The invention relates to a front support device and a tunneling support system for a tunneling working face in a coal mine

Abstract

The present application relates to the technical field of roadway support, and more particularly to a kind of advanced support device and tunneling support system suitable for coal mine tunneling working face, shed frame and the telescopic end connection of supporting member, the top surface of shed frame forms the supporting surface matching the arc of roadway top surface;Anchor net auxiliary connecting device is connected to the two ends of shed frame along the extension direction of roadway respectively, suitable for connecting anchor net, and anchor net passes through and covers the top of shed frame;Anchor net auxiliary connecting device can drive anchor net to swing along the first axis, so that anchor net can adhere to or separate from the top surface of roadway, its beneficial effect is that through the setting of moving part, the synchronous follow-up of support device and tunneling working face is realized, the roof exposure time is significantly shortened, and the safety of tunneling process is improved;The swingable scheme of anchor net driven by shed frame top surface profiling structure and anchor net auxiliary connecting device not only ensures the close adhesion of anchor net and roof, but also makes the laying of anchor net more smooth, improves the efficiency of support operation.

Description

Technical Field

[0001] This invention relates to the technical field of roadway support, and more particularly to an advanced support device and tunneling support system suitable for coal mine tunneling faces. Background Technology

[0002] During underground tunneling operations in coal mines, as the working face advances, the newly exposed roof of the roadway needs to be supported in a timely and effective manner to prevent safety accidents such as roof delamination and collapse.

[0003] Existing technical solutions mainly involve two methods: using a roadheader-anchor (BAR) and using a roadheader with an auxiliary support device attached to its cutting section, to simultaneously perform tunnel excavation and anchor mesh support. In the BAR method, after the cutting head cuts through the rock strata, its hydraulic canopy extends forward to form a temporary support zone beneath the newly exposed rock roof. Simultaneously, the robotic arm of the BAR lifts the metal anchor mesh and aligns it with the newly formed tunnel roof. The operator then manually controls the BAR to press the anchor cables or bolts tightly into the anchor mesh, drilling into the newly formed tunnel roof to form anchor mesh support. This method using a BAR results in extremely high equipment costs, with the unit price being several to more than ten times that of a conventional cantilever roadheader, requiring a significant capital investment. Another method involves using an auxiliary support device attached to the cutting section of a tunneling machine for both tunneling and support operations. The support device advances along with the cantilever tunneling machine. After the tunnel is formed, the support device deploys for temporary support. Operators then lay metal anchor mesh for support, securing it to the tunnel roof with anchor cables or bolts to form anchor mesh support. However, because this method integrates the support device with a conventional cantilever tunneling machine, the weight of the added support device is limited, the support range is small, and the support force on the roof is limited, failing to meet large-scale support needs. Furthermore, the lack of sufficient coordination between the anchor mesh and the support device leads to low support efficiency. Additionally, the poor adaptability of the support device to tunnel morphology also limits its overall support effectiveness. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides an advanced support device and tunneling support system suitable for coal mine tunneling faces, which solves the technical problem of low support efficiency caused by insufficient coordination between the anchor mesh and the support device when tunneling and support operations are carried out by tunneling machine and auxiliary support device that are separate from it.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0008] In a first aspect, the present invention provides an advanced support device suitable for coal mine tunneling faces, comprising a movable component, a support component, a canopy, and two sets of anchor mesh auxiliary connection devices; the movable component is capable of moving along the length direction of the roadway; the support component is fixedly connected to the movable component and is capable of vertical extension and retraction; the canopy is connected to the extension and retraction ends of the support component, and the top surface of the canopy forms a support surface matching the curvature of the roadway top surface; the anchor mesh auxiliary connection devices are respectively connected to both ends of the canopy along the roadway extension direction, suitable for connecting anchor mesh, and the anchor mesh passes through and covers the top of the canopy; the anchor mesh auxiliary connection devices can drive the anchor mesh to swing along a first axis, the first axis being a horizontal axis perpendicular to the roadway extension direction, so that the anchor mesh can fit against or detach from the top surface of the roadway.

[0009] In one technical solution of the present invention, the anchor net auxiliary connection device can also drive the anchor net to expand and contract to adjust the tightness of the anchor net; each set of anchor net auxiliary connection devices consists of multiple devices spaced apart along the width of the roadway, and includes a swing member, a telescopic member and a first swing drive member; the first swing drive member is adapted to drive the swing member to swing along a first axis, one end of the swing member is hinged to the frame along the first axis, the telescopic member is connected to the other end of the swing member and can expand and contract along the length of the swing member, and a connecting part for connecting the anchor net is formed on the telescopic member.

[0010] In one technical solution of the present invention, two sets of side support top cantilever beams are further included. The two sets of side support top cantilever beams are hinged to both ends of the canopy along the width direction of the roadway along the second axis, and the second axis is a horizontal axis perpendicular to the first axis. The invention also includes a second swing drive member connected to the canopy, which is adapted to drive the corresponding side support top cantilever beam to swing along the second axis.

[0011] In one technical solution of the present invention, an inclination sensor and a first alarm device are connected to each other; the inclination sensor is connected to the scaffold and is suitable for detecting the tilt angle of the scaffold relative to the horizontal plane; when the detection angle of the inclination sensor is greater than a threshold, the first alarm device sounds an alarm.

[0012] In one technical solution of the present invention, multiple support members are distributed at intervals along the length direction of the tunnel, and two groups are distributed along the width direction of the tunnel.

[0013] In one technical solution of the present invention, each support member can extend and retract independently; the extension end of the outermost support member arranged along the length direction of the tunnel is hinged to the frame through a first connector, and the extension ends of the remaining support members arranged along the length direction of the tunnel are hinged to the frame through a second connector; the second connector enables the extension end of the corresponding support member to slide relative to the frame along the length direction of the tunnel.

[0014] In one technical solution of the present invention, the first connecting member includes a first pin, and the telescopic end of the support member and the canopy are both provided with a first round hole, through which the first pin passes; the second connecting member includes a second pin, the canopy is provided with a laterally extending waist hole, the telescopic end of the support member is provided with a second round hole, through which the second pin passes.

[0015] Secondly, the present invention provides a tunneling support system, including the advanced support device applicable to coal mine tunneling faces as described in the above technical solution, and also includes a tunneling machine, wherein the advanced support device is located on the downstream side of the tunneling machine.

[0016] In one technical solution of the present invention, a distance sensor and a second alarm device are also connected to each other; the distance sensor is adapted to measure the distance between the tunneling machine and the advance support device, and the second alarm device alarms when the detection distance of the distance sensor is less than a threshold.

[0017] (III) Beneficial Effects

[0018] The beneficial effects of this invention are as follows: The advanced support device applicable to coal mine tunneling faces of this invention, through the setting of moving parts, realizes the synchronous advancement of the support device and the tunneling face, significantly shortening the roof exposure time and improving the safety of the tunneling process; the contour-following structure of the canopy top surface, combined with the anchor mesh auxiliary connection device driving the swingable scheme of the anchor mesh, not only ensures the tight fit between the anchor mesh and the roof, but also makes the laying of the anchor mesh smoother, improving the efficiency of support operations; the vertical telescopic function of the support components, combined with the swing adjustment of the anchor mesh, enables the device to adapt to roadway cross-sections of different heights, and has good versatility and adaptability. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the main structure of the advanced support device of the present invention applicable to coal mine tunneling faces;

[0020] Figure 2 This is a left-side structural schematic diagram of the advanced support device of the present invention applicable to coal mine tunneling faces;

[0021] Figure 3 This is a top view schematic diagram of the advanced support device of the present invention applicable to coal mine tunneling faces;

[0022] Figure 4 This is a schematic diagram of the structure of the anchor net auxiliary connection device of the present invention;

[0023] Figure 5 This is one of the structural schematic diagrams of the first and second connecting members of the present invention;

[0024] Figure 6 This is a second schematic diagram of the structure of the first and second connecting members of the present invention;

[0025] Figure 7 This is a system block diagram of the tilt sensor, distance sensor, first alarm device, second alarm device, and control unit of the present invention.

[0026] Explanation of reference numerals in the attached figures

[0027] 100: Anchor net;

[0028] 1: Moving parts;

[0029] 2: Support components;

[0030] 3: scaffolding;

[0031] 4: Anchor net auxiliary connection device;

[0032] 41: Swinging component; 42: Telescopic component; 420: Connecting part; 43: First swinging drive component;

[0033] 5: Side support top cantilever beam;

[0034] 6: Second swing drive component;

[0035] 7: Tilt sensor;

[0036] 8: First alarm device;

[0037] 9: First connector;

[0038] 10: Second connector;

[0039] 11: Distance sensor;

[0040] 12: Second alarm device;

[0041] 13: Third connector;

[0042] 14: Control unit. Detailed Implementation

[0043] To better explain and facilitate understanding of this invention, the following description is provided in conjunction with the appendix. Figures 1-7 The present invention will be described in detail through specific embodiments. In this document, directional terms such as "upper" and "lower" are used interchangeably with other directional terms. Figure 1 The orientation is used as a reference.

[0044] Example 1:

[0045] Reference Figures 1-7This invention provides an advanced support device suitable for coal mine tunneling faces, comprising a movable component 1, a support component 2, a frame 3, and two sets of anchor mesh auxiliary connection devices 4. The movable component 1 is capable of moving along the length of the roadway. The support component 2 is fixedly connected to the movable component 1 and is capable of vertical extension and retraction. The frame 3 is fixedly connected to the extension end of the support component 2, and the top surface of the frame 3 forms a support surface matching the curvature of the roadway top surface. The anchor mesh auxiliary connection devices 4 are respectively connected to both ends of the frame 3 along the roadway extension direction, suitable for connecting anchor mesh 100, and the anchor mesh 100 passes through and covers the top of the frame 3. The anchor mesh auxiliary connection devices 4 can drive the anchor mesh 100 to swing along a first axis, which is a horizontal axis perpendicular to the roadway extension direction, so that the anchor mesh 100 can adhere to or detach from the roadway top surface.

[0046] In this embodiment, the moving component 1 serves as the foundation for the entire device's movement, capable of running along the length of the tunnel. This allows the overall support structure to move synchronously forward with the tunneling machine, achieving dynamic, follow-up protection as the tunnel is excavated. The moving component 1 can be configured as a tracked drive device to achieve good support, ground adaptability, and driving stability, thus providing a hardware foundation for the canopy 3, which bears greater weight, thereby increasing the support range. The moving component 1 can be driven by a hydraulic motor. The support component 2 is fixedly installed on the moving component 1 and has a vertical telescopic function. The support component 2 can be a hydraulic cylinder, capable of flexibly adjusting the support height according to changes in tunnel height, ensuring that the device adapts to different tunneling sections. The canopy 3 is connected to the telescopic end of the support component 2, and its top surface is designed to match the curvature of the tunnel roof. This contour-following structural design allows the canopy 3 to achieve surface contact with the tunnel roof, avoiding stress concentration or roof breakage caused by point contact.

[0047] At both ends of the canopy 3 along the roadway extension direction, anchor mesh auxiliary connection devices 4 are respectively connected. These devices connect and fix the anchor mesh 100, allowing it to cover the top of the canopy 3 and unfold together with it. The anchor mesh auxiliary connection device 4 has a swing function, enabling the anchor mesh 100 to swing around a first axis, defined as a horizontal axis perpendicular to the roadway extension direction. Through the swingable anchor mesh auxiliary connection device 4, when the anchor mesh 100 needs to be laid, the device swings the anchor mesh 100 upwards, causing it to conform to the top surface of the roadway for anchoring. When the device needs to be moved forward or adjusted, the anchor mesh 100 can swing downwards to detach from the top surface, reducing movement resistance and avoiding disturbance to the supported area.

[0048] Compared to existing technologies, this embodiment, through the installation of the movable component 1, achieves synchronous advancement of the support device and the tunneling face, significantly shortening the roof exposure time and improving the safety of the tunneling process. The contoured structure of the top surface of the canopy 3, combined with the anchor mesh auxiliary connection device 4 driving the swingable design of the anchor mesh 100, not only ensures a tight fit between the anchor mesh 100 and the roof but also makes the laying of the anchor mesh 100 smoother, improving the efficiency of the support operation. The vertical telescopic function of the support component 2, combined with the swing adjustment of the anchor mesh 100, enables the device to adapt to roadway cross-sections of different heights, exhibiting good versatility and adaptability.

[0049] Specifically, it also includes an anchor net 100 storage device, which is fixedly connected to the front end of the scaffold 3 to store the rolled-up anchor net 100. The anchor net 100 can be unfolded as the support device moves forward, realizing continuous laying of the anchor net 100 and improving work efficiency.

[0050] Multiple support members 2 are distributed at intervals along the length of the roadway and in two groups along the width of the roadway. These multiple support members 2 form a multi-point support structure for the canopy 3, which can evenly transfer the roof load borne by the canopy 3 to the moving member 1, avoiding local deformation or structural instability caused by excessive stress at a single point. Simultaneously, the interval arrangement of multiple support members 2 ensures that the canopy 3 has sufficient bending stiffness in the length direction, effectively coping with uneven loads caused by roof undulations or locally fractured areas. Furthermore, the spacing between the support members 2 provides necessary passageways for tunneling machine operation, anchor mesh 100 laying, and personnel observation, preventing interference with normal construction processes due to overly dense support structures.

[0051] Example 2:

[0052] Reference Figures 1-7 In addition to possessing all the technical solutions of the above embodiments, the embodiments of the present invention further possess the following technical solutions:

[0053] The anchor net auxiliary connection device 4 can also drive the anchor net 100 to extend and retract, so as to adjust the tightness of the anchor net 100.

[0054] Each set of anchor net auxiliary connection devices 4 consists of multiple devices spaced apart along the width of the roadway, including a swinging component 41, a telescopic component 42, and a first swinging drive component 43.

[0055] The first swing drive member 43 is adapted to drive the swing member 41 to swing along the first axis. One end of the swing member 41 is hinged to the frame 3 along the first axis. The telescopic member 42 is connected to the other end of the swing member 41 and can extend and retract along the length direction of the swing member 41. A connecting part 420 for connecting the anchor net 100 is formed on the telescopic member 42.

[0056] Both the first swing drive component 43 and the telescopic component 42 can be hydraulic cylinders, and the two ends of the first swing drive component 43 are respectively hinged to the swing component 41 and the canopy 3.

[0057] The swing member 41 can be a sleeve structure, and the telescopic member 42 is connected to the front end of the inner cavity of the swing member 41. The connecting part 420 can be a hook.

[0058] In this embodiment, the anchor net auxiliary connection device 4 can also drive the anchor net 100 to perform telescopic movements, so as to flexibly adjust the tightness of the anchor net 100 according to the actual shape of the roadway roof and the needs of the anchoring operation. On the one hand, it can ensure that the anchor net 100 is closely attached to the roof surface, avoiding sagging or local gaps in the roof due to the loosening of the anchor net 100. On the other hand, when it is necessary to move the device or replace the anchor net 100, the tension on the scaffold 3 can be reduced by shrinking the anchor net 100, which facilitates the forward movement and re-layout of the overall structure.

[0059] The anchor net auxiliary connection device 4 is configured as multiple devices spaced apart along the width of the roadway, thereby providing multi-point support and tension for the anchor net 100, ensuring uniform force and flat laying of the anchor net 100 in the width direction. Each set of anchor net auxiliary connection devices 4 specifically includes a swinging component 41, a telescopic component 42, and a first swinging drive component 43. The first swinging drive component 43 drives the swinging component 41 to swing around a first axis, thereby controlling the laying angle of the anchor net 100. One end of the swinging component 41 is hinged to the frame 3 along the first axis, forming a stable rotation fulcrum. The telescopic component 42 is connected to the other end of the swinging component 41 and can extend and retract along the length of the swinging component 41. The front end of the telescopic component 42 is provided with a connecting part 420 for connecting the anchor net 100. The swinging and telescopic functions of the anchor net 100 are completed collaboratively by two relatively independent components, ensuring both flexibility of movement and facilitating fine adjustment of the anchor net 100's posture.

[0060] Both the first swing drive component 43 and the telescopic component 42 can be hydraulic cylinders, utilizing the stability and controllability of hydraulic drive to achieve reliable operation in complex downhole environments. The swing component 41 can be designed as a sleeve structure, with the telescopic component 42 connected to the front end of the inner cavity of the swing component 41. That is, the main body of the telescopic component 42 is housed inside the swing component 41, which not only effectively protects the telescopic component 42 from external impacts and coal dust erosion, but also reduces the overall space occupied, making the device structure more compact. The connecting part 420 can be configured as a hook, connecting to the mesh or edge of the anchor net 100 via the hook, facilitating quick installation and removal and improving operational efficiency.

[0061] Through the above technical solutions, the telescopic adjustment function of the anchor net 100 is further realized, enabling the anchor net 100 to adapt more flexibly to roadway roofs with different cross-sections, and significantly improving the laying quality of the anchor net 100. Simultaneously, the multi-point distributed anchor net auxiliary connection device 4, combined with the nested telescopic structure, makes the overall stress on the anchor net 100 more uniform, reducing the risk of damage to the anchor net 100 due to localized stress concentration. Furthermore, the hook-type connection method simplifies the assembly and disassembly process of the anchor net 100, reducing the labor intensity of workers.

[0062] Example 3:

[0063] Reference Figures 1-7 In addition to possessing all the technical solutions of the above embodiments, the embodiments of the present invention further possess the following technical solutions:

[0064] It also includes two sets of side support cantilever beams 5, which can be used to support both sides of the roadway. The two sets of side support cantilever beams 5 are hinged to both ends of the canopy 3 along the width direction of the roadway along a second axis, which is a horizontal axis perpendicular to the first axis. It also includes a second swing drive 6 connected to the canopy 3, which is suitable for driving the corresponding side support cantilever beam 5 to swing along the second axis. The second swing drive 6 can also be a hydraulic cylinder, with its two ends hinged to the canopy 3 and the side support cantilever beam 5 respectively.

[0065] In this embodiment, based on the existing canopy structure 3, two sets of side support top cantilever beams 5 are further added to actively support the walls on both sides of the roadway.

[0066] The side support cantilever beam 5 can swing around the second axis, thereby adjusting its support angle according to the actual inclination and undulation of the roadway sidewall, so that it can fit against the sidewall surface at different angles. In order to realize the automatic control of the swing, a second swing drive 6 is also connected to the cantilever frame 3. The drive 6 is connected to the cantilever frame 3 and the corresponding side support cantilever beam 5 respectively. Through the telescopic movement, the cantilever beam is driven to rotate around the hinge point to complete the support or retraction of the sidewall.

[0067] When the device moves to a new support position, the hydraulic cylinder pushes the side support cantilever beam 5 outward until its front end abuts against the roadway sidewall. When it is necessary to move the device forward, the hydraulic cylinder retracts to retract the cantilever beam, reducing the lateral width and facilitating overall passage.

[0068] This technical solution addresses two key issues. First, the side-support cantilever beam 5 provides active support to the sidewalls of the roadway, eliminating the safety hazards associated with open roof areas in traditional support methods. Second, the swing-and-retract function of the side-support cantilever beam 5 allows for adjustable overall width during movement, ensuring coverage during support operations while also accommodating passage within the roadway. Through the synergistic effect of roof and sidewall support, this device provides a more complete protective space for the tunneling face, significantly enhancing the safety of the work area.

[0069] Example 4:

[0070] Reference Figures 1-7 In addition to possessing all the technical solutions of the above embodiments, the embodiments of the present invention further possess the following technical solutions:

[0071] It also includes an interconnected tilt sensor 7 and a first alarm device 8.

[0072] The tilt sensor 7 is connected to the scaffold 3 and is suitable for detecting the tilt angle of the scaffold 3 relative to the horizontal plane.

[0073] When the detection angle of the tilt sensor 7 is greater than the threshold, the first alarm device 8 will sound an alarm.

[0074] In this embodiment, if the tilt angle of the scaffold 3 exceeds the safe range, it will not only affect the bonding effect between the anchor net 100 and the top plate, but may also cause overall instability of the support structure, posing a serious threat to the workers. To address this potential risk, this solution adds a tilt sensor 7 and a first alarm device 8 to the scaffold 3. The two work together to form a real-time monitoring and early warning mechanism for the working status of the device.

[0075] Specifically, the tilt sensor 7 is fixedly connected to the support frame 3 to detect the tilt angle of the support frame 3 relative to the horizontal plane. This sensor continuously collects data on the angle changes of the support frame 3 in the width and extension directions of the roadway, and transmits the detection signals to the control unit 14 in real time. When the detection angle of the tilt sensor 7 exceeds a preset safety threshold, the first alarm device 8 immediately triggers an alarm, alerting on-site operators to take timely adjustment measures through audible and visual signals or other warning methods. The installation of the tilt sensor 7 and the first alarm device 8 adds an active safety layer to the advanced support device.

[0076] By introducing tilt angle monitoring and alarm functions, this solution further realizes status perception and risk warning on the basis of structural support. On the one hand, operators can promptly detect abnormal tilting of the canopy 3 based on alarm prompts, avoiding failure of the anchor mesh 100 support or damage to the canopy 3 structure due to excessive tilt angle. On the other hand, the monitoring data can also be used to guide the extension and retraction adjustment of the support component 2, helping operators to restore the canopy 3 to a horizontal state and ensuring uniform contact between the anchor mesh 100 and the roof. In addition, the long-term accumulated tilt angle data can also reflect the deformation pattern of the roadway floor, providing a reference for the optimization of subsequent support parameters.

[0077] Example 5:

[0078] Reference Figures 1-7 In addition to possessing all the technical solutions of the above embodiments, the embodiments of the present invention further possess the following technical solutions:

[0079] Both support components 2 can extend and retract independently.

[0080] The telescopic end of the outermost support member 2, which is arranged along the length of the tunnel, is hinged to the canopy 3 via the first connector 9. The telescopic ends of the remaining support members 2, which are arranged along the length of the tunnel, are hinged to the canopy 3 via the second connector 10.

[0081] The second connector 10 allows the telescopic end of the corresponding support 2 to slide relative to the canopy 3 along the length of the roadway. This connection method allows the canopy 3 to tilt due to the unequal extension of the support 2, thus improving the canopy 3's adaptability to the roadway.

[0082] In this embodiment, during coal mine tunneling, the tunnel roof does not always maintain an ideal horizontal state. Affected by geological structure, coal seam undulation, or tunneling technology, the roof often has a certain longitudinal inclination or local undulation. Traditional rigid connection support methods are difficult to adapt to this inclined roof surface, which can easily lead to local gaps or point contacts between the support frame 3 and the roof, thereby reducing the support effect.

[0083] Multiple support members 2 distributed along the length of the tunnel are each capable of independent extension and retraction, meaning that each support member 2 can adjust its extension length individually according to control commands. Furthermore, the outermost support member 2 located in the tunnel extension direction has its extension end hinged to the canopy 3 via a first connector 9. The extension ends of the remaining support members 2 are connected to the canopy 3 via second connectors 10. These second connectors 10 not only provide a hinged connection but also allow the extension ends of the support members 2 to slide relative to the canopy 3 along the tunnel extension direction. Through this composite connection method, the support members 2 can transmit supporting force to the canopy 3 during extension and retraction while allowing for a certain degree of relative horizontal displacement between the canopy 3 and the support members 2, adapting to scenarios where the connection point between the canopy 3 and the support members 2 changes when the canopy 3 tilts.

[0084] When the tunnel roof has a longitudinal inclination angle, the operator can control the extension length of each support member 2 to make the entire canopy 3 rotate around the outermost hinge point, forming an inclined posture that matches the roof inclination angle. During this process, the telescopic ends of the remaining support members 2 adapt to the longitudinal sliding grooves or guide rails on the bottom surface of the canopy 3 through the second connector 10, avoiding structural interference or additional stress caused by the fixed position of the support points. This allows the inclination angle adjustment of the canopy 3 to no longer be limited by the fixed position of the support members 2, but to achieve flexible posture adjustment through multi-point coordinated action.

[0085] Through the above technical solutions, the adaptability of the canopy 3 to the shape of the roadway roof is significantly improved while maintaining the stability of the support structure. On the one hand, the canopy 3 can be tilted according to the actual inclination angle of the roof, so that the top surface of the canopy 3 fits evenly with the roof, avoiding local gaps or stress concentrations caused by mismatch in posture. On the other hand, the sliding connector ensures that the support member 2 remains vertically stressed during the tilting of the canopy 3, avoiding the risk of bending or damage to the support member 2 caused by eccentric loading. In addition, the independent telescopic control of multiple support members 2 provides the basic hardware conditions for the automatic leveling of the device, further improving the level of intelligence in support operations.

[0086] The first connecting member 9 includes a first pin, and the telescopic end of the support member 2 and the canopy 3 are both provided with a first round hole, through which the first pin passes.

[0087] The second connector 10 includes a second pin, the canopy 3 has a laterally extending waist hole, the telescopic end of the support 2 has a second round hole, and the second pin passes through the waist hole and the second round hole.

[0088] During assembly, the first pin passes through the corresponding first circular holes, forming a hinged connection. Since the diameter of the first circular hole matches the diameter of the first pin, there is only a small assembly gap between them. Therefore, this connection point only allows rotation in a plane perpendicular to the pin axis, without relative translation. This purely hinged structure provides a fixed pivot point for the tilt adjustment of the canopy 3, allowing the canopy 3 to swing around this point while ensuring the lateral position at this support point remains stable, preventing unintended displacement of the canopy 3 along the length of the tunnel.

[0089] The second connecting member 10 includes a second pin. Unlike the first connecting member 9, the canopy 3 has a laterally extending oblong hole (i.e., a long oval hole) whose length direction is consistent with the length direction of the tunnel. The telescopic end of the support member 2 also has a second circular hole. During assembly, the second pin passes through both the oblong hole on the canopy 3 and the second circular hole on the telescopic end of the support member 2. In this structure, the oblong hole provides sliding space for the second pin along the length direction of the tunnel. When the canopy 3 rotates around the outermost hinge point, the telescopic ends of the remaining support members 2 automatically adjust their relative horizontal position to the canopy 3 through the adaptive sliding of the second pin within the oblong hole, thereby avoiding structural interference caused by fixed support point positions.

[0090] Through the specific pin and hole design described above, multiple support components 2 can work together. Even when the expansion and contraction of the support components 2 are unequal, the frame 3 can smoothly change its tilt angle without generating additional stress or jamming at the connection points. At the same time, this structural design avoids complex guide rails or sliding pairs, and can be achieved simply by changing the hole shape. It is easy to process, convenient to maintain, and adaptable to harsh downhole working conditions.

[0091] Furthermore, the advanced support device may also include a vision camera, which is fixedly connected to the front end of the canopy 3 and is suitable for scanning the angle of the tunnel roof so that the control unit 14 can accurately control the elongation of each support member 2 so that the canopy 3 can match the angle of the tunnel roof and fit it accurately.

[0092] The support frame 3 may include a left support frame 3 and a right support frame 3, which are hinged together along the length of the roadway by a third connector 13. The third connector 13 includes a connecting plate and a third pin. The connecting plate extends along the length of the roadway, and a circular hole is opened on one side of the connecting plate in the width direction, and a waist hole is opened on the other side. Circular holes are opened on both the left support frame 3 and the right support frame 3. One set of third pins passes through the circular hole on the left side of the connecting plate and the circular hole on the left support frame 3, and another set of third pins passes through the waist hole on the right side of the connecting plate and the circular hole on the right support frame 3. In this way, when the two sets of support members 2 distributed along the width direction of the roadway extend and retract, not only can the height of the support frame 3 be changed, but also the angle between the left support frame 3 and the right support frame 3 can be changed by asynchronous extension and retraction. Combined with the above-mentioned technical solution that can adjust the angle relative to the top wall of the roadway, the adaptability of the support device to the roadway is further improved.

[0093] Specifically, the vision camera is used to acquire image information of the tunnel roof. The lens of the vision camera is pointed forward and upward in the direction of excavation, and its field of view covers the tunnel roof of the area to be supported.

[0094] The control unit 14 is electrically connected to the vision camera and the drive unit of each support member 2. The control unit 14 includes an image processing module and a computing module.

[0095] When the device moves forward and is ready to carry out support work, the vision camera acquires real-time images of the roof of the area to be supported in front of the roadway and transmits the image data to the control unit 14.

[0096] The image processing module processes the received image data, specifically including: image binarization and filtering / denoising preprocessing. An edge detection algorithm identifies the boundary line between the tunnel roof and sidewalls, extracting the contour curve of the tunnel roof. Based on visual imaging principles and pre-calibrated camera parameters, the contour curve of the roof in the image coordinate system is converted into spatial point cloud data or a continuous curve in the tunnel cross-sectional coordinate system. The module then calculates the longitudinal inclination angle α of the tunnel roof along the tunnel's extension direction (i.e., the slope of the roof in the length direction) and the transverse inclination angle β along the tunnel's width direction (i.e., the arch curvature or inclination of the roof in the width direction).

[0097] The calculation module, based on the top wall tilt angle data α and β output by the image processing module, combined with the current posture of the canopy 3 and the preset fitting strategy, calculates the target elongation required for each support component 2. The calculation logic is as follows:

[0098] Using a support member 2 as a reference point, its basic elongation L0 is set.

[0099] Based on the longitudinal inclination angle α, calculate the longitudinal height difference of each of the remaining rows of support members 2 relative to the reference support member 2. That is, along the length of the roadway, for each support member 2 arranged at intervals of spacing d, the elongation needs to be increased by ΔL = d × tan(α) on the basis of L0. When the roof is uphill, ΔL is positive and when it is downhill, it is negative.

[0100] Based on the lateral tilt angle β, calculate the height difference between the support members 2 located on both sides of the roadway width in the same row, so that the canopy 3 can tilt laterally to match the lateral curvature of the roof.

[0101] Based on the above calculations in the longitudinal and transverse directions, an independent target elongation for each support member 2 is generated.

[0102] The control unit 14 sends corresponding control commands to each support member 2 according to the calculated target elongation, driving each support member 2 to extend and retract independently until each support member 2 reaches the target elongation. During this process, since the outermost support member 2 is hinged to the canopy 3 through the first connector 9 to form a rotation fulcrum, and the remaining support members 2 are slidably connected to the canopy 3 through the second connector 10, it provides a foundation for the canopy 3 to fit against the top surface of the roadway along the length of the roadway.

[0103] Furthermore, since the canopy 3 includes the left canopy 3, the right canopy 3 and the third connecting member 13, it provides a hardware foundation for the canopy 3 to fit against the top surface of the roadway in the width direction, thereby enabling the canopy 3 to fit better against the roadway.

[0104] Example 6:

[0105] Figures 1-7 In addition to providing a tunneling support system, the embodiments of the present invention include an advanced support device suitable for coal mine tunneling faces as described in any of the above embodiments, and also include a tunneling machine, wherein the advanced support device is located on the downstream side of the tunneling machine.

[0106] It also includes a distance sensor 11 and a second alarm device 12 that are interconnected.

[0107] Distance sensor 11 is suitable for measuring the distance between the tunneling machine and the advance support device.

[0108] When the detection distance of the distance sensor 11 is less than the threshold, the second alarm device 12 will sound an alarm.

[0109] In this embodiment, the tunneling machine continues to cut through the coal and rock, and the rear support device moves forward in a timely manner to support the exposed roof.

[0110] The tunneling support system includes a tunneling machine and a pre-support device located downstream of the tunneling machine. "Downstream" refers to the area along the tunneling direction. The pre-support device is positioned behind the tunneling machine and moves forward synchronously or alternately with the machine, providing timely support for the excavated tunnel space. A distance sensor 11 can be installed at the tail of the tunneling machine or the front of the pre-support device to measure the distance between the tunneling machine and the pre-support device in real time. When the detection distance of the distance sensor 11 is less than a preset safety threshold, the control unit 14 controls the second alarm device 12 to trigger an alarm, alerting the operator to adjust the tunneling machine's advance speed or the support device's forward movement rhythm to prevent equipment collisions.

[0111] The real-time monitoring function of distance sensor 11 provides operators with intuitive distance data, ensuring that the relative position of the tunneling machine and the support device remains within a controllable range, effectively preventing equipment collisions caused by excessive following. The alarm device can promptly issue warnings when the distance is too small, reminding operators to take appropriate measures, thereby ensuring the safe operation of the equipment and the safety of personnel.

[0112] It can be understood that, except for conflicting parts, the above embodiments 1-6 can be freely combined to form other embodiments of the present invention.

[0113] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0114] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium. They can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0115] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0116] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, such that a process, article, or apparatus / device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to those processes, articles, or apparatus / devices.

[0117] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. An advanced support device suitable for coal mine tunneling faces, characterized in that, It includes a movable component (1), a support component (2), a canopy (3), and two sets of anchor net auxiliary connection devices (4); The moving part (1) is able to move along the length of the tunnel; The support member (2) is fixedly connected to the movable member (1) and can extend and retract vertically; The canopy (3) is connected to the telescopic end of the support (2), and the top surface of the canopy (3) forms a support surface that matches the curvature of the roadway top surface; Anchor net auxiliary connection device (4) is connected to both ends of the canopy (3) along the roadway extension direction, and is suitable for connecting anchor net (100), and the anchor net (100) passes through and covers the top of the canopy (3); The anchor net auxiliary connection device (4) can drive the anchor net (100) to swing along the first axis, which is a horizontal axis perpendicular to the direction of roadway extension, so that the anchor net (100) can fit or detach from the top surface of the roadway.

2. The advanced support device for coal mine tunneling faces as described in claim 1, characterized in that, The anchor net auxiliary connection device (4) can also drive the anchor net (100) to extend and retract, so as to adjust the tightness of the anchor net (100); Each set of anchor net auxiliary connection devices (4) consists of multiple units spaced apart along the width of the roadway, including a swinging component (41), a telescopic component (42), and a first swinging drive component (43). The first swing drive member (43) is adapted to drive the swing member (41) to swing along the first axis. One end of the swing member (41) is hinged to the frame (3) along the first axis. The telescopic member (42) is connected to the other end of the swing member (41) and can extend and retract along the length direction of the swing member (41). A connecting part (420) for connecting the anchor net (100) is formed on the telescopic member (42).

3. The advanced support device for coal mine tunneling faces as described in claim 2, characterized in that, It also includes two sets of side support top cantilever beams (5), which are hinged to both ends of the canopy (3) along the width of the roadway along the second axis. The second axis is a horizontal axis perpendicular to the first axis. It also includes a second swing drive (6) connected to the canopy (3), which is adapted to drive the corresponding side support top beam (5) to swing along the second axis.

4. The advanced support device for coal mine tunneling faces as described in claim 1, characterized in that, It also includes an interconnected tilt sensor (7) and a first alarm device (8); The tilt sensor (7) is connected to the scaffold (3) and is suitable for detecting the tilt angle of the scaffold (3) relative to the horizontal plane; When the detection angle of the tilt sensor (7) is greater than the threshold, the first alarm device (8) will sound an alarm.

5. The advanced support device for coal mine tunneling faces as described in claim 1, characterized in that, Support members (2) are distributed in multiple intervals along the length of the tunnel and in two groups along the width of the tunnel.

6. The advanced support device for coal mine tunneling faces as described in claim 5, characterized in that, The support components (2) can all extend and retract independently; The telescopic end of the outermost support member (2) arranged along the length of the roadway is hinged to the frame (3) through the first connector (9), and the telescopic ends of the remaining support members (2) arranged along the length of the roadway are hinged to the frame (3) through the second connector (10). The second connector (10) enables the telescopic end of the corresponding support (2) to slide relative to the canopy (3) along the length of the roadway.

7. The advanced support device for coal mine tunneling faces as described in claim 6, characterized in that, The first connecting member (9) includes a first pin, and the telescopic end of the support member (2) and the canopy (3) are both provided with a first round hole, through which the first pin passes; The second connector (10) includes a second pin, a transversely extending waist hole is provided on the frame (3), a second round hole is provided on the telescopic end of the support (2), and the second pin passes through the waist hole and the second round hole.

8. A tunneling support system, characterized in that, The device includes an advanced support device for a coal mine tunneling face as described in any one of claims 1-7, and also includes a tunneling machine, wherein the advanced support device is located on the downstream side of the tunneling machine.

9. The tunneling support system as described in claim 8, characterized in that, It also includes a distance sensor (11) and a second alarm device (12) connected to each other; the distance sensor (11) is suitable for measuring the distance between the tunneling machine and the advance support device, and the second alarm device (12) alarms when the detection distance of the distance sensor (11) is less than the threshold.

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