Support system and support method

Abstract

The embodiment of the application relates to the supporting technology field of gob-side entry driving, and particularly relates to a supporting system and a supporting method. The supporting system comprises a plurality of monitoring grooves, a plurality of supporting plates, a displacement monitoring unit and at least two groups of supporting units. The plurality of monitoring grooves are arranged at the top of a coal pillar, and the plurality of monitoring grooves are arranged at intervals along the extension direction of a roadway. Each monitoring groove is arranged along the width direction of the coal pillar. At least one supporting plate is arranged in each monitoring groove. The displacement monitoring unit is arranged on the supporting plate, the upper part of the displacement monitoring unit is in direct contact with a direct roof, and the displacement monitoring unit is used for collecting displacement trajectory data of the direct roof. Two groups of supporting units are arranged in the goaf on both sides of the coal pillar and in the roadway. The upper ends of the two groups of supporting units are connected with the end parts of the supporting plates. The supporting units can adjust the supporting mode according to the displacement trajectory data of the direct roof collected by the displacement monitoring unit, and adaptive adjustment of direct roof deformation is realized.

Description

Technical Field

[0001] This application relates to the field of roadway support technology, specifically to a support system and support method. Background Technology

[0002] Coal pillar roadway excavation along the goaf is a key technology for improving coal resource recovery and reducing roadway excavation. This technology uses a narrow coal pillar of only 3-8 meters to excavate a roadway at the edge of the goaf of the previous working face, serving the next working face. This significantly reduces coal resource loss caused by traditional wide coal pillars and improves resource utilization. However, the coal pillar is constantly in a complex mechanical environment during excavation and service: it is subjected to dynamic pressure from the excavation disturbance of the current working face, and also to residual support pressure from the lateral overburden movement of adjacent goaf areas. This makes the coal pillar and its immediate roof highly susceptible to asymmetric and non-uniform deformation and failure, leading to roadway instability, support failure, and even overall collapse of the coal pillar. Therefore, accurate monitoring of the immediate roof deformation during coal pillar roadway excavation along the goaf and implementing effective support based on the monitoring results are crucial for ensuring roadway safety.

[0003] Currently, the monitoring and support of roadways along coal pillars mainly adopt the following methods: point or line-type stress gauges, displacement gauges and other monitoring equipment are installed in the roadway to monitor the changes in direct roof stress and displacement regularly or in real time; based on the monitoring results, support equipment such as anchor bolts, anchor cables and supports are used to support the roadway.

[0004] However, in existing technologies, the monitoring system and the support system are independent of each other. Monitoring data is only used for safety early warning and cannot be fed back to the support system in real time to dynamically adjust support parameters, making it difficult to form a closed-loop control that combines monitoring and support. When the direct roof undergoes displacement, there is a risk of insufficient support strength leading to safety accidents. Summary of the Invention

[0005] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This part of the invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0007] Therefore, a first aspect of the present invention provides a support system.

[0008] A second aspect of the present invention provides a support method.

[0009] In view of this, a support system is proposed according to a first aspect of the embodiments of this application, comprising: Multiple monitoring slots are provided at the top of the coal pillar, and the monitoring slots are spaced apart along the extension direction of the roadway and along the width direction of the coal pillar. Multiple support plates, with at least one support plate provided in each of the monitoring slots; A displacement monitoring unit is connected to the support plate. The upper part of the displacement monitoring unit is used to contact the direct top. The displacement monitoring unit is used to collect the displacement trajectory data of the direct top. At least two sets of support units are provided, which are respectively set in the goaf on both sides of the coal pillar and in the roadway. The two sets of support units are respectively connected to the end of the support plate. The support units adjust the support shape according to the displacement trajectory data of the direct roof.

[0010] In one feasible implementation, the displacement monitoring unit includes: A support box is disposed in the middle of the support plate, and the middle of the support plate is provided with a groove for accommodating the support box; Two first slide rails are provided, both of which are arranged along the width direction of the coal pillar, and the two first slide rails are respectively arranged on both sides of the support box; The second slide rail is vertically disposed between the two first slide rails; A sliding plate, wherein the sliding plate is disposed on the second slide rail, and the top surface of the sliding plate is in direct contact with the direct top; Ball bearings, wherein the ball bearings are disposed at the bottom of the slide plate; A monitoring board is disposed inside the support box and located at the bottom of the ball bearing. The monitoring board is provided with multiple pressure sensors arranged in an array, and a circuit board connected to the multiple pressure sensors is provided on the monitoring board. When the ball slides with the slide plate, the ball comes into contact with the pressure sensor and triggers the pressure sensor. The circuit board records the position coordinates of the triggered pressure sensor and the corresponding pressure value to record the movement trajectory data of the ball.

[0011] In one feasible implementation, an auxiliary support assembly is further included for changing the contact state between the slide and the direct top, the auxiliary support assembly comprising: Multiple receiving slots are evenly distributed on the top surface of the slide plate; A first box and a second box are slidably disposed in each of the receiving slots. The second box is located on one side of the first box. Both the first box and the second box can slide in the vertical direction. The lower end of the first box is connected to the bottom of the receiving slot through a first spring. The telescopic rod is installed inside the first box and extends and retracts in the vertical direction. The telescopic rod has two working states: a first telescopic length and a second telescopic length. The support plate is fixedly installed on the side wall of the second box, and the support plate passes through the sliding groove provided on the side wall of the first box and is connected to the telescopic end of the telescopic rod. A rotating roller is rotatably mounted on the second housing. The top surface of the second housing is provided with a slot for accommodating the rotation of the rotating roller, and the rotating roller is in direct contact with the top surface.

[0012] In one feasible implementation, a cleaning component is further included, disposed at the bottom of the slide plate, the cleaning component being used to remove foreign matter from the monitoring plate, the cleaning component comprising: A ring plate is disposed on the lower end face of the slide plate; A brush bar is disposed on the bottom surface of the ring plate.

[0013] In one feasible implementation, each set of the support units includes: The third guide rail is arranged in a direction parallel to the tunnel; A first movable seat is slidably disposed on the third guide rail; A lifting cylinder is mounted on the first movable seat; The fourth guide rail is disposed on the upper side of the lifting cylinder and is arranged parallel to the third guide rail; The second movable seat is slidably disposed on the fourth guide rail; A spring rod is disposed between the second movable seat and the lifting cylinder, and the two ends of the spring rod are respectively ball-jointed to the second movable seat and the lifting cylinder.

[0014] In one feasible implementation, the spring bar includes: A sliding cylinder, the first end of which is connected to the second movable seat ball joint; A sliding rod, the first end of which is slidably connected to the cavity of the sliding cylinder, and the second end of which is hinged to the ball of the lifting cylinder; The second spring is sleeved on the outside of the slide rod, and its two ends abut against the hinge point between the second end of the slide cylinder and the second end of the slide rod.

[0015] In one feasible implementation, it further includes: At least two sealing sleeves are provided, each sleeve being fitted onto one end of the support plate. The sealing sleeves are inflatable and are used to seal the gap between the support plate and the monitoring groove after inflation. A gas concentration monitoring plate is disposed at the end of the support plate located on one side of the roadway.

[0016] A second aspect of the embodiments of this application provides a support method, which is applied to the support system described above, the support method comprising: S1. The displacement monitoring unit collects the displacement trajectory data corresponding to the displacement of the direct top in real time. S2. Perform linear regression analysis on the collected displacement trajectory data, fit a fitted straight line representing the main trend of displacement, determine the first vertical plane where the fitted straight line is located, determine the plane passing through the center of the support plate and along the direction parallel to the width of the coal pillar as the second vertical plane, and calculate the angle between the first vertical plane and the second vertical plane. S3. Based on the included angle, adjust the positions of the first moving seat and / or the second moving seat respectively, and adjust the third vertical plane where the lifting cylinder and the spring rod are located to be coplanar or parallel to the first vertical plane.

[0017] In one feasible implementation, The displacement trajectory data in step S1 is the coordinate trajectory formed by the pressure sensor triggered when the ball rolls. Step S2 further includes: analyzing the pressure values ​​collected by the pressure sensor, constructing a pressure distribution map, fitting a second straight line that reflects the change in pressure gradient, and calculating the angle between the second straight line and the horizontal plane as a reference angle. Step S3 further includes: controlling the extension and retraction of the lifting cylinder, and adjusting the tilt angle of the elastic rod so that the tilt angle of the elastic rod is the same as the reference angle.

[0018] In one feasible implementation, a self-cleaning step S4 is also included; Corresponding to the cleaning mode, the extension length of the telescopic rod is switched from the first telescopic length to the second telescopic length, so that the clamping force between the rotating roller and the direct top is reduced from the first clamping force to the second clamping force; Control the rotation of two rollers distributed along the width of the coal pillar, so that the slide block moves along the width of the coal pillar to complete the cleaning of foreign objects in the first direction on the monitoring plate; The two rotating rollers arranged in the width direction of the coal pillar are stopped rotating, and the two rotating rollers distributed along the extension direction of the roadway are rotated, so that the slide plate slides along the extension direction of the roadway, thereby completing the cleaning of foreign objects in the entire monitoring plate area; After cleaning is completed, all four telescopic rods are reset to the first telescopic length, so that all rollers are restored to the pressing state with the direct top, and the system returns to monitoring mode.

[0019] Compared with the prior art, the present invention has at least the following beneficial effects: The support system provided in this application includes: multiple monitoring slots, multiple support plates, displacement monitoring units, and at least two sets of support units. By integrating the displacement monitoring units onto the support plates and connecting the support units to the ends of the support plates, an integrated monitoring and support system is formed. When the direct roof experiences displacement, the displacement monitoring units in contact with the direct roof can collect the displacement trajectory data of the direct roof in real time. The support units dynamically adjust the support form based on this data, realizing the applicability adjustment of the support units to the deformation of the direct roof. This solves the problem that monitoring and support are independent in traditional technologies and cannot form a closed-loop control. Therefore, the support system disclosed in this invention can provide applicability support to the direct roof based on its displacement and deformation, thereby avoiding the safety hazards existing in the current support methods.

[0020] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0021] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A schematic structural diagram of the support system according to the first embodiment of this application; Figure 2 This is a schematic diagram of the displacement monitoring unit structure of the present invention; Figure 3 This is a partial cross-sectional view of the displacement monitoring unit of the present invention; Figure 4 for Figure 3 A partially enlarged structural diagram; Figure 5 This is a schematic diagram of the cleaning assembly of the present invention; Figure 6 This is a schematic diagram of the auxiliary support component structure of the present invention; Figure 7 This is a schematic diagram of the support mechanism structure of the present invention; Figure 8This is a schematic diagram of the elastic rod structure of the present invention; Figure 9 This is a schematic diagram of the sealing bladder and gas concentration monitoring plate of the present invention.

[0022] in, Figures 1 to 9 The correspondence between the reference numerals and component names in the attached drawings is as follows: 1. Coal pillar; 2. Support plate; 3. Displacement monitoring unit; 31. Support box; 32. First slide rail; 33. Second slide rail; 34. Sliding plate; 35. Monitoring plate; 36. Ball bearing; 37. Auxiliary support assembly; 38. Cleaning mechanism; 39. Collection chamber; 321. Slide groove; 322. First guide rod; 323. Third spring; 331. Slide seat; 332. Second guide rod; 333. Fourth spring; 341. Receiving groove; 351. Pressure sensor; 371. First housing; 372. First spring; 373. Telescopic rod; 374. Second 375. Box body; 376. Support plate; 377. Rotary roller; 378. First rotary drive component; 381. Ring plate; 382. Brush strip; 383. Second rotary drive component; 384. Rotary wheel; 391. Collection port; 392. Conveyor belt; 4. Support unit; 5. Sealing sleeve; 6. Gas concentration monitoring plate; 11. Monitoring trough; 41. Third guide rail; 42. First moving seat; 43. Lifting cylinder; 44. Fourth guide rail; 45. Second moving seat; 46. Elastic rod; 47. Fifth spring; 461. Slide cylinder; 462. Slide rod; 463. Second spring. Detailed Implementation

[0023] The following description provides numerous specific details to offer a more thorough understanding of the technical solutions provided by this invention. However, it will be apparent to those skilled in the art that the technical solutions provided by this invention can be implemented without one or more of these details.

[0024] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0025] Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the invention is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0026] To better understand the above technical solutions, the technical solutions of the embodiments of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this application and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this application, rather than limitations on the technical solutions of this application. In the absence of conflict, the embodiments of this application and the technical features in the embodiments can be combined with each other.

[0027] like Figure 1 As shown, a support system is proposed according to a first aspect of the embodiments of this application. The support system includes: multiple monitoring slots 11, multiple support plates 2, displacement monitoring units 3, and at least two sets of support units 4; wherein the multiple monitoring slots 11 are disposed on the top of the coal pillar 1, the multiple monitoring slots 11 are spaced apart along the extension direction of the roadway, and the monitoring slots 11 are disposed along the width direction of the coal pillar 1; each monitoring slot is provided with at least one support plate; the displacement monitoring unit 3 is disposed on the support plate 2, the upper part of the displacement monitoring unit 3 is used to contact the immediate roof, and the displacement monitoring unit 3 is used to collect the displacement trajectory data of the immediate roof; the two sets of support units 4 are respectively disposed in the goaf on both sides of the coal pillar 1 and in the roadway, the upper ends of the two sets of support units 4 are respectively connected to the ends of the support plates 2, and the support units 4 can adjust the support shape according to the displacement trajectory data of the immediate roof.

[0028] In this technical solution, the number and spacing of monitoring slots 11 can be optimized based on the roadway geological conditions, coal pillar size, and expected monitoring accuracy. For example, in sections with fractured roofs or high ground pressure, the arrangement of monitoring slots 11 can be appropriately increased to improve the spatial resolution of monitoring data; in sections with relatively stable surrounding rock, the spacing of monitoring slots 11 can be appropriately increased to reduce system costs and construction workload. Each monitoring slot 11 is set along the width direction of the coal pillar 1, which can effectively capture the stress distribution and deformation characteristics in the width direction of the coal pillar 1.

[0029] It is understood that in this technical solution, by integrating the displacement monitoring unit 3 into the middle of the support plate 2 and connecting the support unit 4 to the end of the support plate 2, an integrated monitoring and support system is formed. When the direct jacking experiences displacement, the displacement monitoring unit 3, which is in contact with the direct jacking, can collect the displacement trajectory data of the direct jacking in real time. The support unit 4 dynamically adjusts the support form according to this data, realizing the applicability adjustment of the support unit to the deformation of the direct jacking. This solves the problem that monitoring and support are independent of each other in traditional technologies and cannot form a closed-loop control. Therefore, the support system disclosed in this invention can provide applicability support to the direct jacking according to its displacement and deformation, thereby avoiding the safety hazards existing in the current support methods.

[0030] like Figure 2 and Figure 3 As shown, in one feasible embodiment, the displacement monitoring unit 3 includes: a support box 31, two first slide rails 32, a second slide rail 33, a sliding plate 34, a ball bearing 36, and a monitoring plate 35; wherein the support box 31 is disposed in the middle of the support plate 2, and the middle of the support plate 2 is provided with a groove for accommodating the support box 31; the two first slide rails 32 are both arranged along the width direction of the coal column 1, and the two first slide rails 32 are respectively disposed on both sides of the support box 31; the second slide rail 33 is vertically disposed between the two first slide rails 32; the sliding plate 34 is disposed on the second slide rail 33, and the sliding plate 35... The top surface of 4 is in direct contact with the top; the ball 36 is located at the bottom of the slide plate 34; the monitoring plate 35 is located inside the support box 31 and at the bottom of the ball 36. The monitoring plate 35 is provided with multiple pressure sensors 351 arranged in a rectangular array. The monitoring plate 35 is provided with a circuit board connected to the multiple pressure sensors 351. When the ball 36 slides with the slide plate 34, the ball 36 contacts the pressure sensor 351 and triggers the pressure sensor 351. The circuit board records the position coordinates of the triggered pressure sensor 351 and the corresponding pressure magnitude to record the motion trajectory data of the ball 36.

[0031] In this technical solution, both the first slide rail 32 and the second slide rail 33 are precision linear guide rails. Specifically, the first slide rail 32 includes a groove 321, a first guide rod 322, a slide block 331, and a third spring 323. The groove 321 is arranged along the width direction of the coal pillar 1 and is located on the side of the support plate 2. The first guide rod 322 is located inside the groove 321. The slide block 331 is fitted onto the first guide rod 322 and is slidably connected to the inner wall of the groove 321. The first guide rod 322 exposed outside the slide block 331 is fitted with a third spring 323. The second slide rail 33 includes two second guide rods 332 located between the two slide blocks 331. The slide plate 34 is slidably connected to the two second guide rods 332, and the second guide rod 332 exposed outside the slide plate 34 is fitted with a fourth spring 333. Specifically, the slide plate 34 is made of lightweight, high-strength aluminum alloy material, which reduces its own weight while ensuring structural strength and reducing the additional load on the immediate roof. The ball bearing 36 is made of wear-resistant bearing steel and is movably connected to the bottom of the slide plate 34. The surface roughness Ra of the ball bearing 36 is no greater than 0.1μm to reduce the frictional resistance between it and the pressure sensor 351. The pressure sensor 351 on the monitoring plate 35 is a thin-film pressure sensor with a thickness of no more than 0.3mm, and the center distance between adjacent sensors is 5mm-15mm. The circuit board integrates a microcontroller and a data storage module, which can acquire the trigger signal of the pressure sensor 351 in real time. A planar coordinate system is established with the direction of the first slide rail 32 as the X-axis and the direction of the second slide rail 33 as the Y-axis, with the plane where the monitoring plate 35 is located as the reference plane. At the same time, the coordinates of the positions of the array-type pressure sensing units 351 are marked. In this way, the circuit board can encode and store the trigger position, pressure value, and other data of the ball bearing triggering the pressure sensor when the direct top deforms or displaces.

[0032] Understandably, this technical solution, by setting up a slide rail structure (first slide rail 32 and second slide rail 33) that can slide freely in two directions, allows the slide plate 34 to slide freely in the horizontal plane along the X-axis (coal pillar width direction) and Y-axis (roadway extension direction), thereby converting the displacement of the direct roof in any direction into planar motion of the slide plate 34. The cooperation between the ball bearings 36 and the pressure sensor array 351 discretizes the continuous mechanical displacement into a high-density coordinate point sequence, achieving omnidirectional capture of the direct roof displacement trajectory. Compared with traditional point or line displacement monitoring, the monitoring method disclosed in this embodiment can obtain the complete motion trajectory of the direct roof in the horizontal plane, not only monitoring the magnitude of the displacement but also identifying the dominant direction of the displacement, providing a data foundation for the precise adjustment of subsequent support configurations. Furthermore, since the ball bearings 36 and the pressure sensor 351 are in rolling contact, the frictional resistance is extremely small, and it will not interfere with the natural movement of the direct roof, ensuring the authenticity of the monitoring data. In addition, the third spring 323 and the fourth spring 333 installed on the first slide rail 32 and the second slide rail 33 can buffer the small reciprocating fluctuations generated by the direct jacking, thereby reducing the start frequency of the support mechanism 4 and making the monitoring and early warning of the goaf tunneling safer and more reliable.

[0033] like Figures 4-6 As shown, in one feasible embodiment, the support system further includes an auxiliary support assembly 37 for changing the contact state between the sliding plate 34 and the direct top. The auxiliary support assembly 37 includes: a receiving groove 341, a first housing 371 and a second housing 374, a telescopic rod 373, a support plate 375, and a rotating roller 376. The four receiving grooves 341 are evenly distributed on the top surface of the sliding plate 34. A first housing 371 and a second housing 374 are slidably disposed in each receiving groove 341. The second housing 374 is located on one side of the first housing 371. Both the first housing 371 and the second housing 374 can slide in the vertical direction. The lower end of the housing 371 is connected to the bottom of the receiving groove 341 via a first spring 372; the telescopic rod 373 is installed inside the first housing 371 and extends and retracts in the vertical direction, and the telescopic rod 373 has two working states: a first telescopic length and a second telescopic length; the support plate 375 is fixedly installed on the side wall of the second housing 374, and the support plate 375 passes through the sliding groove installed on the side wall of the first housing 371 and is connected to the telescopic end of the telescopic rod 373; the rotating roller 376 is rotatably installed on the second housing 374, and the top surface of the second housing 374 is provided with a slot for accommodating the rotation of the rotating roller 376, and the rotating roller 376 is in direct contact with the top.

[0034] In this technical solution, the fixed end of the telescopic rod 373 is fixedly connected to the upper side wall of the first housing 371, and the telescopic end of the telescopic rod 373 is vertically downward. When the second housing 374 is connected to the telescopic end of the telescopic rod 373 through the support plate 375, when the telescopic end of the telescopic rod 373 slides upward to the first telescopic amount, the displacement monitoring unit 3 is in monitoring mode. When the telescopic end of the telescopic rod 373 slides downward to the second telescopic amount, the displacement monitoring unit 3 is in cleaning mode. In other words, the contact mode between the slide plate 34 and the direct top can be changed through the self-adjustment of the auxiliary support component. When the system needs to be in monitoring mode, the telescopic rod 373 is adjusted to the first telescopic length by the auxiliary support component 37. At this time, the clamping force between the roller 376 and the direct top is the first clamping force. At this time, when the direct top undergoes displacement deformation, the slide plate 34 can be moved synchronously, and the displacement trajectory data of the direct top displacement deformation can be obtained. After the direct top stabilizes, the recorded displacement trajectory data is obtained and fed back to the support unit 4 connected to the microcontroller to adjust the support state of the support unit 4, thereby improving the effective support effect of the support unit 4 on the direct top. When the sliding disc 34 needs to be driven to clean the surface of the monitoring plate 35, i.e. when the system needs to be in cleaning mode, the sliding disc 34 is adjusted to make friction contact with the direct top through the auxiliary support component 37. The telescopic rod 373 is adjusted to the second telescopic length through the auxiliary support component 37. At this time, the clamping force between the rotating roller 376 and the direct top is the second clamping force. When the two rotating rollers 376 arranged along the width direction of the coal pillar 1 are rotated, the sliding plate 34 can slide along the first direction (width direction of the coal pillar 1) of the monitoring plate 5. When the two rotating rollers 376 arranged along the roadway extension direction are rotated, the sliding plate 34 can slide along the second direction (roadway extension direction) of the monitoring plate 5. In this way, the upper surface of the monitoring plate 35 can be cleaned in its entirety.

[0035] Specifically, the second housing 374 contains a first rotary drive component 377 connected to the rotating roller 376, and the first rotary drive component 377 is connected to a microcontroller. The telescopic rod 373 is a miniature electric push rod or a hydraulic push rod, and the telescopic rod 373 is electrically connected to the microcontroller on the circuit board. The stroke of the telescopic rod 373 is 5mm-20mm, and the telescopic length can be precisely adjusted according to the control commands of the microcontroller. The rotating roller 376 is covered with an elastic friction sleeve, which is made of polyurethane or rubber material and has anti-slip texture on the surface to increase the coefficient of friction with the direct top.

[0036] Understandably, this embodiment achieves controllable switching of the contact state between the sliding disc 34 and the direct top through the auxiliary support component 37. The four cross-shaped rotating rollers 376 can act as both follow-up supports, allowing the sliding disc 34 to move with the direct top, and as drive wheels, actively driving the sliding disc 34 to move, achieving a dual-purpose and multifunctional effect. In monitoring mode, the rotating rollers 376 only serve as auxiliary supports, ensuring reliable contact between the sliding disc 34 and the direct top; in cleaning mode, the rotating rollers 376 switch to drive wheels, actively rotating to drive the sliding disc 34 along the planned path, thereby driving the cleaning component 38 to clean the monitoring plate 35. This design avoids the need for an additional drive mechanism, simplifies the system structure, and reduces costs.

[0037] In one feasible implementation, the support system further includes a cleaning component 38 disposed at the bottom of the slide plate 34. The cleaning component 38 is used to clean foreign objects on the monitoring plate 35. The cleaning component 38 includes a ring plate 381 and a brush strip 382. The ring plate 381 is disposed on the lower end face of the slide plate 34. The brush strip 382 is disposed on the bottom surface of the ring plate 381.

[0038] In this technical solution, a ring plate 381 is rotatably mounted on the lower end face of a sliding plate 34. A second rotary drive component 383 is located inside the lower end of the sliding plate 34. The output end of the second rotary drive component 383 is connected to a rotating wheel 384 that contacts the inner ring wall of the ring plate 381. The ring plate 381 has an annular structure, with an outer diameter slightly smaller than the width of the monitoring plate 35 and an inner diameter larger than the range of motion of the ball bearings 36, thus avoiding interference with the ball bearings 36. The brush strip 382 is made of wear-resistant nylon or pig bristles, with bristle lengths of 3mm-8mm and moderate density, effectively cleaning dust without scratching the surface of the monitoring plate 35. The second rotary drive component 383 is a miniature geared motor with adjustable output speed. The rotating wheel 384 is a friction wheel with a rubber friction layer on its outer edge, which is in close contact with the inner ring wall of the ring plate 381, driving the ring plate 381 to rotate through friction. Furthermore, to facilitate the collection of foreign objects during the cleaning process, the support box 31 is provided with a collection cavity 39 located below the monitoring plate 35. The two ends of the collection cavity 39 along the direction of the first slide rail 32 are provided with collection ports 391. The bottom of the collection cavity 39 located at the collection port 391 is provided with a conveyor belt 392. The bottom of the collection cavity 39 located at the collection port 391 is provided with a downward inclined surface, and the conveyor belt 391 is located on the inclined surface so that the dust particles cleaned by the brush strip 382 are transported by the conveyor belt 391 to the middle of the collection cavity 39, thereby improving the utilization rate of the collection space of the collection cavity 39.

[0039] Understandably, during the cleaning operation, the displacement monitoring unit 3 switches the slide plate 34 to cleaning mode via the auxiliary support assembly, causing the two rotating rollers 376 arranged along the width direction of the coal pillar 1 and the two rotating rollers 376 arranged along the roadway extension direction to rotate in stages, thus making the slide plate 34 move first along the first direction and then along the second direction. Simultaneously, the microcontroller controls the second rotating drive component 383 to start, driving the rotating wheel 384 to rotate. The rotating wheel 384 drives the ring plate 381 to rotate on the lower end face of the slide plate 34 through friction, and the brush strip 382 subsequently performs a circular motion on the surface of the monitoring plate 35, sweeping away coal dust, rock powder, and other foreign objects adhering to the surface of the monitoring plate 35. Through the superposition of the linear movement of the slide plate 34 and the rotational movement of the ring plate 381, the brush strip 382 can cover the entire surface of the monitoring plate 35, achieving full-area cleaning. Furthermore, in this technical solution, the cleaning component 38 and the auxiliary support assembly work together to realize the automatic cleaning function of the monitoring plate 35. The underground environment is characterized by high dust and humidity, making sensor surfaces highly susceptible to contamination, which can lead to signal drift or malfunction. Manual cleaning is difficult and dangerous. This solution utilizes program control to automatically perform cleaning, eliminating the need for manual intervention and resolving the industry challenge of ensuring long-term sensor reliability. The rotary cleaning structure of the ring plate 381, combined with the linear movement of the sliding disc 34, forms a composite cleaning trajectory. Compared to single-direction linear cleaning, this results in a more thorough and comprehensive cleaning effect, leaving no blind spots.

[0040] like Figure 7 As shown, in one feasible embodiment, each support unit 4 includes: a third guide rail 41, a first movable seat 42, a lifting cylinder 43, a fourth guide rail 44, a second movable seat 45, and a spring rod 46; wherein the third guide rail 41 is arranged along a direction parallel to the roadway; the first movable seat 42 is slidably arranged on the third guide rail 41; the lifting cylinder 43 is arranged on the first movable seat 42; the fourth guide rail 44 is arranged on the upper side of the lifting cylinder 43, and the fourth guide rail 44 is parallel to the third guide rail 41; the second movable seat 45 is slidably arranged on the fourth guide rail 44; the spring rod 46 is arranged between the second movable seat 45 and the lifting cylinder 43, and the two ends of the spring rod 46 are respectively ball-jointed with the second movable seat 45 and the lifting cylinder 43, while the upper end of the fourth guide rail 44 is connected to the end of the support plate 2 through a fifth spring 47.

[0041] In this technical solution, the third guide rail 41 and the fourth guide rail 44 are both heavy-duty linear guide rails with sufficient rigidity and load-bearing capacity. Their length is determined according to the tunnel width and support range, typically 2m-5m. The first moving seat 42 and the second moving seat 45 are both driven by servo motors via ball screws to achieve precise position control, with a positioning accuracy of ±0.5mm. The lifting cylinder 43 is a hydraulic cylinder or an electric cylinder with a stroke of 0.5m-2m, which can adjust the support height in real time according to the roof subsidence. The third guide rail 41, the fourth guide rail 44, and the lifting cylinder 43 are all connected to a microcontroller on a circuit board.

[0042] It can be understood that during the adjustment of the support configuration, the microcontroller calculates the main direction of roof deformation based on the roof displacement trajectory data collected by the displacement monitoring unit 3, and then controls the first moving seat 42 and the second moving seat 45 to move to the target position, so that the vertical plane where the lifting cylinder 43 and the elastic rod 46 are located is parallel or coplanar with the main direction of roof deformation. At the same time, the lifting cylinder 43 adjusts its extension length according to the roof subsidence, while the fifth spring 47 on the fourth guide rail 44 maintains appropriate pressure with the support plate 2. In this technical solution, the support unit 4 adopts a double guide rail moving structure (the third guide rail 41 and the fourth guide rail 44), which allows for arbitrary changes in the spatial posture of the support rod; the ball joint allows the elastic rod 46 to swing freely in multiple directions, adapting to the irregular shape and tilt angle of the roof. By adjusting the support plane to be consistent with the main direction of roof deformation, the direction of the support force is optimally matched with the main trend of roof deformation, maximizing the support effect. Compared to traditional fixed support, this solution can dynamically follow the deformation of the roof, avoiding support failure or structural damage caused by the inconsistency between the support direction and the deformation direction.

[0043] like Figure 8 As shown, in one feasible embodiment, the elastic rod 46 includes: a slide cylinder 461, a slide rod 462, and a second spring 463; wherein the first end of the slide cylinder 461 is ball-jointed to the second movable seat 45; the first end of the slide rod 462 is slidably connected to the cavity of the slide cylinder 461, and the second end of the slide rod 462 is ball-jointed to the lifting cylinder 43; the second spring 463 is sleeved on the outside of the slide rod 462, and the two ends of the second spring 463 respectively abut against the hinge point between the second end of the slide cylinder 461 and the second end of the slide rod 462.

[0044] In this technical solution, the slide cylinder 461 is a hollow cylindrical structure with a precision-machined inner wall that forms a clearance fit with the outer diameter of the slide rod 462, resulting in low sliding resistance. The slide rod 462 is a solid round steel with a chrome-plated surface to improve wear resistance and corrosion resistance. The second spring 463 is a high-strength compression spring, and its elastic coefficient is determined based on the design support force calculation. In the working state, when the pressure of the support plate 2 increases, the slide rod 462 slides outward from the slide cylinder 461, compressing the second spring 463; when the pressure of the support plate 2 decreases, the second spring 463 returns to its original position, pushing the slide rod 462 inward. This telescopic structure allows the elastic rod 46 to have a certain yield stroke, enabling it to absorb the dynamic deformation of the support plate 2 without rigid failure.

[0045] Understandably, the sliding sleeve structure of the elastic rod 46, combined with the second spring 463, constitutes an adaptive support component with pressure-reducing characteristics. When the direct top plate causes the support plate 2 to slowly sink or periodically press down, the sliding rod 462 slides within the sliding cylinder 461, compressing the second spring 463 to absorb deformation energy and prevent the support structure from bearing excessive impact loads. When the pressure decreases, the second spring 463 returns to its original position, ensuring that the support member remains in contact with the top plate. This configuration allows the direct top plate a certain amount of deformation space while providing sufficient support force after deformation stabilizes, optimizing the mechanical response characteristics of the support system. Simultaneously, the dual degrees of freedom of the ball joint connection and the sliding rod's extension and retraction allow the elastic rod 46 to adapt to the displacement and rotation of the top plate in different directions, improving the adaptability of the support system.

[0046] like Figure 9 As shown, in one feasible embodiment, the support system further includes: at least two sealing sleeves 5 and a gas concentration monitoring plate 6. The sealing sleeves 5 are respectively fitted onto both ends of the support plate 2. The sealing sleeves 5 are inflatable structures used to seal the gap between the support plate 2 and the monitoring groove 11 after inflation. The gas concentration monitoring plate 6 is located at the end of the support plate 2 on one side of the roadway.

[0047] In this technical solution, the sealing sleeve 5 is made of rubber or polymer composite material, possessing excellent corrosion resistance and anti-aging properties. The sealing sleeve 5 is annular, with its inner ring tightly fitted around the end of the support plate 2, and its outer ring in a contracted state when not inflated, facilitating installation. An inflation valve is installed on the sealing sleeve 5, allowing compressed air or nitrogen to be injected into it via an external air source. After inflation, the sealing sleeve 5 expands, its outer ring tightly fitting against the inner wall of the monitoring groove 11, forming a reliable seal. The working pressure of the sealing sleeve 5 is typically 0.2MPa-0.5MPa, adjustable according to the on-site gas pressure and air leakage. The gas concentration monitoring plate 6 can monitor the gas concentration in the roadway in real time. The gas concentration monitoring plate 6 is connected to the mine safety monitoring system; when the detected gas concentration exceeds a preset threshold (e.g., 0.5% or 0.8%), the system automatically issues an audible and visual alarm. During installation, the support plate 2 is first placed into the monitoring slot 11. After adjusting its position, air is injected into the sealing sleeve 5 to expand and seal the gaps. Then, the gas concentration monitoring plate 6 is fixed to the end of the support plate 2 on the side of the roadway and connected to the power supply and signal lines. During system operation, the gas concentration monitoring plate 6 works continuously, uploading monitoring data in real time.

[0048] It can be understood that the sealing sleeve 5 and the gas concentration monitoring plate 6 constitute a dual safety barrier. On the one hand, after the sealing sleeve 5 is inflated, it tightly seals the gap between the support plate 2 and the monitoring groove 11, physically cutting off the channel for harmful gases from the goaf to seep into the roadway, preventing gas leakage and spontaneous combustion due to air leakage. On the other hand, the gas concentration monitoring plate 6 monitors the gas concentration in key areas of the roadway in real time, and immediately issues an early warning if an abnormality is detected, buying time for personnel evacuation and emergency response. This dual protection mechanism of active isolation and real-time monitoring greatly improves the overall safety level of roadway excavation along the coal pillar. At the same time, the sealing sleeve 5 adopts an inflatable structure, which is convenient to install and replace. When it is necessary to repair or replace the support plate 2, it can be easily removed by simply releasing the gas, making maintenance convenient.

[0049] According to a second aspect of the embodiments of this application, a support method is proposed. This method is applicable to the support system described above, and the support method specifically includes the following steps: S1: Displacement trajectory data acquisition When the direct top is displaced, the slide block slides synchronously with the direct top, the ball rolls on the monitoring plate and triggers the pressure sensor. The circuit board records the position coordinates of the triggered pressure sensor and the corresponding pressure value to form displacement trajectory data. S2: Deformation Trend Analysis Linear regression analysis was performed on the collected displacement trajectory data to obtain a fitted straight line representing the main trend of displacement. The first vertical plane containing this fitted straight line was determined, and the plane passing through the center of the support plate and along the direction parallel to the width of the coal pillar was determined as the second vertical plane. The angle between the first and second vertical planes was calculated. At the same time, the pressure values ​​collected by the pressure sensor were analyzed to construct a pressure distribution map. A second straight line reflecting the change of pressure gradient was obtained by fitting, and the angle between this second straight line and the horizontal plane was calculated as the reference angle. S3: Support Form Adjustment Adjust the positions of the first and second movable seats respectively, and adjust the third vertical plane where the lifting cylinder and the spring rod are located to be coplanar or parallel with the first vertical plane. At the same time, control the extension and retraction of the lifting cylinder and adjust the tilt angle of the spring rod so that the tilt angle of the spring rod is the same as the reference angle, so as to achieve the optimal matching between the support direction and the main trend of direct top deformation. S5: Self-cleaning step Based on the cleaning mode, perform the following steps: Switching the extension length of the telescopic rod from the first telescopic length to the second telescopic length reduces the clamping force between the rotating roller and the direct top from the first clamping force to the second clamping force. Control the rotation of two rollers distributed along the width of the coal pillar, drive the slide to move along the width of the coal pillar, and complete the cleaning of foreign objects in the first direction on the monitoring plate; Control the two rotating rollers to stop rotating, control the two rotating rollers distributed along the direction of the roadway to rotate, drive the slide to slide along the direction of the roadway to complete the cleaning of foreign objects in the entire monitoring plate area; After cleaning is completed, all four telescopic rods are reset to the first telescopic length, so that all rollers are restored to the pressing state with the direct top, and the system returns to monitoring mode.

[0050] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0051] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit 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.

[0052] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," 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 present 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.

[0053] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A support system, characterized in that, include: Multiple monitoring slots are provided at the top of the coal pillar, and the monitoring slots are spaced apart along the extension direction of the roadway and along the width direction of the coal pillar. Multiple support plates, with at least one support plate provided in each of the monitoring slots; A displacement monitoring unit is connected to the support plate. The upper part of the displacement monitoring unit is used to contact the direct top. The displacement monitoring unit is used to collect the displacement trajectory data of the direct top. At least two sets of support units are provided, which are respectively set in the goaf on both sides of the coal pillar and in the roadway. The two sets of support units are respectively connected to the end of the support plate. The support units adjust the support shape according to the displacement trajectory data of the direct roof.

2. The support system according to claim 1, characterized in that, The displacement monitoring unit includes: A support box is disposed in the middle of the support plate, and the middle of the support plate is provided with a groove for accommodating the support box; Two first slide rails are provided, both of which are arranged along the width direction of the coal pillar, and the two first slide rails are respectively arranged on both sides of the support box; The second slide rail is vertically disposed between the two first slide rails; A sliding plate, wherein the sliding plate is disposed on the second slide rail, and the top surface of the sliding plate is in direct contact with the direct top; Ball bearings, wherein the ball bearings are disposed at the bottom of the slide plate; A monitoring board is disposed inside the support box and located at the bottom of the ball bearing. The monitoring board is provided with multiple pressure sensors arranged in an array, and a circuit board connected to the multiple pressure sensors is provided on the monitoring board. When the ball slides with the slide plate, the ball comes into contact with the pressure sensor and triggers the pressure sensor. The circuit board records the position coordinates of the triggered pressure sensor and the corresponding pressure value to record the movement trajectory data of the ball.

3. The support system according to claim 2, characterized in that, It also includes an auxiliary support assembly for changing the contact state between the slide and the direct top, the auxiliary support assembly comprising: Multiple receiving slots are evenly distributed on the top surface of the slide plate; A first box and a second box are slidably disposed in each of the receiving slots. The second box is located on one side of the first box. Both the first box and the second box can slide in the vertical direction. The lower end of the first box is connected to the bottom of the receiving slot through a first spring. The telescopic rod is installed inside the first box and extends and retracts in the vertical direction. The telescopic rod has two working states: a first telescopic length and a second telescopic length. The support plate is fixedly installed on the side wall of the second box, and the support plate passes through the sliding groove provided on the side wall of the first box and is connected to the telescopic end of the telescopic rod. A rotating roller is rotatably mounted on the second housing. The top surface of the second housing is provided with a slot for accommodating the rotation of the rotating roller, and the rotating roller is in direct contact with the top surface.

4. The support system according to claim 2, characterized in that, It also includes a cleaning component disposed at the bottom of the slide plate, the cleaning component being used to remove foreign objects from the monitoring plate, the cleaning component comprising: A ring plate is disposed on the lower end face of the slide plate; A brush bar is disposed on the bottom surface of the ring plate.

5. The support system according to claim 1, characterized in that, Each of the aforementioned support units includes: The third guide rail is arranged in a direction parallel to the tunnel; A first movable seat is slidably disposed on the third guide rail; A lifting cylinder is mounted on the first movable seat; The fourth guide rail is disposed on the upper side of the lifting cylinder and is arranged parallel to the third guide rail; The second movable seat is slidably disposed on the fourth guide rail; A spring rod is disposed between the second movable seat and the lifting cylinder, and the two ends of the spring rod are respectively ball-jointed to the second movable seat and the lifting cylinder.

6. The support system according to claim 5, characterized in that, The elastic rod includes: A sliding cylinder, the first end of which is connected to the second movable seat ball joint; A sliding rod, the first end of which is slidably connected to the cavity of the sliding cylinder, and the second end of which is hinged to the ball of the lifting cylinder; The second spring is sleeved on the outside of the slide rod, and its two ends abut against the hinge point between the second end of the slide cylinder and the second end of the slide rod.

7. The support system according to claim 1, characterized in that, Also includes: At least two sealing sleeves are provided, each sleeve being fitted onto one end of the support plate. The sealing sleeves are inflatable and are used to seal the gap between the support plate and the monitoring groove after inflation. A gas concentration monitoring plate is disposed at the end of the support plate located on one side of the roadway.

8. A support method, characterized in that, The support method is applied to the support system as described in any one of claims 1 to 7, and the support method comprises: S1. The displacement monitoring unit collects the displacement trajectory data corresponding to the displacement of the direct top in real time. S2. Perform linear regression analysis on the collected displacement trajectory data, fit a fitted straight line representing the main trend of displacement, determine the first vertical plane where the fitted straight line is located, determine the plane passing through the center of the support plate and along the direction parallel to the width of the coal pillar as the second vertical plane, and calculate the angle between the first vertical plane and the second vertical plane. S3. Based on the included angle, adjust the positions of the first moving seat and / or the second moving seat respectively, and adjust the third vertical plane where the lifting cylinder and the spring rod are located to be coplanar or parallel to the first vertical plane.

9. The support method according to claim 8, characterized in that, The displacement trajectory data in step S1 is the coordinate trajectory formed by the pressure sensor triggered when the ball rolls. Step S2 further includes: analyzing the pressure values ​​collected by the pressure sensor, constructing a pressure distribution map, fitting a second straight line that reflects the change in pressure gradient, and calculating the angle between the second straight line and the horizontal plane as a reference angle. Step S3 further includes: controlling the extension and retraction of the lifting cylinder, and adjusting the tilt angle of the elastic rod so that the tilt angle of the elastic rod is the same as the reference angle.

10. The support method according to claim 8, characterized in that, It also includes the self-cleaning step S4; Corresponding to the cleaning mode, the extension length of the telescopic rod is switched from the first telescopic length to the second telescopic length, so that the clamping force between the rotating roller and the direct top is reduced from the first clamping force to the second clamping force; Control the rotation of two rollers distributed along the width of the coal pillar, so that the slide block moves along the width of the coal pillar to complete the cleaning of foreign objects in the first direction on the monitoring plate; The two rotating rollers arranged in the width direction of the coal pillar are stopped rotating, and the two rotating rollers distributed along the extension direction of the roadway are rotated, so that the slide plate slides along the extension direction of the roadway, thereby completing the cleaning of foreign objects in the entire monitoring plate area; After cleaning is completed, all four telescopic rods are reset to the first telescopic length, so that all rollers are restored to the pressing state with the direct top, and the system returns to monitoring mode.

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