the tracked chassis to form a closed-loop control system.

[0011] Further preferably, to improve the mechanical stability and guiding accuracy during the lifting process, guide sleeves are symmetrically fixedly connected to the lower surface of the bearing platform, and the guide sleeves are located on both sides of the stationary hydraulic cylinder; a guide connecting rod is slidably connected to the inner side wall of the guide sleeve, and the bottom end of the guide connecting rod is fixedly connected to the stationary base plate. In addition, the lower surface of the stationary base plate is provided with anti-slip teeth to enhance the grip of the equipment on the wet and slippery base plate and prevent slippage and displacement during stationary support.

[0012] Furthermore, to achieve precise stepless adjustment and safe pressure maintenance of the hydraulic system's flow and pressure, both the column cylinder and the stationary hydraulic cylinder's hydraulic circuits integrate electro-hydraulic proportional control valve assemblies and hydraulic locks. The control terminals of both the electro-hydraulic proportional control valve assemblies and the hydraulic locks are electrically connected to the controller, used to continuously adjust the flow and pressure of the incoming and outgoing oil according to control commands; the hydraulic locks are used to automatically lock the oil circuit in the non-operating state to prevent the device from accidentally retracting due to external force or its own weight.

[0013] Further preferably, to address the issue of uneven stress on the roof, the top of the telescopic piston is equipped with a ball-joint top beam. The ball-joint top beam includes a ball head and a universal top plate. The universal top plate is movably connected to the top of the telescopic piston via the ball head and is located above the pressure sensor. This structure allows the top of the device to adapt to the tilt angle of the roadway roof, ensuring surface contact rather than point contact, thus resulting in more uniform stress distribution and effectively preventing damage from uneven loads.

[0014] Further preferably, in order to construct a comprehensive attitude perception and environmental adaptation system, the column cylinder is equipped with a displacement sensor for monitoring the support height; the bearing platform is equipped with an angle sensor and an audible and visual alarm for real-time monitoring of the equipment's tilt attitude and triggering an over-limit alarm; the front and rear ends of the bearing platform are also equipped with distance sensors for detecting the distance to obstacles or tunnel walls, thereby achieving automatic obstacle avoidance during movement; all the above sensors and alarms are electrically connected to the controller.

[0015] Furthermore, to ensure the independent operation capability of the equipment, the support platform is equipped with a mine-use explosion-proof power supply device to provide independent power to the controller, various sensors, hydraulic power station, and walking drive unit. The controller is also connected to a wireless communication module to transmit support resistance, attitude data, and operating status to a ground monitoring center or an underground centralized control terminal in real time, enabling remote monitoring.

[0016] Preferably, the pressure sensor is an intrinsically safe pressure sensor used in mining, with its measurement range configured to cover the rated working resistance range of the support device, and possessing high-frequency response characteristics to meet real-time control requirements. The controller is a mining-grade explosion-proof and intrinsically safe controller, integrating a data processing unit and a drive control unit, and is configured to execute the following key control logic:

[0017] Adaptive pressure following control: Receives real-time pressure data collected by pressure sensors and compares it with preset pressure target values; uses an adaptive algorithm to calculate control deviation and rate of change, outputs control signals to dynamically adjust the opening of the electro-hydraulic proportional control valve group, and corrects the inlet or outlet flow of the column cylinder in real time, so as to realize the active adaptive following of the support resistance to the surrounding rock pressure.

[0018] Tilt safety protection: When the tilt sensor detects that the tilt angle of the equipment exceeds the preset safety threshold, the controller immediately triggers the audible and visual alarm and forcibly cuts off the drive signals for lifting and support actions to prevent the equipment from tipping over.

[0019] This invention provides a support method for a dynamic adaptive self-moving advanced support device for surrounding rock pressure in mines, comprising the following steps:

[0020] Step 1: Before starting work, the operator inputs the geological conditions of the current tunnel via the touchscreen. The controller then retrieves the corresponding initial support resistance and alarm threshold from the built-in "threshold database." When movement is required, the controller issues a command to retract the holding hydraulic cylinder, causing the holding base plate to rise and leave the ground. At this point, the tracked chassis is fully on the ground. The controller drives the tracked chassis to move, using distance sensors to scan for obstacles ahead in real time and avoid them. Displacement sensors provide feedback on travel data to ensure precise positioning to the target location.

[0021] Step Two: Upon reaching the designated position, the normally closed electromagnetic brake locks the tracks. The controller extends the parking hydraulic cylinder. The parking base plate descends to contact the ground, and its anti-slip teeth embed into the tunnel floor. As the parking hydraulic cylinder continues to extend, the reaction force of the parking base plate supporting the ground lifts the tracked chassis and suspends it in the air. At this time, the guide connecting rod slides downward within the guide sleeve to provide guidance. The equipment enters a stable parking state. Subsequently, the controller extends the telescopic piston, and the ball-joint top beam contacts the roof and automatically adjusts its angle for contact. When the pressure sensor detects that the pressure has reached the set initial support resistance, the hydraulic lock activates to lock the circuit, and the telescopic piston enters a stable support state.

[0022] Step 3: During support operations, pressure sensors collect pressure data at high speed at preset intervals. The controller runs its internal adaptive control algorithm to calculate based on the real-time pressure value and the target setpoint:

[0023] Condition A (Roof Delamination): If a slow drop in pressure is detected, falling below the set lower threshold, the controller will replenish the liquid slightly through the electro-hydraulic proportional control valve group, driving the telescopic piston to extend slightly to actively increase resistance and prevent roof delamination.

[0024] Operating Condition B (Cyclic Pressure): If a sharp increase in pressure is detected, exceeding the set upper limit threshold or approaching the rated working resistance, the controller will slightly open the valve group to release pressure, achieving constant resistance and pressure relief, and protecting the column cylinder and telescopic piston from being crushed.

[0025] Intelligent early warning: When the pressure or tilt angle approaches the warning threshold, an audible and visual alarm is triggered and the information is uploaded to the ground monitoring center via a wireless communication module.

[0026] Step 4: When the fully mechanized mining face needs to move the support again during advancement, the controller receives the instruction and first controls the retraction of the telescopic piston to detach the top beam from the surrounding rock; then it controls the retraction of the stationary hydraulic cylinder to detach the stationary bottom plate from the bottom plate. After the tracked chassis re-grounds, the above "self-movement-station-support" steps are repeated.

[0027] Beneficial effects

[0028] This invention provides a dynamic adaptive self-moving advanced support device for surrounding rock pressure in mining and its support method, which has the following advantages compared with the prior art:

[0029] I. This invention adopts a miniaturized tracked chassis with a lifting and stopping base plate design. It is small in size, highly maneuverable, and has low requirements for the flatness of the tunnel floor. It can move freely in complex tunnels with severe floor heave, muddy and soft conditions, narrow cross sections, or severe deformation without the need to lay special tracks. The anti-slip teeth design on the bottom of the stopping base plate further enhances the equipment's grip in wet and slippery environments, ensuring that the equipment can "enter and stand firmly".

[0030] Second, unlike the traditional constant resistance mode of single props that rely solely on the passive overflow of safety valves, this invention introduces a closed-loop control system of "pressure sensor + electro-hydraulic proportional control valve + adaptive algorithm". It can sense the slight fluctuations in the surrounding rock pressure in real time. When the roof pressure is insufficient (delamination), it actively replenishes fluid to increase resistance. When the roof pressure suddenly increases (pressure surge), it provides slight pressure relief protection. This active dynamic following control effectively reduces the risk of roof delamination and roof leakage, and prevents the prop from drilling to the bottom or being damaged due to overload, thus achieving dynamic matching between support resistance and surrounding rock pressure.

[0031] Third, this invention integrates a hydraulic power station inside the tracked chassis, eliminating the dependence on external pipelines. Combined with wireless remote control and autonomous relocation functions, operators can remotely control the movement and erection of the equipment in a safe area without having to enter the unsupported "open roof area" to work. This effectively avoids the risk of personnel injury caused by roof collapse and sidewall spalling during the relocation of the column, and significantly reduces the intensity of manual labor.

[0032] Fourth, in response to the problem that traditional straight-supported columns are prone to bending and damage due to uneven loads (lateral forces) caused by roof tilting, this invention innovatively designs a ball-joint top beam at the top of the column. This structure can automatically adjust its posture according to the actual tilt angle of the roadway roof, ensuring that the top beam and the roof always maintain surface contact, improving the stress condition and protecting the broken roof.

[0033] Fifth, this invention integrates tilt sensors, displacement sensors, distance sensors, and audible and visual alarms to construct a comprehensive sensing system. During operation, it can automatically identify and avoid obstacles; during support operations, it can monitor the tilt posture of the equipment in real time, and immediately cut off the operation and sound an alarm if tilting or instability occurs; in addition, data is uploaded through a wireless communication module, making downhole operations transparent and facilitating big data analysis and fault prediction by management personnel.

[0034] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the structure of the present invention in an autonomous walking state;

[0037] Figure 2 This is a schematic diagram of the structure of the present invention in the stationary support state;

[0038] Figure 3 This is a partially enlarged schematic diagram of the lifting, stopping, and guiding structure of the present invention;

[0039] Figure 4 This is a schematic diagram of the hydraulic and electrical control system according to an embodiment of the present invention.

[0040] Reference numerals: 1. Tracked chassis; 2. Load-bearing platform; 3. Dwelling hydraulic cylinder; 4. Dwelling base plate; 5. Support base; 6. Column cylinder; 7. Telescopic piston; 8. Pressure sensor; 9. Guide sleeve; 10. Guide connecting rod; 11. Controller; 12. Electro-hydraulic proportional control valve group; 13. Hydraulic lock; 14. Displacement sensor; 15. Tilt sensor; 16. Audible and visual alarm; 17. Distance sensor; 18. Mine explosion-proof power supply device; 19. Ball joint type roof beam; 20. Ball head seat; 21. Universal roof plate; 22. Wireless communication module. Detailed Implementation

[0041] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0042] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0043] like Figure 1-4 As shown, this embodiment of the invention provides a dynamic adaptive self-moving advanced support device for mining surrounding rock pressure:

[0044] The main structure of the device includes a tracked chassis 1, which integrates a walking drive unit (such as an explosion-proof hydraulic motor or a variable frequency motor). To ensure absolute stability when stationary, the drive shaft of the tracked chassis 1 is equipped with a normally closed electromagnetic brake that automatically locks the tracks in the event of power failure or when not in a walking state.

[0045] A support platform 2 is fixedly connected to the upper surface of the tracked chassis 1 using high-strength bolts. A parking hydraulic cylinder 3 is vertically mounted at the center of the support platform 2. The telescopic end of the parking hydraulic cylinder 3 extends downward through the support platform 2 and is fixedly connected to a parking base plate 4. To enhance the equipment's grip on wet or muddy surfaces, the lower surface of the parking base plate 4 is machined with anti-slip teeth. The parking hydraulic cylinder 3 drives the parking base plate 4 to vertically raise and lower relative to the tracked chassis 1, thereby switching the equipment between "grounded walking" and "suspended parking" states.

[0046] To ensure stability during the lifting and lowering of the base plate 4 and prevent damage to the piston rod of the base plate hydraulic cylinder 3 due to lateral forces, guide sleeves 9 are symmetrically fixedly connected to the lower surface of the support platform 2. The guide sleeves 9 are located on both sides of the base plate hydraulic cylinder 3. A guide connecting rod 10 is slidably connected to the inner wall of the guide sleeve 9, and the bottom end of the guide connecting rod 10 is fixedly connected to the base plate 4. The guide sleeves 9 and the guide connecting rod 10 cooperate to form a guiding mechanism.

[0047] A support base 5 is fixedly connected to the top of the stationary hydraulic cylinder 3, and a column cylinder 6 is mounted on the upper surface of the support base 5. A telescopic piston 7 is fitted inside the column cylinder 6. The telescopic piston 7 extends upward under hydraulic drive to abut against the tunnel roof and provide support resistance. A ball-joint type top beam 19 is provided at the top of the telescopic piston 7. The ball-joint type top beam 19 includes a ball head seat 20 and a universal top plate 21, which is movably connected to the top of the telescopic piston 7 via the ball head seat 20. This structure allows the universal top plate 21 to swing freely within a certain angle range, thereby adapting to the tilt angle of the tunnel roof, ensuring constant surface contact, and effectively preventing uneven loading of the telescopic piston.

[0048] The tracked chassis 1 integrates a hydraulic power station inside its body, while the load-bearing platform 2 is equipped with a controller 11 and a mining explosion-proof power supply device 18. The hydraulic power station includes an explosion-proof motor, a hydraulic pump, and a hydraulic oil tank. It provides high-pressure power oil to the stationary hydraulic cylinder 3 and the column cylinder 6 through built-in hydraulic pipelines, eliminating the dependence on external pump station pipelines. The mining explosion-proof power supply device 18 provides an independent power source for the entire machine.

[0049] A controller 11 is installed on the support platform 2 or inside the tracked chassis 1. The controller 11 is preferably a mining explosion-proof and intrinsically safe controller, which integrates a data processing unit, a drive control unit, a threshold database, and a wireless communication module 22. The controller 11 can also be connected to an intrinsically safe touch screen for human-machine interaction and geological parameter setting.

[0050] The pressure sensor 8 is installed at the top of the telescopic piston 7 (below the ball-joint roof beam 19). It is an intrinsically safe type for mining, and its measurement range covers the rated working resistance range of the equipment. It also has high-frequency response characteristics and is used to collect the surrounding rock pressure in real time. The displacement sensor 14 is installed on the cylinder 6 of the column and is used to monitor the extension of the piston and the subsidence of the roof. The tilt sensor 15 is installed on the support platform 2 and is used to monitor the tilt attitude of the equipment in real time. The distance sensors 17 are installed at the front and rear ends of the support platform 2 respectively and are used to detect obstacles or the distance to the roadway walls during movement. The audible and visual alarm 16 is installed on the support platform 2 and is used to alarm for faults or excessive attitude.

[0051] Both the column cylinder 6 and the stationary hydraulic cylinder 3 have integrated electro-hydraulic proportional control valve assembly 12 and hydraulic lock 13 in their hydraulic circuits. The control terminals of the electro-hydraulic proportional control valve assembly 12 and the hydraulic lock 13 are electrically connected to the controller 11, and can accurately adjust the flow rate and pressure of the inlet or outlet fluid according to the command; the hydraulic lock 13 is used to lock the oil circuit in the non-operational state to prevent pressure drop.

[0052] This invention provides a support method for a dynamic adaptive self-moving advanced support device for surrounding rock pressure in mines, comprising the following steps:

[0053] Step 1: Before starting work, the operator inputs the geological condition parameters of the current tunnel via the touchscreen. The controller 11 retrieves the corresponding initial support resistance and alarm threshold from the built-in "threshold database." When movement is required, the controller 11 issues a command to retract the stationary hydraulic cylinder 3, causing the stationary base plate 4 to rise and leave the ground. At this time, the tracked chassis 1 is fully on the ground. The controller 11 drives the tracked chassis 1 to move, using the distance sensor 17 to scan for obstacles ahead in real time and avoid them. Combined with the travel data feedback from the displacement sensor, this ensures accurate positioning to the target location.

[0054] Step 2: Upon reaching the designated position, the normally closed electromagnetic brake locks the tracks. Controller 11 controls the extension of the dwelling hydraulic cylinder 3. The dwelling base plate 4 descends to contact the ground, and its anti-slip teeth embed into the tunnel floor. As the dwelling hydraulic cylinder 3 continues to extend, the reaction force of the dwelling base plate 4 supporting the ground lifts the tracked chassis 1 and suspends it in the air. At this time, the guide connecting rod 10 slides downward within the guide sleeve 9 to provide guidance. The equipment enters a stable dwelling state. Subsequently, controller 11 controls the extension of the telescopic piston 7, and the ball-joint top beam 19 contacts the roof and automatically adjusts its angle to fit. When the pressure sensor 8 detects that the pressure reaches the set initial support resistance, the hydraulic lock 13 activates to lock the circuit, and the telescopic piston enters a stable support state.

[0055] Step 3: During the support period, pressure sensor 8 collects pressure data at high speed at a preset cycle. Controller 11 runs its internal adaptive control algorithm (such as fuzzy PID algorithm) to calculate based on the real-time pressure value and the target setpoint:

[0056] Condition A (Roof Delamination): If a slow drop in pressure is detected, falling below the set lower threshold, the controller will replenish the liquid slightly through the electro-hydraulic proportional control valve group 12, driving the telescopic piston 7 to extend slightly to actively increase resistance and prevent roof delamination.

[0057] Operating Condition B (Periodic Pressure): If a sharp increase in pressure is detected, exceeding the set upper limit threshold or approaching the rated working resistance, the controller will slightly open the valve group to release pressure, achieving constant resistance and pressure relief, and protecting the column cylinder 6 and telescopic piston 7 from being crushed.

[0058] Intelligent early warning: When the pressure or tilt angle approaches the warning threshold, the audible and visual alarm 16 is triggered and the information is uploaded to the ground monitoring center via the wireless communication module 22.

[0059] Step 4: When the fully mechanized mining face needs to move the support again during advancement, the controller 11 receives the instruction and first controls the telescopic piston 7 to retract, so that the top beam is detached from the surrounding rock; then it controls the retention hydraulic cylinder 3 to retract, so that the retention base plate 4 is detached from the base plate. After the tracked chassis 1 re-grounds, the above "self-movement-retention-support" steps are repeated.

[0060] Throughout the process, the tilt sensor 15 continuously monitors the attitude. Once the tilt angle exceeds the safety threshold, the controller 11 immediately triggers the audible and visual alarm 16 and forcibly cuts off the lifting action to prevent the equipment from tipping over.

[0061] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. The scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions, improvements, and easily conceivable variations made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the spirit and principles of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A dynamic adaptive self-moving advanced support device for surrounding rock pressure in mining, characterized in that: Includes a tracked chassis (1), on which a carrying platform (2) is fixedly connected; a stationary hydraulic cylinder (3) is vertically mounted at the center of the carrying platform (2), the upper end of the cylinder body of the stationary hydraulic cylinder (3) is fixed to the carrying platform (2), and its telescopic end extends downward and is fixedly connected to a stationary base plate (4). The stationary hydraulic cylinder (3) is configured to drive the stationary base plate (4) to rise and fall relative to the tracked chassis (1) so that the tracked chassis (1) switches between "grounded walking state" and "suspended stationary state". The top of the stationary hydraulic cylinder (3) is fixedly connected to a support base (5), and a column cylinder (6) is installed on the upper surface of the support base (5). A telescopic piston (7) is sleeved inside the column cylinder (6). The telescopic piston (7) is used to extend upward to abut against the roof of the roadway. A pressure sensor (8) is installed on the top of the telescopic piston (7). The tracked chassis (1) has an integrated hydraulic power station inside its body, and a controller (11) is installed on the bearing platform (2). The hydraulic power station supplies oil to the stationary hydraulic cylinder (3) and the column cylinder (6) through internal pipelines and hydraulic control circuits. The controller (11) is electrically connected to the stationary hydraulic cylinder (3), the column cylinder (6), the pressure sensor (8), the hydraulic power station, and the walking drive unit of the tracked chassis (1).

2. The mine-use surrounding rock pressure dynamic adaptive self-moving advanced support device according to claim 1, characterized in that: The lower surface of the bearing platform (2) is symmetrically fixedly connected with guide sleeves (9), which are located on both sides of the stationary hydraulic cylinder (3); the inner side wall of the guide sleeve (9) is slidably connected with a guide connecting rod (10), the bottom end of the guide connecting rod (10) is fixedly connected to the stationary base plate (4), and the lower surface of the stationary base plate (4) is provided with anti-slip teeth.

3. The mine-use surrounding rock pressure dynamic adaptive self-moving advanced support device according to claim 1, characterized in that: Both the column cylinder (6) and the stationary hydraulic cylinder (3) are equipped with an electro-hydraulic proportional control valve group (12) and a hydraulic lock (13) in their hydraulic circuits; the control terminals of the electro-hydraulic proportional control valve group (12) and the hydraulic lock (13) are electrically connected to the controller (11) to adjust the inlet and outlet flow rate and pressure; the hydraulic lock (13) is connected in series in the hydraulic circuit.

4. The mine-use surrounding rock pressure dynamic adaptive self-moving advanced support device according to claim 1, characterized in that: The top of the telescopic piston (7) is provided with a pressure sensor (8) and a ball joint top beam (19) in sequence; the ball joint top beam (19) includes a ball head seat (20) and a universal top plate (21), and the universal top plate (21) is movably connected to the telescopic piston (7) through the ball head seat (20).

5. A mine-use surrounding rock pressure dynamic adaptive self-moving advanced support device according to claim 3, characterized in that: The column cylinder (6) is equipped with a displacement sensor (14); the bearing platform (2) is equipped with an angle sensor (15) and an audible and visual alarm (16); the front and rear ends of the bearing platform (2) are also equipped with distance sensors (17); the displacement sensor (14), angle sensor (15), audible and visual alarm (16) and distance sensor (17) are all electrically connected to the controller (11).

6. A mine-use surrounding rock pressure dynamic adaptive self-moving advanced support device according to claim 1, characterized in that: The bearing platform (2) is also equipped with a mining explosion-proof power supply device (18), which provides an independent power supply for the whole machine.

7. A mine-use surrounding rock pressure dynamic adaptive self-moving advanced support device according to claim 1, characterized in that: The controller (11) is connected to a wireless communication module (22) for transmitting support status data to the ground monitoring center or the underground centralized control terminal in real time.

8. A mine-use surrounding rock pressure dynamic adaptive self-moving advanced support device according to claim 1, characterized in that: The pressure sensor (8) is an intrinsically safe pressure sensor for mining, and its measurement range is configured to be within the rated working resistance range of the covering device.

9. A mine-use surrounding rock pressure dynamic adaptive self-moving advanced support device according to claim 5, characterized in that: The controller (11) is a mine-use explosion-proof and intrinsically safe controller, which integrates a data processing unit and a drive control unit, and is configured to execute the following control logic: Receive real-time pressure data collected by pressure sensor (8) and compare it with preset pressure threshold; according to the comparison result, control the opening of the electro-hydraulic proportional control valve group (12) through adaptive algorithm, and dynamically adjust the liquid inlet or return of the column cylinder (6) to achieve adaptive following support for the surrounding rock pressure. When the tilt sensor (15) detects that the tilt angle exceeds the preset safety value, the controller (11) triggers the audible and visual alarm (16) to sound an alarm and forcibly cuts off the lifting action.

10. A method for dynamic adaptive self-moving advanced support for surrounding rock pressure in mining, coupled with a dynamic adaptive self-moving advanced support device for surrounding rock pressure as described in any one of claims 1-9, characterized in that: Includes the following steps: Step 1: The controller (11) obtains the set support resistance and alarm threshold; controls the retraction of the dwelling hydraulic cylinder (3) so that the dwelling base plate (4) is off the ground and the tracked chassis (1) is grounded; drives the tracked chassis (1) to walk autonomously, and uses the distance sensor (17) in conjunction with displacement feedback for positioning and obstacle avoidance; Step 2: After reaching the target position, lock the tracked chassis (1); control the extension of the dwelling hydraulic cylinder (3) so that the dwelling base plate (4) is grounded and the tracked chassis (1) is lifted into the air, and the guide connecting rod (10) slides along the guide sleeve (9); then control the extension of the telescopic piston (7) so that the ball joint top beam (19) abuts against the roadway roof; when the pressure sensor (8) detects that the pressure reaches the initial support resistance, control the hydraulic lock (13) to lock the circuit; Step 3: During the support period, the controller (11) performs adaptive control based on the real-time data from the pressure sensor (8): if a pressure drop is detected and it is lower than the set lower threshold, the controller controls the electro-hydraulic proportional control valve group (12) to open the inlet circuit for replenishing fluid and increasing resistance; if a pressure rise is detected and it is higher than the set upper threshold, the controller controls the electro-hydraulic proportional control valve group (12) to open the return circuit for slight pressure relief; when the pressure or tilt angle data approaches the warning threshold, an alarm is triggered and the data is uploaded. Step 4: After receiving the relocation command, first control the telescopic piston (7) to retract, then control the dwelling hydraulic cylinder (3) to retract, so that the track chassis (1) is grounded again, and repeat the above steps.

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