A coal mine advanced hydraulic support anchor avoiding system and method

Abstract

The application provides a coal mine advanced hydraulic support anchor-avoiding system and method, which comprises a support base and a top beam assembly. The top beam assembly comprises a top beam body and a roof protection piece. The top beam body is connected with the support base, and the top beam assembly is movable relative to the support base along the height direction of the support base. The roof protection piece comprises a roof protection body. The roof protection body is rotatably connected with the top beam body. The roof protection piece has a first state and a second state. In the first state, the roof protection body is generally flush with the top beam body in the height direction of the support base, so as to facilitate avoiding the anchoring end of the anchor rod cable at the top of the roadway. In the second state, the roof protection body is above the top beam body in the height direction of the support base, so as to facilitate supporting the roadway roof. The coal mine advanced hydraulic support anchor-avoiding system has the advantages of convenient anchor avoidance and simple operation.

Description

Technical Field

[0001] This invention relates to the field of hydraulic support technology, specifically to a coal mine advanced hydraulic support anchor avoidance system and method. Background Technology

[0002] During tunnel excavation, anchor-mesh-cable support is generally used. Anchor-mesh-cable support is a hybrid support technology that combines anchor bolts, anchor cables, metal mesh, and W-shaped steel strips to support the roof of a coal roadway. Its working principle is to strengthen and improve the shear and compression resistance of the rock strata within a certain range of the roadway roof, resisting deformation of the surrounding rock and achieving the purpose of supporting and maintaining the roadway. Specifically, by anchoring the top anchor bolts at the ends under a certain preload, the composite rock strata within the anchored area form a composite beam under the elastic compression of the anchor bolts. Simultaneously, anchor cables anchored in stable rock strata suspend the composite beam under a certain preload, further enhancing the support strength of the composite beam.

[0003] Advance support involves reinforcing the roadway a certain distance ahead of the working face using advanced hydraulic supports or columns to suppress secondary deformation and ensure the safe passage of personnel and equipment. Since the coal mining face moves dynamically forward, the area requiring enhanced support also moves dynamically forward, typically achieved using groups of self-moving advanced hydraulic supports.

[0004] In related technologies, the anchor bolts and anchor cables in the original anchor mesh support structure of the roof are generally exposed. For example, the exposed part of the anchor cable includes the tray, the locking device, and the anchor cable head, which is about 300mm long. When the top beam of the advanced hydraulic support moves forward, it will interfere with the exposed part of the anchor cable. The support strength of the advanced hydraulic support is very high, and during the loading process on the roof, it may squeeze and damage the anchor bolt nuts or anchor cable locking devices and other anchoring structures. The top beam of the advanced hydraulic support is generally relatively flat, relatively long, and has a relatively large roof protection area. The protruding anchor cable, which is in surface contact with the roadway roof, affects the contact between the top beam and the roof, reducing support efficiency. The advance support range is generally not less than 20m, and under special conditions, such as in roadways with rock bursts, it is required to be not less than 70m. The advance hydraulic support has a cycle step distance of 0.8m, which means that if an anchor cable happens to be on the movement path of the advance hydraulic support, it will be subjected to 50-100 repeated compressions from the top beam of the advance hydraulic support, which can easily cause the original anchor mesh support system in the roadway to fail, leaving a risk of roof collapse. Summary of the Invention

[0005] The present invention aims to at least partially solve one of the technical problems in the related art.

[0006] Therefore, embodiments of the present invention propose a coal mine advanced hydraulic support anchor avoidance system and method, which has the advantages of convenient anchor avoidance and simple operation.

[0007] The coal mine advanced hydraulic support anchoring system according to an embodiment of the present invention includes:

[0008] Stand base; A top beam assembly includes a top beam body and a top cover. The top beam body is connected to the support base, and the top beam assembly is movable relative to the support base along its height direction. The top cover includes a top cover body, which is rotatably connected to the top beam body. The top cover has a first state and a second state. In the first state, the roof support body is substantially flush with the top beam body in the height direction of the support base to facilitate avoiding the anchoring end of the anchor cable on the top of the roadway; in the second state, the roof support body is located above the top beam body in the height direction of the support base to facilitate supporting the roadway roof.

[0009] The coal mine advanced hydraulic support anchor avoidance system of this invention features a two-layer composite structure for the top beam assembly. A protective top body is positioned above the main top beam, and this protective top body is rotatable relative to the main top beam. This ensures that when a unit needs to avoid anchoring, it can rotate 180°, flipping from above the top beam to below it. Furthermore, it provides power to the rotating unit, enabling it to achieve a large-angle rotation along a fixed trajectory in confined spaces. This achieves active avoidance of interfering anchor cables without manual intervention or removal of existing supports, improving automation and safety.

[0010] In some embodiments, the top cover further includes a driving member, which connects the top cover body and the top beam body. The driving member drives the top cover body to rotate relative to the top beam body about a first axis, which is parallel to the length direction of the support base. In some embodiments, the driving member includes a connecting portion and a driving portion. The connecting portion is a crank-rocker mechanism. The fixed end of the crank and the fixed end of the rocker arm of the connecting portion are both connected to the top cover body, and the rotation axis of the fixed end of the crank of the connecting portion coincides with the first axis. The first end of the driving portion is connected to the top beam body, and the second end of the driving portion is connected to the swing end of the crank of the connecting portion. The driving portion drives the connecting portion to rotate, thereby causing the top cover body to rotate.

[0011] In some embodiments, the coal mine advanced hydraulic support anchor avoidance system of the present invention further includes a monitoring component, the monitoring component includes a monitoring element, the monitoring element is connected to the top beam assembly, and the monitoring element is used to detect the exposed length and position of the anchor.

[0012] In some embodiments, the roof support further includes a telescopic beam connected to the roof support body. The telescopic beam is movable relative to the roof support body along the width direction of the support base and has an extended state and a retracted state. In the deployed state, at least a portion of the telescopic beam is located outside the top beam body in the height direction of the support base; In the retracted state, the telescopic beam is arranged flush with the top beam body in the height direction of the support base. In some embodiments, there are two top guards, which are symmetrically arranged along the length direction of the support base.

[0013] In some embodiments, the width of the top cover body in the width direction of the support base is less than or equal to the width of the top beam body in the width direction of the support base.

[0014] In some embodiments, the width of the top cover body in the length direction of the support base is less than the spacing between adjacent anchors in the length direction of the support base.

[0015] The coal mine advanced hydraulic support anchor avoidance method of this embodiment of the invention is completed using the coal mine advanced hydraulic support anchor avoidance system described in any one of the above embodiments, and includes the following steps: Determine the initial position of the first advanced hydraulic support, and determine the step distance by which the advanced hydraulic support moves forward; Identify and determine the location of the forward anchorage of the advanced hydraulic support; Select anchors that meet the requirements for anchor avoidance and determine the anchor avoidance status of the advanced hydraulic support; The first advanced hydraulic support completes the corresponding anchor avoidance state in the initial position according to the position of the anchor, and moves the support forward by one step. Before the remaining advanced hydraulic supports are anchored, they are moved to the initial position and the same anchor-avoiding and shifting actions as the previous advanced hydraulic support are repeated.

[0016] In some embodiments, selecting anchors that meet the requirements for anchor avoidance includes the following steps: On the front side of the roof support body, and along the width direction of the support base, a first anchoring area and a second anchoring area are divided. When the telescopic beam is in its extended state, the first anchoring area is arranged correspondingly to the telescopic beam along the length of the support base, and the second anchoring area is arranged correspondingly to the roof support body along the length of the support base. If there are anchors in the first anchor avoidance zone, then the top protection component is in the first state and the telescopic beam is in the retracted state; If there are anchors in the second anchorage area, the top protection component will be in the second state after the telescopic beam is in the retracted state. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the coal mine advanced hydraulic support anchor avoidance system according to an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram illustrating the perspective positioning principle of the monitoring component in the coal mine advanced hydraulic support anchor avoidance system according to an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the motion model of the driving component in the coal mine advanced hydraulic support anchor avoidance system according to an embodiment of the present invention.

[0020] Figure 4 This is a top view schematic diagram of the coal mine advanced hydraulic support anchor avoidance system according to an embodiment of the present invention.

[0021] Figure 5 This is a planar schematic diagram of the anchor identification and positioning results of the coal mine advanced hydraulic support anchor avoidance system according to an embodiment of the present invention.

[0022] Figure label: 1. Stand base 2. Top beam assembly; 21. Top beam body; 22. Roof protection component; 221. Roof protection body; 222. Telescopic beam; 23. Drive component; 231. Connecting part; 232. Drive part. 3. Monitoring components; 31. Monitoring parts. Detailed Implementation

[0023] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] The coal mine advanced hydraulic support anchor-avoidance system according to an embodiment of the present invention is described below with reference to the accompanying drawings.

[0025] like Figures 1-5 As shown, the coal mine advanced hydraulic support anchoring system of this invention includes: support base 1 and top beam assembly 2.

[0026] The top beam assembly 2 includes a top beam body 21 and a top cover 22. The top beam body 21 is connected to the support base 1, and the top beam assembly 2 is along the height direction of the support base 1 (e.g., Figure 1 The top support 22 is movable relative to the support base 1 in the vertical direction. The top support 22 includes a top support body 221. The top support body is rotatably connected to the top beam body. The top support has a first state and a second state. In the first state, the top support body is substantially flush with the top beam body in the height direction of the support base to facilitate avoiding the anchoring end of the anchor cable on the top of the roadway. In the second state, the top support body is located above the top beam body in the height direction of the support base to facilitate supporting the roadway roof.

[0027] Specifically, such as Figure 1 As shown, the support base 1 is the basic support structure of the entire advanced hydraulic support. The support base 1 is installed on the ground of the advanced roadway as a mounting base for other components. The top beam body 21 can be connected to the support base 1 via a hydraulic column or linkage mechanism, allowing the top beam body 21 to move vertically relative to the support base 1 (i.e., the top beam body 21 has a lifting function). The roof support body 221 can be connected to the top beam body 21 via a hinge, allowing the roof support body to rotate about the hinge point relative to the top beam body.

[0028] Understandably, the top beam body 21 moves vertically to allow the overall support to adapt to the roadway height and provide a support platform for the roof support 22, ensuring uniform distribution of support force and facilitating subsequent anchor avoidance operations. In the first state, the roof support body, located above the top beam body, rotates until its top surface is roughly flush with the top surface of the top beam body (i.e., it can rotate 180 degrees relative to the top beam body), thereby reducing the overall height of the roof support and facilitating avoidance of the anchoring ends of the anchor cables on the roadway roof during the relocation process, thus achieving the anchor avoidance function. In the second state, the roof support body is located above the top beam body, and it can move along with the top beam body; that is, when the top beam body moves upward, the roof support body can directly abut against the roadway roof to achieve the support function.

[0029] In other words, during the relocation process, the exposed length of the anchors (i.e., anchor cables) on the roadway roof is relatively long, allowing the roof support body to be rotated so that the top surface of the roof support body is flush with the top surface of the roof beam body. This reduces the overall height of the roof beam assembly and increases the distance between the roof beam assembly and the roadway roof, enabling anchor avoidance during subsequent relocation.

[0030] Therefore, in the coal mine advanced hydraulic support anchor-avoidance system of this invention, the top beam assembly is set as a two-layer composite structure, that is, a protective top body is set above the top beam body, and the protective top body can rotate relative to the top beam body. On the one hand, it ensures that when a certain unit needs to avoid anchoring, it can achieve a 180° rotation, that is, flip from above the top beam to below the top beam. On the other hand, it provides power for the rotating unit, so that it can achieve a large-angle rotation in a narrow space along a fixed trajectory.

[0031] In some embodiments, the top cover further includes a drive member, which connects the top cover body and the top beam body. The drive member is used to drive the top cover body to rotate relative to the top beam body about a first axis, which is parallel to the length direction of the support base.

[0032] Specifically, such as Figure 1 As shown, the driving component 23 serves as the actuator. One end of the driving component 23 is fixedly connected to the top beam body 21, and the other end of the driving component 23 can be connected to the top protection body 221 by hinge. The driving component 23 can be a linear actuator such as a hydraulic cylinder, electric push rod, or screw jack, and can drive the top protection component 22 to achieve the rotation function through the corresponding connection and transmission structure.

[0033] It is understood that the lower end of the top cover body 221 is connected to the top beam body 21 by a hinge, and the extension direction of the linear stroke of the drive member 23 is spaced apart from the hinge point. Under the push of the drive member 23, the top cover member 22 rotates around the aforementioned first axis. At this time, the original overlapping relationship between the top cover member 22 and the top beam body 21 changes to a relative arrangement that is staggered and side by side in the width direction of the support base 1.

[0034] In other words, when the exposed anchors are located in the front area of ​​the jacking body 221, the driving component 23 is needed to rotate the jacking component 22 (i.e., the jacking component is in the first state, such as...). Figure 1 The dotted line in the diagram shows the position of the roof support body after rotation, so that the roof beam body and the roof support body 221 are arranged in a horizontal manner to achieve the anchor avoidance function.

[0035] In some embodiments, the drive member 23 includes a connecting part 231 and a drive part 232. The connecting part 231 is a crank-rocker mechanism. The fixed end of the crank of the connecting part 231 and the fixed end of the rocker of the connecting part 231 are both connected to the top cover body. The rotation axis of the fixed end of the crank of the connecting part coincides with the first axis. The first end of the drive part 232 is connected to the top beam body 21, and the second end of the drive part 232 is connected to the swing end of the crank of the connecting part 231. The drive part 232 is used to drive the connecting part 231 to rotate so as to drive the top cover body to rotate.

[0036] Specifically, such as Figure 1As shown, the connecting part 231 is a crank four-bar linkage mechanism, wherein the fixed end of the crank in the crank four-bar linkage mechanism is hinged to the top protection body 221, and the hinge point coincides with the hinge point between the top protection body 221 and the top beam body 21. The fixed end of the rocker arm in the crank four-bar linkage mechanism is located above the fixed end of the rocker arm.

[0037] Understandably, the drive unit 232 (such as a hydraulic cylinder) extends and retracts, pushing or pulling the fixed end of the crank to rotate, causing the crank to rotate around the rotation center of its fixed end. The crank drives the rocker arm to swing through the connecting rod, and the rocker arm transmits the motion to the top guard body, causing the top guard body to rotate around the hinge point under the drive of the crank four-bar linkage.

[0038] Furthermore, by rationally designing the lengths of the crank and rocker, a larger rotation angle can be achieved to drive the roof support body. That is, depending on the actual use scenario, different lengths of crank-rocker mechanisms are involved, which means that the roof support body can be raised according to different scenarios, improving its applicability. It is very effective in dealing with particularly prominent anchor cable groups or roof obstacles, and its avoidance capability is far superior to simple hinged flipping.

[0039] It should be noted that, as Figure 1 and Figure 3 As shown, the motion model of the crank-four-bar linkage is performed, and a coordinate system is established. , These represent the length and tilt angle of the connecting rod OC, respectively. , These represent the length and inclination angle of link AB, respectively. , Let BC be the length and inclination angle of link BC, respectively. The complex form of the closed vector equation of the four-bar linkage is as follows:

[0040] Applying Euler's formula Separating the real and imaginary parts of the above expression, we get:

[0041] Let the coordinates of point C be... Then the position vector at point C is:

[0042] Using points O and D as fixed points, the trajectory of point C and the link OC when OC is rotated 180° can be further calculated using the above formula. ), connecting rod BC ( ), connecting rod ab( ), Linkage OA ( The length of ).

[0043] In some embodiments, the coal mine advanced hydraulic support anchor avoidance system of the present invention further includes a monitoring component 3, which includes a monitoring element 31 connected to the top beam component 2. The monitoring element 31 is used to detect the exposed length and position of the anchor.

[0044] It is understandable that, such as Figure 1 and Figure 4 As shown, the monitoring component 31 is connected to the roof support body 221 and is located on the front side of the roof support body 221 to facilitate monitoring of the anchors in the area along the forward direction of the support. The monitoring component 31 is a non-contact sensor, such as a laser rangefinder, a 3D LiDAR, a vision camera, or an ultrasonic sensor.

[0045] In other words, the monitoring component 31 is used to scan obstacles on the path ahead before the support moves, achieving proactive detection. This allows the subsequent support relocation process to match the anchorage avoidance state based on the position and length information of the anchors detected by the monitoring component 31.

[0046] In other words, the forward-mounted monitoring device 31 (such as radar or laser) can scan the top plate area along the predetermined path before the support moves forward, accurately identifying the location and exposed length of the anchors. This allows the system to detect obstacles in advance and automatically instruct the drive unit 23 (lifting, telescopic, or rotating cylinders) to move, ensuring that the top beam assembly 2 enters the optimal anchor-avoidance state before any physical contact occurs. This achieves true "collision-free" passage, completely eliminating scratches, compression, and damage to the anchoring structure.

[0047] Preferably, there are multiple monitoring elements 31, and the multiple monitoring elements 31 are arranged at intervals along the width direction of the support base 1.

[0048] Understandably, the parallel arrangement of multiple monitoring elements 31 allows their fields of view to be interlocked, forming a continuous monitoring band covering the entire width of the support beam. This ensures that at least one sensor can detect any anchor bolt / cable located anywhere in the width direction of the roof (whether near the center of the roadway or near the sides). This completely eliminates blind spots and avoids the safety risks caused by missing critical obstacles due to insufficient field of view of a single sensor.

[0049] It should be noted that, as Figure 1 , Figure 4 and Figure 5 As shown, taking the arrangement of two monitoring components 31 (marked as cameras in the figure) as an example, it is determined whether the anchor (rod) cable anchorage end is within the frame moving distance range, and the identified anchor (rod) cable anchorage end is accurately positioned; the focal length and parameters of the two cameras are basically the same, the main optical axis and Y axis are parallel and the X axis coincides.

[0050] For a point P in space, if point P is observed simultaneously using both the left and right cameras, the parallax of point P in the binocular image can be expressed as: ; ,

[0051] Therefore, , or

[0052] Based on the geometric relationship of similar triangles in the above formula, the coordinates of point P can be derived. .

[0053] In some embodiments, there are multiple top protectors 22, and the multiple top protectors 22 are symmetrically arranged along the plane containing the height direction and the length direction of the support base 1.

[0054] It is understandable that, such as Figure 1 As shown, there are two roof support components 22, arranged side-by-side in the left-right direction. Each roof support component 22 can be equipped with an independent drive component 23 (lifting, telescopic, and rotating hydraulic cylinder), which is individually controlled by the control system. This ensures the flexibility of the roof support component 22 itself. That is, when there is only a group of anchor cables on the left side of the roadway, only the left roof support component 22 can be controlled to rotate or retract to avoid the obstacle, while the right roof support component 22 remains in place and continues to provide effective support. This "avoid the obstacle on the side with the obstacle" mode maintains the integrity of the support area to the greatest extent, and the support efficiency is far higher than that of a single roof beam with overall movement.

[0055] Furthermore, the roof of a tunnel is often not perfectly flat, and may be higher on one side than the other, or have denser anchor cables on one side and sparser ones on the other. The symmetrical and independent multi-support roof components 22 can be adjusted in height and angle to perfectly fit the contour of this asymmetrical roof, ensuring that each side receives the best support effect while successfully avoiding obstacles on each side.

[0056] In some embodiments, the roof support further includes a telescopic beam connected to the roof support body. The telescopic beam is movable relative to the roof support body in the width direction along the support base. The telescopic beam has an extended state and a retracted state. In the extended state, at least a portion of the telescopic beam is located outside the top beam body in the height direction of the support base. In the retracted state, the telescopic beam is arranged flush with the top beam body in the height direction of the support base.

[0057] Specifically, as shown in the figure, the telescopic beam is directly connected to the roof support body, and the telescopic beam can be moved by a corresponding drive mechanism (such as a hydraulic cylinder, a motor-driven lead screw, etc.). That is, the drive mechanism is fixed on the roof support body, and the output shaft of the drive mechanism is connected to the telescopic beam to provide power for the lateral extension and retraction of the telescopic beam.

[0058] Preferably, the roof support body has a recovery chamber with an opening facing the side wall of the roadway. The telescopic beam and the drive mechanism can be set in the recovery chamber so that when the telescopic beam is in the retracted state, the entire retracted beam can be hidden in the recovery chamber to prevent friction and collision with other structures in the roadway during the relocation process.

[0059] It is understandable that the telescopic beam can move in the left and right directions relative to the roof support body. When the telescopic beam is in the extended state, there is a long protruding part of the anchor cable in front of the telescopic beam. Before the frame is moved, the extended telescopic beam can be retracted into the recovery chamber, that is, the telescopic beam changes from the extended state to the retracted state, which facilitates the anchor avoidance function during the frame movement.

[0060] It should be noted that when the telescopic beam is in its extended state, its top surface is roughly parallel to the top surface of the roof support body. Therefore, during support operations, the extended telescopic beam and the roof support body can be used simultaneously. Furthermore, the presence of the telescopic beam increases the support coverage area, preventing roof collapse or slab fall accidents and improving the safety of the advanced hydraulic support system.

[0061] In some embodiments, there are more than two top guards, which are arranged symmetrically along the length of the support base.

[0062] Understandably, both roof supports are installed on the main body of the roof beam and arranged symmetrically in the left-right direction. Each roof support is an independent functional unit, comprising its own roof support body and telescopic beam. Each roof support can operate independently (e.g., flipping or telescopicating separately), or it can operate in conjunction with other components according to working conditions (e.g., deploying simultaneously to form a more continuous support line). The drive mechanism (such as the aforementioned crank-rocker mechanism and hydraulic cylinder) should also be independently configured or coordinated for each roof support.

[0063] In other words, the support width of a single roof support component is limited. By symmetrically arranging two roof support components in the left-right direction, a longer continuous support area can be formed in the tunnel's travel direction (front-back direction), effectively covering the roof of the main beam and reducing unsupported gaps. Furthermore, the symmetrical arrangement allows the roof load to be more evenly distributed to the main beam and support base through the two roof support components, avoiding concentrated stress at a single point and improving the overall structural stability of the support. Moreover, when the tunnel roof pressure is uneven or localized impacts occur, the two roof support components can share the load, preventing the support from tilting or being damaged due to excessive stress on one side.

[0064] Preferably, the width of the top cover body 221 in the width direction of the support base 1 is less than or equal to the width of the top beam body 21 in the width direction of the support base 1.

[0065] It is understandable that, such as Figure 4 and Figure 5As shown in the top view, the projection of the roof support body 221 is completely contained within the projection range of the top beam body 21, and it will never be wider than the top beam body 21. That is, the telescopic beam 222 needs to extend / retract relative to the roof support body 221 in the left-right direction. If the width of the roof support body 221 is equal to or greater than the width of the top beam body 21, when it retracts, the end of the telescopic beam 222 may mechanically interfere with or collide with the side edge of the top beam body 21.

[0066] By ensuring that the top support body 221 is narrower than the top beam body 21, an absolutely safe moving space is reserved in the lateral direction for the telescopic beam 222 to extend and retract. This is a prerequisite for the telescopic beam 222 to retract smoothly and without obstruction to the state of being flush with the top beam body 21 (first anchoring state), thus ensuring the reliability of the core anchoring function.

[0067] In other words, the pressure on the top plate is transmitted to the top beam body 21 through the top protection member 22. If the top protection body 221 is too wide, its stress point will be located outside the support range of the top beam body 21, forming a cantilever beam structure, which will generate a huge bending moment in the top beam body 21.

[0068] By limiting the width of the jacking body 221 to within the width of the top beam body 21, it is ensured that all roof loads are transferred downwards to the main load-bearing structure of the top beam body 21 via the shortest and most direct path. This avoids harmful bending moments and significantly improves the overall rigidity and load-bearing capacity of the top beam assembly 2, enabling it to withstand greater roof pressure.

[0069] In some embodiments, the width of the top cover body 221 in the length direction of the support base 1 is less than the spacing between adjacent anchors in the length direction of the support base 1.

[0070] Understandably, when the advanced hydraulic support moves in steps, the roof support body 221, due to size limitations, can be placed between two adjacent anchors. Furthermore, after the support avoids the anchors, it can still support the roof of the roadway, eliminating the possibility of collision between the roof support body 221 and the anchors.

[0071] In summary, the coal mine advanced hydraulic support anchor-avoidance system of the present invention has the following technical effects: 1. The top beam is designed as a two-layer composite structure: the lower layer is an integral top beam, providing overall support and serving as a rotation platform for the roof support body; the upper layer consists of symmetrical roof support components, each forming a modular unit structure, and each unit is an independent roof support unit. When a unit needs to perform an anchor-avoidance action, other adjacent units can remain in place, effectively supporting the roof slab, thus ensuring the continuity and efficiency of the support, and avoiding the support gaps caused by traditional integral tilting supports.

[0072] 2. Each roof support component is hinged to the lower roof beam body via a crank-slider mechanism, allowing it to precisely rotate from above the roof beam (support position) to below the roof beam (avoidance position). The crank-slider mechanism constrains the unit's rotation trajectory, enabling it to quickly complete the rotation action within the limited longitudinal space of the roadway, resulting in high efficiency and minimal space occupation.

[0073] 3. Each roof support component also integrates a telescopic beam driven by a horizontal hydraulic cylinder. When the roadway roof breaks, the telescopic beams of each unit can extend outward, increasing the effective support area of ​​the entire roof beam and improving the control over the broken roof. When no additional support is needed or when performing anchor-avoidance actions, the telescopic beams can retract, making the roof support component compact again, facilitating overturning or reducing the overall size of the equipment.

[0074] 4. Each top support component is equipped with a monitoring device to automatically identify the anchoring ends of the anchor cables ahead. This allows for automatic identification of obstacles (protruding ends of anchor cables) and intelligent prompts or decisions on which unit needs to perform anchor avoidance actions. All anchor avoidance actions (unit flipping and telescopic beam extension / retraction) can be intelligently and automatically achieved through the control system, requiring no manual intervention, thus improving operational safety, accuracy, and efficiency.

[0075] The following describes a method for avoiding anchors in advanced hydraulic supports in coal mines, according to an embodiment of the present invention.

[0076] The coal mine advanced hydraulic support anchor avoidance method of this invention is implemented using any of the coal mine advanced hydraulic support anchor avoidance systems described in the above embodiments, and includes the following steps: Determine the initial position of the first advanced hydraulic support and the step distance for its forward movement. Based on the actual support conditions, determine the initial position of the first advanced hydraulic support and the step distance for all supports to move forward in a unified manner. It is understood that determining the initial position and step distance of the advanced hydraulic supports is the benchmark for the entire process. The initial position is the starting point for moving the supports and is usually determined according to the operating procedures. A fixed step distance ensures that all supports move in a coordinated and orderly manner, avoiding chaos.

[0077] The location of the forward anchor of the advanced hydraulic support is identified and determined. Understandably, multiple monitoring components 31 (such as lidar and sensors) in the monitoring assembly 3 actively scan the path ahead before movement to construct an accurate three-dimensional map of the anchor, providing data support for decision-making.

[0078] Select anchors that meet the required anchorage avoidance criteria to determine the anchorage avoidance state of the advanced hydraulic support. Understandably, by monitoring the location and length of exposed anchors and screening them, it's possible to determine which anchors will indeed interfere with the support movement or reinforcement. Based on the location, height, and number of interfering objects, determine which anchorage avoidance state to adopt (first anchorage avoidance state: telescopic beam 222 retracted; second anchorage avoidance state: top support 22 rotated; or a combination of both), and calculate the specific parameters that need adjustment (such as lifting height and rotation angle).

[0079] The first advanced hydraulic support, upon reaching its initial position, adjusts to avoid the anchorage and then moves forward one step. This initial adjustment, followed by the movement of the support forward, is the first demonstration phase. The support automatically adjusts its posture according to commands (e.g., retracting the telescopic beam 222 and raising the top beam) to enter a safe avoidance mode, then performs autonomous movement to safely pass through the obstacle zone. Upon reaching the new position, it may be necessary to disengage the anchorage and reconnect the top support.

[0080] Before anchoring, the other advanced hydraulic supports are moved to their initial positions and the anchoring and moving actions are repeated with the previous advanced hydraulic support.

[0081] Understandably, subsequent supports no longer need to undergo a complex "identification-decision" process independently, but instead adopt a follow-up strategy. They first move sequentially to the same "initial position." Then, they replicate (or fine-tune) the anchoring state and movement trajectory used by the first support at that position. This is because the position of the same row of anchor cables relative to the tunnel is fixed, and the path successfully traversed by the first support can be safely reused by subsequent supports.

[0082] Therefore, the coal mine advanced hydraulic support anchor avoidance method of this invention perfectly links perception, decision-making, and execution, forming a complete automated closed loop, greatly reducing manual intervention and becoming a core component of intelligent working faces. The first support scouts the way, and the subsequent supports imitate, greatly simplifying the operation process of subsequent supports, reducing the total computational load of the system, accelerating the movement speed of the entire support group, and shortening the cycle operation time.

[0083] In some embodiments, selecting anchors that meet the requirements for anchor avoidance includes the following steps: On the front side of the jacking body 221, and along the width direction of the support base 1, a first anchoring area and a second anchoring area are divided. When the telescopic beam 222 is in the extended state, the first anchoring area and the telescopic beam 222 are arranged correspondingly in the length direction of the support base 1, and the second anchoring area and the jacking body 221 are arranged correspondingly in the length direction of the support base 1. If there are anchors in the first anchoring area, the jacking member is in the first state and the telescopic beam is in the retracted state. If there are anchors (anchor cable protrusions) in the second anchoring area, the jacking member is in the second state after the telescopic beam is in the retracted state.

[0084] It is understandable that, such as Figure 4 and Figure 5 As shown, the top beam of the advanced hydraulic support is gradually divided into four zones: A1, A2, B1, and B2. Zones A1 and B1 only require the retraction of the telescopic beam 222, while zones A2 and B2 require the retraction of both the corresponding support body 221 and the telescopic beam 222. Taking zones A1 and A2 as examples, zone A1 is the first anchoring zone, and zone A2 is the second anchoring zone.

[0085] Based on the detection of multiple monitoring components 31, multiple anchoring points were determined, namely S1, S2, S3, and S4 marked in the figure. It should be noted that S1 is located outside area A1, S2 is located within area A2, S3 is located in front of area B2, and S4 is located within area B1.

[0086] Therefore, anchor S1 is located outside the support range of the telescopic beam, so interference is not a concern; anchor S2 is located within the shifting distance of the left support unit, so the telescopic beam 222 on the left needs to be retracted and rotated 180° to avoid the anchor; anchor S3 is located outside the shifting distance, so interference is not a concern; anchor S4 is located within the support range of the right telescopic beam, so the telescopic beam 222 on the right needs to be retracted.

[0087] According to the above anchor avoidance scheme, before moving the frame, an instruction is issued to the control system to operate the anchor avoidance valve group to retract the left telescopic beam 222, rotate the left top guard 22 180° to make room for the S2 anchoring end, and retract the right telescopic beam 222 to make room for the S4 anchoring end. After the above anchor avoidance action is completed, the host computer sends a command to the electro-hydraulic control moving frame valve group, and the advanced hydraulic support moves forward one step. If there is no longer any interference in front of the support unit that has already performed the anchor avoidance action before the start of the next frame shift step, the reset operation can be performed. The above describes the actions of the first set of top protection components 22. The actions of the second set and subsequent sets of anchor-avoiding units above the main beam 21 are similar.

[0088] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0089] Furthermore, 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0090] 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, an electrical connection, or a connection that allows communication between them; 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, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0091] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0092] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0093] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A coal mine advanced hydraulic support anchoring system, characterized in that, include: Stand base; A top beam assembly includes a top beam body and a top cover. The top beam body is connected to the support base, and the top beam assembly is movable relative to the support base along its height direction. The top cover includes a top cover body, which is rotatably connected to the top beam body. The top cover has a first state and a second state. In the first state, the roof support body is substantially flush with the top beam body in the height direction of the support base to facilitate avoiding the anchoring end of the anchor cable on the top of the roadway; in the second state, the roof support body is located above the top beam body in the height direction of the support base to facilitate supporting the roadway roof.

2. The coal mine advanced hydraulic support anchoring system according to claim 1, characterized in that, The top cover also includes a driving component, which connects the top cover body and the top beam body. The driving component is used to drive the top cover body to rotate relative to the top beam body about a first axis, which is parallel to the length direction of the support base.

3. The coal mine advanced hydraulic support anchoring system according to claim 2, characterized in that, The driving component includes a connecting part and a driving part. The connecting part is a crank-rocker mechanism. The fixed end of the crank of the connecting part and the fixed end of the rocker of the connecting part are both connected to the top cover body. The rotation axis of the fixed end of the crank of the connecting part coincides with the first axis. The first end of the driving part is connected to the top beam body, and the second end of the driving part is connected to the swing end of the crank of the connecting part. The driving part is used to drive the connecting part to rotate so as to drive the top cover body to rotate.

4. The coal mine advanced hydraulic support anchoring system according to any one of claims 1-3, characterized in that, The top support also includes a monitoring component, which includes a monitoring element connected to the top beam assembly. The monitoring element is used to detect the exposed length and position of the anchors.

5. The coal mine advanced hydraulic support anchoring system according to claim 4, characterized in that, The roof support also includes a telescopic beam connected to the roof support body. The telescopic beam is movable relative to the roof support body along the width direction of the support base, and has an extended state and a retracted state. In the deployed state, at least a portion of the telescopic beam is located outside the top beam body in the height direction of the support base; In the retracted state, the telescopic beam is arranged flush with the top beam body in the height direction of the support base.

6. The coal mine advanced hydraulic support anchoring system according to claim 5, characterized in that, There are two top protection components, which are arranged symmetrically along the length of the support base.

7. The coal mine advanced hydraulic support anchoring system according to claim 6, characterized in that, The width of the top support body in the width direction of the support base is less than or equal to the width of the top beam body in the width direction of the support base.

8. The coal mine advanced hydraulic support anchoring system according to claim 7, characterized in that, The width of the top cover body in the length direction of the support base is less than the spacing between adjacent anchors in the length direction of the support base.

9. A method for avoiding anchors in a coal mine advanced hydraulic support, wherein the method is implemented using the coal mine advanced hydraulic support anchor-avoidance system as described in any one of claims 1-8, characterized in that... Includes the following steps: Determine the initial position of the first advanced hydraulic support, and determine the step distance by which the advanced hydraulic support moves forward; Identify and determine the location of the forward anchorage of the advanced hydraulic support; Select anchors that meet the requirements for anchor avoidance and determine the anchor avoidance status of the advanced hydraulic support; The first advanced hydraulic support completes the corresponding anchor avoidance state in the initial position according to the position of the anchor, and moves the support forward by one step. Before the remaining advanced hydraulic supports are anchored, they are moved to the initial position and the same anchor-avoiding and shifting actions as the previous advanced hydraulic support are repeated.

10. The method for avoiding anchorages in advanced hydraulic supports in coal mines according to claim 9, characterized in that, Selecting anchors that meet the requirements for anchor avoidance includes the following steps: On the front side of the protective cover body, and along the width direction of the support base, a first anchoring area and a second anchoring area are divided. When the telescopic beam is in its extended state, the first anchoring area is arranged correspondingly to the telescopic beam along the length of the support base, and the second anchoring area is arranged correspondingly to the roof support body along the length of the support base. If there are anchors in the first anchor avoidance zone, then the top protection component is in the first state and the telescopic beam is in the retracted state; If there are anchors in the second anchorage area, the top protection component will be in the second state after the telescopic beam is in the retracted state.

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