Hydraulic support and precision assembly process for intelligent assembly of prefabricated infills after support

Abstract

In the technical field of coal mining equipment, an image acquisition system is attached to the rear center of a hydraulic support group, and the acquisition end is directed toward a robot rocker arm, and the robot rocker arm is rotatably attached to the rear of the hydraulic support group, and the gripping end of the robot rocker arm can move in multiple directions, and the gripping end of the robot rocker arm grips prefabricated filler with the assistance of the image acquisition system and places the prefabricated filler in the mined area, and the drive unit of the hydraulic support group and the drive unit of the robot rocker arm operate under the control of a control system, and when the robot rocker arm completes assembly of one point, the control system controls the hydraulic support group to move forward along the scraper conveyor to the next point. [Effects] It can improve the filling efficiency and quality of mined areas, make filling operations intelligent and automated, and ensure efficient, safe, and environmentally friendly coal mining operations.

Description

[Technical Field]

[0001] The present invention relates to the technical field of coal mining equipment, and in particular to a hydraulic support and precision assembly process for intelligently assembling prefabricated fillers after support. [Background technology]

[0002] Coal mining is prone to cause surface subsidence and waste rock discharge, posing serious threats to the ecological environment and human production and life.

[0003] Commonly used filling processes for mined areas include gangue filling, paste filling, and ground isolation grout filling. These technologies have solved the current filling problems in coal mining, but there is still room for improvement and development.

[0004] The advantage of gangue filling is that it can effectively utilize gangue, a by-product of coal mining, and achieve a certain degree of secondary resource utilization. However, in actual operation, this method faces the dilemma that the degree of compression of the gangue after filling cannot be precisely controlled, which can easily lead to uneven subsidence of the mined area and pose a potential threat to surface stability.

[0005] Paste filling has certain advantages in terms of material properties and can be well adapted to some complex filling needs, but it is relatively expensive, the preparation process of the filling material is tedious and complicated, and it is very difficult to balance the fluidity and solidification properties of the paste during the filling process, which results in adverse effects such as the filling being undense and the filler strength being insufficient, which affects the long-term stability of the mined area.

[0006] In the case of ground isolation grout filling, it can play a certain role under certain geological conditions and can effectively reinforce some mined areas, but the technology has very strict requirements for geological conditions, a relatively narrow scope of application, and it is very difficult to monitor and evaluate the grouting effect, so it is difficult to fully and accurately ensure the effective suppression of surface subsidence.

[0007] At the same time, traditional filling methods generally have low automation levels and insufficient coordination with coal mining operations. It is difficult to match the coal cutting speed of the coal mining machine with the filling operation speed, making it difficult to efficiently coordinate mining and filling operations, which impacts overall production efficiency. Furthermore, with existing filling equipment, it is difficult to quickly and accurately assemble the filler body into the designated position in the mined area after moving the hydraulic bracket, resulting in low filling efficiency and failing to meet the needs for efficient production. Summary of the Invention [Problem to be solved by the invention]

[0008] The present invention aims to solve the problems existing in the above-mentioned prior art by providing a hydraulic support and precision assembly process for intelligently assembling prefabricated fillers after support, thereby improving the filling efficiency and quality of mined areas, strengthening the coordination between filling operations and coal mining operations, realizing intelligent and automated filling operations, and ensuring the efficiency, safety, and environmental protection of coal mining. [Means for solving the problem]

[0009] To achieve the above objectives, the present invention provides the following solutions:

[0010] The present invention provides a hydraulic support for intelligently assembling prefabricated fillers after support, comprising a hydraulic support group, a robotic rocker arm, an image acquisition system, and a control system, wherein the upper part of the hydraulic support group is arranged to support the mined area, the image acquisition system is attached to the rear center of the hydraulic support group, and the acquisition end of the image acquisition system is installed toward the robotic rocker arm, the mounting end of the robotic rocker arm is rotatably attached to the rear of the hydraulic support group, the gripping end of the robotic rocker arm can move in multiple directions, the image acquisition system is electrically connected to the control system, and the gripping end of the robotic rocker arm is arranged to grip the prefabricated fillers and assemble the prefabricated fillers in the mined area with the assistance of the image acquisition system, the drive unit of the hydraulic support group and the drive unit of the robotic rocker arm are both electrically connected to the control system and operate under the control of the control system, and when the robotic rocker arm completes assembly of one point in the mined area, the control system controls the hydraulic support group to move forward to the next point along the scraper conveyor.

[0011] Preferably, the robot rocker arm includes a rocker arm body and a gripping mechanism, the mounting end of the rocker arm body is rotatably mounted to the rear of the hydraulic support group, and the free end of the rocker arm body is connected to the gripping mechanism via a connection mechanism, and further, the rocker arm body can drive the gripping mechanism to operate in multiple directions, and the connection mechanism can drive the gripping mechanism to rotate.

[0012] Preferably, the rocker arm body is attached to the rear of the hydraulic support group via a rotating rocker arm base, the rocker arm body is provided with a telescopic mechanism on a forearm connecting rod, the telescopic mechanism includes a multi-stage telescopic hydraulic cylinder, the output end of the telescopic mechanism is connected to the wrist joint of the rocker arm body, the telescopic mechanism is arranged to drive the gripping mechanism to extend and retract, the telescopic mechanism is also attached with a telescopic displacement sensor, the telescopic displacement sensor is arranged to detect the telescopic stroke of the telescopic mechanism, the telescopic displacement sensor is electrically connected to the control system, angle adjustment mechanisms are attached to the rotating rocker arm base and the shoulder joint, elbow joint and wrist joint of the rocker arm body, the angle adjustment mechanisms adjust the operation of the rocker arm body under the control of the control system, and the rocker arm body is arranged to drive the prefabricated filler to move in horizontal and vertical directions.

[0013] Preferably, the angle adjustment mechanism includes an angle adjustment motor, a worm gear, a worm, and an angle sensor, the output shaft of the angle adjustment motor is connected to the worm, the worm meshes with the worm gear, and the angle sensor is configured to detect the rotation angle of the corresponding joint of the rocker arm body and transmit angle information to the control system, so that the control system controls the operation of the angle adjustment motor.

[0014] Preferably, the angle adjustment range of the angle adjustment mechanism in the horizontal direction is −15° to +15°, the angle adjustment range of the angle adjustment mechanism in the vertical direction is −30° to +30°, and the adjustment accuracy of the angle adjustment mechanism is ±1°.

[0015] Preferably, the gripping mechanism includes a mounting frame and a plurality of claws, the mounting frame having a plurality of mounting ends, the plurality of claws being respectively detachably attached to different mounting ends, each of the claws having an inner wall with an anti-slip pattern, the mounting frame having a plurality of gripping air cylinders attached thereto, the plurality of gripping air cylinders being arranged to rotate the corresponding claws in directions toward or away from each other, each of the claws being provided with a gripping force sensor, the gripping force sensor and the gripping air cylinder both being electrically connected to the control system, the gripping force sensor being arranged to detect the pressure when the claws grip the prefabricated filling material and to send a pressure signal to the control system, so that the control system can control the gripping air cylinders and adjust their operating states.

[0016] Preferably, the mounting frame is cross-shaped, the four ends of the mounting frame form the four mounting ends, and there are two or four claws. When there are two claws, the two claws are installed symmetrically, and when there are four claws, the four claws correspond to the four mounting ends one by one.

[0017] Preferably, the hydraulic support group includes a support base, a biasing mechanism, a top beam, a front shield beam, a rear shield beam, a plurality of shield beam actuators, and a plurality of support pillars, the biasing mechanism is attached to a front end of the support base, and the biasing mechanism is arranged to connect a scraper conveyor, and the biasing mechanism can drive the support base to advance along the scraper conveyor after the coal mining machine cuts the coal, the top beam is provided with a top plate pressure sensor and a pressing displacement sensor, the top plate pressure sensor and the pressing displacement sensor are both electrically connected to the control system, the top plate pressure sensor is arranged to detect a pressure applied by the top beam when supporting the mined area and transmit the pressure to the control system, the pressing displacement sensor is arranged to detect a moving distance of the support base and transmit the distance information to the control system, the front shield beam is rotatably attached to a front end of the top beam, and the rear shield beam is arranged to connect a top plate pressure sensor and a pressing displacement sensor to the control system, the robot rocker arm and the support pillar are both attached to the support base, each support pillar is supported by a lower end of the top beam, and each support pillar is extendable and retractable; the shield beam actuators are attached to the lower ends of the front shield beam and the rear shield beam; both ends of the shield beam actuator located at the lower end of the front shield beam are supported by the lower end of the front shield beam and the lower end of the top beam, respectively; the shield beam actuator located at the lower end of the front shield beam is disposed to rotate and drive the front shield beam to expand or contract the front shield beam; both ends of the shield beam actuator located at the lower end of the rear shield beam are supported by the lower end of the rear shield beam and the upper end of the support base, respectively; and the shield beam actuator located at the lower end of the rear shield beam is disposed to rotate and drive the rear shield beam to expand or contract the rear shield beam.

[0018] The present invention also provides a precision assembly process for intelligently assembling prefabricated infill after supporting, using hydraulic support for intelligently assembling prefabricated infill after supporting in the above technical solution; Step S1: manufacturing and assembling the hydraulic support group according to the design requirements and moving it into the well; Step S2: Test the hydraulic support group inside the mine to debug the hydraulic system of the hydraulic support group, test whether the support column can smoothly extend and retract, test whether the biasing mechanism can accurately control the movement of the hydraulic support group, and test to confirm the performance of each part in the hydraulic support group under various pressures and loads; Step S3 attaches the robot rocker arm to the rear of the hydraulic support group; Step S4: Debug each joint and each connecting rod of the robot rocker arm, check the flexibility and sealing of each joint and each connecting rod, and then debug the gripping mechanism and adjust the claw shape, opening and closing angle, and gripping force according to the shape of the prefabricated filling material and the phase interlocking interface; Step S5: calibrate the stroke of the telescopic mechanism, install a telescopic displacement sensor for debugging, and test the angle adjustment mechanism. By linking the rotary motor and the angle adjustment mechanism at each joint, the rocker arm body can be rotated in all directions and the angle can be fine-tuned. The corresponding angle sensor feeds back the data to the control system for calibration. Step S6: Integrate and debug the control system by building a control system with a programmable logic controller as the core, and correctly connect the hydraulic support group, the robot rocker arm drive unit, and each sensor to the programmable logic controller; Step S7: Create control system software including a hydraulic support group movement control module, a robot rocker arm operation control module, and a fault diagnosis and safety protection module. During the underground debugging process, use analog signals to input data from each sensor to test the control system's calculation accuracy regarding the hydraulic support group's movement speed and biasing force, and its ability to accurately control the robot rocker arm's operation. At the same time, test the response speed and reliability of the fault diagnosis and safety protection module. Step S8: After the support has been debugged, a hydraulic support that intelligently assembles the prefabricated filler is installed at a predetermined position on the underground coal mining work surface, and the hydraulic support group and the scraper conveyor are connected via a biasing mechanism. The front and rear shield beams are extended by driving the shield beam actuators, so that the upper end surfaces of the front and rear shield beams are flush with the upper end surface of the top beam. At this time, the front, top, and rear shield beams are simultaneously used to support the top plate of the mined area. Step S9: complete the connection between the control system and the control mechanism of the coal mining machine, perform online debugging of the entire equipment, and readjust the parameters of the movement speed and biasing force of the hydraulic support group according to the coal cutting speed of the coal mining machine and the actual geological conditions inside the mine to achieve coordinated work, and at the same time, fine-tune the operation of the robot rocker arm on site to ensure that the robot rocker arm can accurately grasp the prefabricated filler from the scraper conveyor and assemble the prefabricated filler in the mined area according to the design requirements; Step S10: During the coal cutting process of the coal mining machine, the hydraulic support group monitors the top plate pressure in real time and automatically adjusts the support force of the support pillar according to the pressure change to stabilize the top plate; when the coal mining machine completes coal cutting, the biasing mechanism moves the hydraulic support group forward to leave space for the post-support assembly of the hydraulic support group; An image capture mechanism is installed at the rear center of the hydraulic support group, and the image capture system is used to capture video of the mined area, acquire image information, select video clips of the process of compacting the prefabricated filler, construct a target data set, process the images, select and train an appropriate model, evaluate the trained model to find the optimal parameters for the corresponding model, compare various models with each other, and finally select the optimal operating situation identification algorithm model. This step is closely integrated with the assembly process of the robot rocker arm, and step S11 involves acquiring data in real time during each assembly process, analyzing the operating situation, and making adjustments. Step S12: the robot rocker arm starts to operate under the coordination of the control system, the gripping mechanism grips the prefabricated filler from the scraper conveyor, the telescopic mechanism moves the prefabricated filler to a predetermined position in the mined area, and the angle adjustment mechanism at each joint of the robot rocker arm accurately adjusts the placement angle of the prefabricated filler according to the design requirements, thereby achieving accurate placement for each layer. The control system collects data from each sensor in real time and transmits the equipment operation data to the ground monitoring center via remote communication, so that the ground operator can always grasp the operation status of the equipment based on the monitoring data, and if an abnormality is detected, can timely issue a remote parameter adjustment or shutdown instruction; at the same time, the fault diagnosis function and alarm function continue to operate, and can immediately issue an alarm signal when an abnormal state is detected (step S13).

[0019] Preferably, in step S11, the image capture mechanism is a high-resolution camera, and a video AI algorithm is built into the high-resolution camera. The video AI algorithm identifies the operating conditions based on a preset model and divides the operating conditions into normal and abnormal conditions. The normal operating conditions include when the prefabricated filler is successfully grasped, the prefabricated filler is accurately positioned, the detection data of each sensor is within a predetermined threshold, and there is no abnormality in the video image. The abnormal operating conditions include when the detection data of any sensor exceeds the limit, when an abnormality is detected in the video image, when the equipment operation deviates from the preset trajectory, when communication is interrupted, when there is environmental interference, or when the scraper conveyor fails to transport the prefabricated filler on time. [Effects of the Invention]

[0020] Compared with the prior art, the present invention achieves the following technical advantages: The present invention provides a hydraulic support and precision assembly process for intelligently assembling prefabricated fillers after support, wherein the upper part of the hydraulic support group is arranged to support the mined area, an image acquisition system is attached to the rear center of the hydraulic support group, and the acquisition end of the image acquisition system is installed toward the robot rocker arm, so that the position parameter index of the hydraulic support for intelligently assembling the prefabricated fillers after support can be displayed in real time, the mounting end of the robot rocker arm is rotatably attached to the rear of the hydraulic support group, the gripping end of the robot rocker arm can move in multiple directions, and the image acquisition system is electrically connected to a control system, and the gripping end of the robot rocker arm is arranged to grip the prefabricated fillers with the assistance of the image acquisition system and assemble the prefabricated fillers in the mined area, so that the prefabricated fillers can be accurately arranged layer by layer in the mined area according to the design requirements, which ensures close arrangement between the prefabricated fillers and good phase interlocking effect, and improves the compactness and stability of the fill in the mined area, and further The filling efficiency and filling quality of the mined area are improved. When the hydraulic support group completes the corresponding movement and effectively supports the rear mined area, the robot rocker arm starts to work. First, the robot arm switches from a retracted static state to a working state. Then, according to the identification of the image acquisition system, the robot rocker arm performs the corresponding extension movement to precisely grasp the prefabricated filler carried by the scraper conveyor, and then uses the rotation and telescopic functions to precisely fill the prefabricated filler. When the filling is completed, the hydraulic support group moves, allowing the robot rocker arm to fill and assemble the next point, realizing the process of "mining and filling in parallel". The drive unit of the hydraulic support group and the drive unit of the robot rocker arm are both electrically connected to the control system and operate under the control of the control system. Then, the control system coordinates the operation of the hydraulic support group and the robot rocker arm to perform the assembly and filling process, realizing the efficient assembly of the prefabricated filler in the mined area. The control system uses PLC as the core and combines various sensor networks.It can interact with coal mining machinery via wireless or wired communication, coordinating the movement of the hydraulic support group and the operation of the robotic rocker arm. At the same time, the automated prefabricated filler assembly process significantly reduces manual intervention, reducing the labor intensity and safety risks for workers working near the mined area and ensuring efficient, safe and environmentally friendly coal mining. When the robotic rocker arm completes the assembly of one point in the mined area, the control system controls the hydraulic support group to move forward along the scraper conveyor to the next point, increasing the continuity of coal mining, improving coal mining efficiency and the assembly efficiency of the prefabricated filler, filling the gaps in existing technology and injecting new vitality into the sustainable development of the coal mining industry. [Brief explanation of the drawings]

[0021] In order to more clearly describe the embodiments of the present invention or the technical solutions of the prior art, the drawings that need to be used in the embodiments are briefly introduced below. Obviously, the drawings in the following description are only several embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative efforts.

[0022] [Figure 1] FIG. 1 is a schematic diagram of the structure of hydraulic support for intelligently assembling prefabricated filling bodies after support in Example 1 (the gripping mechanism has two claws). [Figure 2] FIG. 2 is a schematic diagram of the structure of the robot rocker arm in the first embodiment (the gripping mechanism has two claws). [Figure 3] FIG. 2 is a front view of FIG. [Figure 4] FIG. 2 is a right side view of FIG. [Figure 5] FIG. 2 is a top view of FIG. [Figure 6] FIG. 1 is a schematic diagram showing the working situation of the underground environment of hydraulic support for intelligently assembling prefabricated infill after support in Example 1 (the gripping mechanism has two claws). [Figure 7]Schematic diagram of hydraulic support arrangement for intelligently assembling prefabricated infill bodies after support in Example 1 (the gripping mechanism has two claws). [Figure 8] FIG. 1 is a schematic diagram of the structure of hydraulic support for intelligently assembling prefabricated filling bodies after support in Example 1 (the gripping mechanism has four claws). [Figure 9] 1 is a schematic diagram of the structure of a robot rocker arm in Example 1 (the gripping mechanism has four claws). FIG. [Figure 10] FIG. 1 is a schematic diagram showing the working situation of the underground environment of hydraulic support for intelligently assembling prefabricated infill after support in Example 1 (the gripping mechanism has four claws). [Figure 11] Schematic diagram of hydraulic support arrangement for intelligently assembling prefabricated infill bodies after support in Example 1 (the gripping mechanism has four claws). [Figure 12] This is a schematic diagram of the structure in a static state with the hydraulic support contracted to intelligently assemble the prefabricated filling body after support in Example 1. [Figure 13] FIG. 13 is a front view of FIG. 12. [Figure 14] FIG. 1 is a schematic diagram of the structure of the hydraulic support in the transformed operating state for intelligently assembling prefabricated filling bodies after the support of Example 1. [Figure 15] FIG. 15 is a front view of FIG. [Figure 16] FIG. 1 is a schematic diagram of a structure in which the hydraulic support for intelligently assembling prefabricated infills after support in Example 1 is in a state of gripping the prefabricated infills. [Figure 17] FIG. 17 is a front view of FIG. 16. [Figure 18] FIG. 1 is a schematic diagram of the structure in which the hydraulic support for intelligently assembling prefabricated infill after support in Example 1 is in the position to place the prefabricated infill. [Figure 19] FIG. 19 is a front view of FIG. 18. [Figure 20]FIG. 10 is a principle flow logic diagram of the video AI algorithm incorporated in the S11 high-resolution camera of Example 2. DETAILED DESCRIPTION OF THE INVENTION

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, any other embodiments obtained by those skilled in the art without any creative efforts fall within the protection scope of the present invention.

[0024] The present invention aims to solve the problems existing in the prior art by providing a hydraulic support and precision assembly process for intelligently assembling prefabricated fillers after support, thereby improving the efficiency and quality of filling in mined areas, strengthening the coordination between filling operations and coal mining operations, realizing intelligent and automated filling operations, and ensuring the efficiency, safety, and environmental protection of coal mining.

[0025] In order to make the above objects, features and advantages of the present invention more apparent and comprehensible, the present invention will be described in more detail below with reference to the drawings and detailed description of the invention.

[0026] Example 1 As shown in Figures 1 to 19, this embodiment provides a hydraulic support for intelligently assembling prefabricated filler after support, and includes a hydraulic support group, a robotic rocker arm, an image acquisition system, and a control system 7. The upper part of the hydraulic support group is positioned to support the mined area. The image acquisition system is attached to the rear center of the hydraulic support group, with the acquisition end facing the robotic rocker arm, so as not to interfere with the movement of the mechanism and to fully capture the relevant structure and operation. This allows the position parameter index of the hydraulic support for intelligently assembling prefabricated filler after support to be displayed in real time. The mounting end of the robotic rocker arm is rotatably attached to the rear of the hydraulic support group, and the gripping end of the robotic rocker arm can move in multiple directions. The image acquisition system is electrically connected to the control system 7. The gripping end of the robotic rocker arm is positioned to grip the prefabricated filler with the assistance of the image acquisition system and assemble the prefabricated filler in the mined area, so that the prefabricated filler can be accurately placed layer by layer in the mined area according to the design requirements. This ensures the close arrangement of the prefabricated fillers and good phase interlocking effect, improves the compactness and stability of the fill in the mined area, and further improves the filling efficiency and filling quality of the mined area. When the hydraulic support group completes the corresponding movement and effectively supports the rear mined area, the robot rocker arm starts to work. First, the robot arm switches from a retracted static state to an operating state. Then, according to the identification of the image acquisition system, the robot rocker arm performs the corresponding extension movement to precisely grasp the prefabricated filler carried by the scraper conveyor, and then uses the rotation function and telescopic function to precisely fill the prefabricated filler. When the filling is completed, the hydraulic support group moves, allowing the robot rocker arm to fill and assemble the next point, thereby realizing the process of "mining and filling in parallel". The drive unit of the hydraulic support group and the drive unit of the robot rocker arm are both electrically connected to the control system 7 and operate under the control of the control system 7. Then, the control system 7 coordinates the operation of the hydraulic support group and the robot rocker arm to perform the assembly and filling process.This enables the efficient assembly of prefabricated fillers in mined areas. The control system 7 uses PLC as its core and combines various sensor networks to interact with coal mining machinery via wireless or wired communication, coordinating the movement of the hydraulic support group and the operation of the robotic rocker arm. At the same time, the automated prefabricated filler assembly process significantly reduces manual intervention, reducing the labor intensity and safety risks for workers working near the mined area and ensuring efficient, safe and environmentally friendly coal mining. When the robotic rocker arm completes the assembly of one point in the mined area, the control system 7 controls the hydraulic support group to move forward along the scraper conveyor to the next point, thereby enhancing the continuity of coal mining, improving coal mining efficiency and the assembly efficiency of prefabricated fillers, filling the gaps in existing technologies and injecting new vitality into the sustainable development of the coal mining industry.

[0027] Specifically, the robotic rocker arm is designed with innovative materials and technology and is positioned behind a hydraulic support group to grasp prefabricated fillers and accurately place them in a predetermined position in the mined area. The robotic rocker arm includes a rocker arm body and a grasping mechanism. The mounting end of the rocker arm body is rotatably attached to the rear of the hydraulic support group, and the free end of the rocker arm body is connected to the grasping mechanism via a connection mechanism 16. Furthermore, the rocker arm body can drive the grasping mechanism to operate in multiple directions. The rocker arm body employs advanced technologies such as a differential system and a multi-degree-of-freedom robotic arm, improving the robotic rocker arm's environmental adaptability and work efficiency. The connection mechanism 16 can drive the grasping mechanism to achieve 360-degree free rotation.

[0028] In a specific example, the total length of the robot rocker arm is designed to be 2 meters to 3.5 meters.

[0029] The rocker arm body is attached to the rear of the hydraulic support group via a rotating rocker arm base 9. The rocker arm body is composed of multiple joints and connecting rods, giving it a multi-degree-of-freedom design. The spacing between adjacent joints is designed to be 0.3m to 0.6m, and the joints are fitted with high-precision bearings and sealing devices, allowing the rocker arm body to rotate flexibly even in complex underground environments. It also has excellent sealing properties, preventing impurities such as coal dust from entering and affecting performance.

[0030] The forearm connecting rod of the rocker arm body is equipped with a telescoping mechanism 14, which includes a multi-stage telescoping hydraulic cylinder. The hydraulically driven multi-stage telescoping hydraulic cylinder is designed with a total stroke of 1.5 to 2.5 m, a telescoping speed of 0.1 to 1.3 m / s, and a thrust of 20 to 50 kN, ensuring a smooth telescoping process and sufficient thrust. Alternatively, the telescoping mechanism 14 can be an electric screw system with high-precision displacement control. The electric screw system rotates the screw via a motor to extend or retract the rocker arm body. The telescoping stroke is 1.2 to 2 m, the telescoping speed is 0.05 to 0.2 m / s, and the thrust is 15 to 40 kN. The output end of the telescoping mechanism 14 is connected to the arm joint of the rocker arm body, and the telescoping mechanism 14 is arranged to drive the gripping mechanism to extend or retract. An extension displacement sensor is also attached to the extension mechanism 14, and is arranged to detect the extension stroke of the extension mechanism 14 and work in conjunction with the control system 7 to achieve precise positioning of the prefabricated filler. The extension displacement sensor is electrically connected to the control system 7, and angle adjustment mechanisms are attached to the rotating rocker arm base 9 and the shoulder joint, elbow joint, and wrist joint of the rocker arm body. The angle adjustment mechanisms are arranged to adjust the movement of the rocker arm body under the control of the control system 7, and to drive the rocker arm body to move horizontally and vertically.

[0031] Each joint on the rocker arm body is rotatable. The rotation of each joint is typically comprised of a rotary motor, a reducer, a rotary shaft, bearings, etc. The rotary motor provides power, which is used by the reducer to reduce the rotation speed and increase the torque, causing the rotary shaft to rotate, ultimately realizing the rotation of the gripping mechanism. The rotation angle range is set to 0° to 180°, and the motor rotation speed is designed to be 5 r / min to 15 r / min. After being slowed down by the reducer and the torque increased, the actual output rotation speed of the rotary shaft is 0.5 r / min to 2 r / min. The bearings are arranged to support the rotary shaft and reduce friction and wear during rotation.

[0032] The high-precision bearings installed in each joint are preferably deep groove ball bearings or tapered roller bearings with precision grade P5 or P4, inner diameters of 50mm to 100mm, outer diameters of 80mm to 150mm, and widths of 20mm to 40mm. The sealing device should be a double lip seal or labyrinth seal, and the sealing material should be fluororubber or polyurethane rubber. These have excellent sealing performance and can effectively prevent impurities such as coal dust from entering the bearing, ensuring normal operation of the bearing and flexible rotation of the rocker body, and extending the life of the bearing.

[0033] In the detailed design of the robot rocker arm, the body of the robot rocker arm is made of a new aluminum-based silicon carbide composite material, the rotating rocker arm base 9 is made of titanium alloy material, and the gripping mechanism is made of nickel-based titanium memory alloy material. These materials not only have the characteristics of high strength, high toughness, and high stability, but can also quickly return to their original state when subjected to external force, effectively improving the durability and reliability of the robot arm.

[0034] The angle adjustment mechanism includes an angle adjustment motor, a worm gear, a worm, and an angle sensor. The output shaft of the angle adjustment motor is connected to the worm, which meshes with the worm gear. The angle adjustment motor rotates the worm, which rotates the worm gear and, in conjunction with the angle sensor, achieves precise angle adjustment. The angle sensor detects the rotation angle of the corresponding joint of the rocker arm body and transmits the angle information to the control system 7. The control system 7 controls and operates the angle adjustment motor to accurately adjust the placement angle of the prefabricated filler. The angle sensor located at the rotating rocker arm base 9 is the first angle sensor 8, the angle sensor located at the shoulder joint of the rocker arm body is the second angle sensor, the angle sensor located at the elbow joint of the rocker arm body is the third angle sensor 10, and the angle sensor located at the wrist joint of the rocker arm body is the fourth angle sensor 13.

[0035] The horizontal angle adjustment range of the angle adjustment mechanism is -15 to +15°, the vertical angle adjustment range of the angle adjustment mechanism is -30 to +30°, and the adjustment accuracy of the angle adjustment mechanism is ±1°, ensuring close alignment between the prefabricated fillers and good phase interlocking effect.

[0036] The gripping mechanism includes a mounting frame and multiple claws 18. The mounting frame has multiple mounting ends, and the multiple claws 18 are detachably attached to different mounting ends. Each claw 18 has an inner wall with a non-slip pattern, allowing it to firmly grip the prefabricated filler material. The multiple gripping air cylinders 12 are arranged to rotate the corresponding claws 18 toward or away from each other, adjusting the scale of each claw 18 according to the size of the prefabricated filler material to better fit the shapes and sizes of the phase-locked interfaces of different prefabricated filler materials. Each claw 18 is equipped with a gripping force sensor 11, and both the gripping force sensor 11 and the gripping air cylinder 12 are electrically connected to the control system 7. The gripping force sensor 11 detects the pressure applied by the claw 18 when gripping the prefabricated filler material and transmits a pressure signal to the control system 7, which then controls the gripping air cylinder 12 and adjusts its operating state.

[0037] In another embodiment, the gripping mechanism can be replaced with a suction-type gripping device, in which case the gripping force sensor 11 must be replaced with a suction force sensor.

[0038] The gripping mechanism is designed to match the shape, size, and phase-linking characteristics of the prefabricated filler to the phase-linking interface of the filler. The gripping mechanism can adopt a mechanical claw structure. The shape and opening angle of the mechanical claw can be precisely matched to the shape of the prefabricated filler. The maximum mechanical claw opening width can be designed to be 0.5m to 1.2m, the length of the mechanical claw 18 can be 0.3m to 0.6m, the thickness of the claw 18 can be 20mm to 30mm, and the maximum gripping force can be designed to be 5kN to 10kN. The claw 18 is connected to the mounting frame via a gripping cylinder 12. The gripping cylinder 12 allows the claw 18 to contract to different degrees, thereby achieving gripping and release of the prefabricated filler. At the same time, the mechanical claw can be replaced based on different prefabricated filler or environmental requirements. Interchangeable mechanical structures include two-jaw and four-jaw types.

[0039] The mounting frame is cross-shaped, and the four ends of the mounting frame form four mounting ends. There are two or four claws 18. When there are two claws 18, the two claws 18 are installed symmetrically. When there are four claws 18, the four claws 18 correspond to the four mounting ends one by one.

[0040] The hydraulic support group is arranged to support the top plate of the mined area during the coal cutting process of the coal mining machine, and to move forward after the coal mining machine has cut the coal. A space is formed at the rear of the hydraulic support group for the assembly and filling of prefabricated fillers. The hydraulic support group specifically includes a support base 5, a biasing mechanism 4, a top beam 1, a front shield beam, a rear shield beam 17, a plurality of shield beam actuators, and a plurality of support columns 3. The biasing mechanism 4 is attached to the front end of the support base 5 and is arranged to connect the scraper conveyor. After the coal mining machine has cut the coal, the biasing mechanism 4 can drive the support base 5 to move forward along the scraper conveyor. The moving speed of the biasing mechanism 4 can be adjusted according to the mining speed and the actual situation inside the mine. During the movement, each part works closely together to avoid the vibration and displacement caused by the movement from affecting the supporting effect of the top plate. At the same time, after the movement, the hydraulic support group accurately ensures an appropriate assembly space after support, and the size and shape of the space can be determined according to the size and arrangement requirements of the prefabricated fillers. the top plate pressure sensor 6 is arranged to detect the pressure applied by the top beam 1 when supporting the mined area and transmit the pressure information to the control system 7; the top plate pressure sensor 6 monitors the top plate pressure in real time during the mining process, and the control system 7 automatically adjusts the support force of the support pillar 3 according to pressure changes, thereby ensuring stable support of the top plate; the pressure displacement sensor 2 is arranged to detect the movement distance of the support base 5 and transmit the distance information to the control system 7; the front shield beam is rotatably attached to the front end of the top beam 1, and the rear shield beam 17 is rotatably attached to the rear end of the top beam 1; the robot rocker arm and the support pillars 3 are both attached to the support base 5; each support pillar 3 is supported at the lower end of the top beam 1, and each support pillar 3 is telescopic;A shield beam actuator is attached to both the lower end of the front shield beam and the lower end of the rear shield beam 17, and both ends of the shield beam actuator located at the lower end of the front shield beam are supported by the lower end of the front shield beam and the lower end of the top beam 1, respectively, and the shield beam actuator located at the lower end of the front shield beam is arranged to rotate the front shield beam to expand or contract the front shield beam, and both ends of the shield beam actuator located at the lower end of the rear shield beam 17 are supported by the lower end of the rear shield beam 17 and the upper end of the support base 5, respectively, and the shield beam actuator located at the lower end of the rear shield beam 17 is arranged to rotate the rear shield beam 17 to expand or contract the rear shield beam 17.

[0041] As a specific example, the hydraulic support group is made using advanced welding and forging technology. The height of the hydraulic support group is 4m to 5m, the width of the base is 1.2m to 1.8m, and the width of the top beam 1 is designed to be 1m to 1.5m to ensure an adequate working area. The length of the top beam 1 is designed to be 4m to 6m to distribute pressure. The top beam 1 is made of high-strength alloy steel plate with a thickness of 30mm to 50mm. It has an arch shape with an arch height of 0.5m to 1m and an arch radius of 2m to 3m, or a trapezoid structure with an upper width of 1m to 1.2m, a lower width of 1.5m to 1.8m, and a height of 0.8m to 1.2m, to better distribute the top plate pressure.

[0042] The rear shield beam 17 has a certain blocking and shielding effect on the mined area, and its length can be designed to be 3m to 5m. Its upper end surface is designed to maintain the same horizontal height as the top beam 1, preventing debris such as gangue from entering the working space. It can adjust its angle from 0° to 45° depending on the actual operating conditions while ensuring a certain working space in the mined area where the robot rocker arm is located.

[0043] The base provides a stable support for the entire hydraulic support group. It is designed to be 3m to 5m long and 40mm to 60mm thick. It is made of high-strength steel plate to ensure sufficient area and strength. The bottom is fitted with an anti-slip device such as polyurethane rubber, which can adapt to various underground geological conditions. The friction coefficient is 0.5 or higher. The size of the anti-slip device is 1.5m to 2m long and 0.3m to 0.5m wide.

[0044] The support pillar 3 is the main support component of the hydraulic support group. It is telescopically controlled by the hydraulic system and supports the top beam 1. The cylinder diameter of the telescopic pillar is 200mm to 300mm, the piston rod diameter is 100mm to 150mm, the stroke of the telescopic pillar is 1m to 2m, and the rated bearing capacity of each pillar is 800kN to 1500kN. The biasing mechanism 4 is positioned to enable the hydraulic support group to move forward after the coal is cut by the coal mining machine. It includes a pressure jack and pressure rod. The pressure jack has a stroke of 0.8m to 1.5m and the pressure rod has a diameter of 80mm to 120mm. It is made of high-strength alloy steel and is connected to the scraper conveyor to ensure relative positional stability and movement coordination between the hydraulic support group and the scraper conveyor.

[0045] However, the specific size parameters of the hydraulic support group of this embodiment are not limited to the above-mentioned limits, and those skilled in the art can make adaptive changes according to actual needs.

[0046] The specific design of the hydraulic support group makes the body of the hydraulic support group out of high-strength alloy steel, ensuring that the body has excellent strength, toughness, and fatigue resistance even under high pressure and complex operating conditions. The shield beam actuator uses a hydraulic jack, which is a double-lug type, making it easy to assemble by welding or bolting the various components. The rear shield beam 17 and top plate are positioned horizontally, ensuring a certain amount of working space for filling and assembling the prefabricated filler body. The direction of the rear shield beam 17 can also be rotated and adjusted between 0° and 45° according to different environmental requirements, ensuring adjustment suitable for various working environments.

[0047] In this embodiment, a plurality of drive devices are provided, such as a column hydraulic drive device for the support column 3, a hydraulic jack drive device for the biasing mechanism 4, a hydraulic motor drive device for the rocker arm body (for rotary joints, output torque 100N / m to 300N / m, rotation speed 5r / min to 15r / min), a telescopic hydraulic cylinder drive device for the telescopic mechanism 14 (in the case of the hydraulic telescopic mechanism 14, operating pressure 25MPa to 35MPa, thrust 20kN to 50kN), and electric rotary drive devices for each joint (output 3kW to 10kW, rotation speed 0.5r / min to 2r / min), and they perform corresponding operations in response to instructions from the control system 7.

[0048] The control system 7 uses a high-performance programmable logic controller (PLC) as its core, with a CPU processing speed of 0.1 microseconds per instruction or more. It has sufficient computing power to process data from each sensor and execute complex control algorithms, ensuring the control system 7's real-time performance and accuracy. The sensors are combined to form a sensor network. The top plate pressure sensor 6 has a measurement range of 0 MPa to 100 MPa with an accuracy of ±0.5% FS (full scale). The linearity error of each displacement sensor is less than ±0.1% and the measurement range is 0 m to 2 m. The gripping force sensor 11 has a measurement range of 0 kN to 20 kN with an accuracy of ±1% FS. Each rotation angle sensor has a measurement accuracy of ±1° and a resolution of 0.1°, enabling precise gripping and placement of prefabricated fillers.

[0049] The control system 7 has remote monitoring and data transfer functions and is equipped with multiple communication interfaces, including RS485 and Ethernet interfaces, with communication speeds of 10 Mbps or more, facilitating data communication and information exchange with equipment such as coal mining machinery and surface monitoring centers, enabling work synchronization and spatial coordination. It also transmits equipment operation data to the surface monitoring center, allowing operators to easily grasp the operating status of underground equipment in real time. In one embodiment, the control system 7 has a program storage capacity of 300 KB to 600 KB and a data storage capacity of 100 KB to 300 KB, allowing for the storage of information such as the control system 7's software programs, equipment operating parameters, and historical data. This storage capacity meets the need for long-term stable equipment operation, simplifies the control program, and also enables targeted data storage, achieving efficient and accurate operation at low cost.

[0050] Example 2 As shown in FIG. 20, this embodiment uses hydraulic support to intelligently assemble the prefabricated infill after the support of embodiment 1, to provide a precision assembly process for the prefabricated infill after the support; Step S1: Manufacturing and assembling the hydraulic support group according to the design requirements, specifically, selecting high-strength alloy steel materials, assembling the hydraulic support group according to the design requirements through advanced welding and forging techniques, ensuring that the connections of each part are strong and there are no welding defects, and then transporting the hydraulic support group to the underground; Step S2: Test the hydraulic system of the hydraulic support group inside the tunnel, test whether the support column 3 can smoothly extend and retract, test whether the biasing mechanism 4 can accurately control the movement of the hydraulic support group, and test the performance of each part in the hydraulic support group under various pressures and loads to ensure the stability and reliability of the entire structure. Step S3: attaching the robot rocker arm to the rear of the hydraulic support group via high-strength bolts and a special rotating rocker arm base 9, the rotating rocker arm base 9 being made of titanium alloy material to reduce the impact on the hydraulic support group when the robot rocker arm is operating; Step S4: Debug each joint and each connecting rod of the robot rocker arm to check the flexibility and sealing of each joint and each connecting rod; then, debug the gripping mechanism and adjust the shape, opening and closing angle and gripping force of the claws 18 according to the shape of the prefabricated filler and the phase interlocking interface to ensure that the gripping mechanism can firmly grip the prefabricated filler; Step S5: calibrate the stroke of the telescopic mechanism 14, install and debug telescopic displacement sensors to ensure measurement accuracy, and test the angle adjustment mechanism. By linking the rotation motors and angle adjustment mechanisms at each joint, precise rotation of the rocker arm body in all directions and fine angle adjustment are realized, and the data is fed back to the control system 7 via the corresponding angle sensors for calibration. Step S6: Integrate and debug the control system by building a control system 7 with a programmable logic controller as the core, and properly connecting the hydraulic support group, the robot rocker arm drive unit, and each sensor to the programmable logic controller; The hydraulic support, which intelligently assembles the prefabricated filling body after support, can be placed on the underground working surface and then debugged, allowing parameters to be remotely monitored and adjusted, and also equipped with automatic fault diagnosis and alarm functions, embodying the innovative intelligence and automation of this embodiment, improving the filling efficiency and quality of the mined area, reducing costs and risks, and realizing the efficient and automated work of "simultaneous mining and filling", which has important development value in the fields of mining and underground engineering. Step S7: Create control system 7 software, including a hydraulic support group movement control module, a robot rocker arm operation control module, and a fault diagnosis and safety protection module. During the underground debugging process, use analog signals to input data from each sensor, and test the control system 7's calculation accuracy regarding the hydraulic support group's movement speed and biasing force, and its ability to accurately control the robot rocker arm's operation. At the same time, test the response speed and reliability of the fault diagnosis and safety protection module to ensure that safety protection measures can be initiated in a timely manner when an abnormal situation occurs. After the support has been debugged, the hydraulic support that intelligently assembles the prefabricated filler is installed at a predetermined position on the underground coal mining working surface, and the hydraulic support group and the scraper conveyor are connected via the actuation mechanism 4 to ensure that their relative positions are stable and their movements are coordinated. The front and rear shield beams 17 are extended by driving the shield beam actuators, so that the upper end surfaces of the front and rear shield beams 17 are flush with the upper end surface of the top beam 1. At this time, the front, top beam 1, and rear shield beam 17 are simultaneously used to support the top plate of the mined area. Step S8. Step S9: complete the connection between the control system 7 and the control mechanism of the coal mining machine, carry out online debugging of the entire equipment, and re-adjust the parameters of the movement speed and biasing force of the hydraulic support group according to the coal cutting speed of the coal mining machine and the actual geological conditions inside the mine, so that the three are coordinated to achieve the best condition. At the same time, fine-tune the operation of the robot rocker arm on site to ensure that the robot rocker arm can accurately grasp the prefabricated filler from the scraper conveyor and assemble the prefabricated filler in the mined area according to the design requirements. Step S10: During the coal cutting process of the coal mining machine, the hydraulic support group monitors the pressure of the top plate in real time and automatically adjusts the supporting force of the support pillar 3 according to the pressure change to stabilize the top plate; when the coal mining machine completes coal cutting, the biasing mechanism 4 moves the hydraulic support group forward to leave space for the post-support assembly of the hydraulic support group; An image capture mechanism is installed at the rear center of the hydraulic support group, and the image capture system is used to capture video of the mined area, acquire image information, select video clips of the process of compacting the prefabricated filler, construct a target data set, process the images, then select and train an appropriate model, evaluate the trained model to find the optimal parameters for the corresponding model, and then compare various models with each other, and finally select the optimal operating situation identification algorithm model (in this embodiment, a better SVM model can be selected). This step is closely integrated with the assembly process of the robot rocker arm, and step S11 involves acquiring data in real time during each assembly process, analyzing the operating situation, and making adjustments. Step S12: the robot rocker arm starts to operate under the coordination of the control system 7, the gripping mechanism grips the prefabricated filler from the scraper conveyor, the telescopic mechanism 14 moves the prefabricated filler to a predetermined position in the mined area, and the angle adjustment mechanism of each joint of the robot rocker arm accurately adjusts the placement angle of the prefabricated filler according to the design requirements, thereby achieving accurate placement for each layer; The control system 7 collects data from each sensor in real time and transmits equipment operation data to the ground monitoring center via remote communication (wireless or wired). Ground operators can always understand the operating status of the equipment based on the monitoring data. If an abnormality is discovered, they can remotely adjust parameters or issue shutdown instructions in a timely manner. At the same time, the fault diagnosis and alarm functions continue to operate. The fault diagnosis and safety protection module can monitor all sensor data in real time. If an abnormality occurs, such as a sensor failure, abnormal pressure in the hydraulic system, or the rocker arm body operating outside its normal range, it will immediately initiate corresponding safety protection measures, such as shutting down the equipment or issuing an alarm signal, thereby ensuring the safe and reliable operation of the entire system and realizing efficient and automated filling and mining operations in underground coal mines.

[0051] Specifically, in step S11, the image acquisition mechanism is a high-resolution camera 15, and a video AI algorithm is built into the high-resolution camera 15. The algorithm identifies the operating situation in real time based on a preset model. When identifying, the algorithm first selects a preset model for the algorithm based on the scenario of the working environment, and then, through the real-time collected sensor data (top plate pressure sensor 6, pressing displacement sensor 2, expansion / contraction displacement sensor, gripping force sensor 11, each angle sensor, etc.) and the high-resolution camera 15, captures video images of the filling work process (gripping operation, position of the filling body, rocker arm, etc.). The video captures the movements of the load (e.g., load position, load position, load posture, etc.), then undergoes data and image preprocessing and feature extraction (video image noise removal, infill object detection, rocker arm joint position and posture, motion trajectory tracking, data filtering and normalization, speed fluctuations, etc.). Finally, the preprocessed data is input into a preset model. This model is trained based on past operational data to distinguish between normal and abnormal operating conditions. If normal, the next operation is continued, and if abnormal, a PID controller is used to control the load, reducing the rate of abnormal operating conditions and shortening the time required for operator involvement. At the same time, the control system 7 supports online parameter updates, iteratively optimizing the identification accuracy through new operational condition data and adapting to the filling requirements of different coal seam hardnesses. The video AI algorithm uses multimodal data fusion to make a comprehensive judgment based on the values ​​of each sensor and the video image (e.g., if the gripping force sensor 11 indicates zero force, but the image acquisition system captures that the jaws 18 are in an open state, a "grasp failure" is determined to be an abnormal operating condition).

[0052] Among these, normal operating conditions include the successful grasping of the prefabricated filler (i.e., it is necessary to ensure that the prefabricated filler is not tilted, the prefabricated filler is completely grasped, the robot rocker arm is operating smoothly, and the shape of the prefabricated filler is perfectly consistent with the phase interlocking interface), the prefabricated filler is accurately positioned (i.e., the prefabricated filler falls accurately to the designated filling position in the mined area according to the planned path), the detection data of each sensor is within the specified threshold, and there are no abnormalities in the video image. Abnormal operating conditions include when the sensor detection data exceeds the limit value (failure to grip the prefabricated filler, slippage of the prefabricated filler, misalignment of the filling position, etc.), when abnormalities are detected in the video image (the telescopic mechanism 14 is stuck, the angle adjustment mechanism is broken, the gripping mechanism cannot be opened or closed, etc.), when the equipment operation deviates from the preset trajectory, when communication is interrupted, when environmental interference occurs (coal dust blocks the high-resolution camera 15, reducing the recognition rate, the mining lamp is broken, or the image is affected by blasting work, etc.), or when the scraper conveyor is unable to transport the prefabricated filler on time.

[0053] In a specific implementation, the assembly and testing phase of the hydraulic support, which intelligently assembles prefabricated fillers after support installation, requires that assembly be completed within 48 hours of the underground working surface being placed, and the entire assembly process must be completed within 72 hours. After assembly is completed, at least 12 hours of simulated underground working environment testing and adjustment must be conducted immediately. During testing, the performance indicators of each major component must be monitored. For example, the hydraulic support group's top plate pressure support simulation test must be conducted at least five times, each for at least 10 minutes, with a pressure change range of 0 MPa to 80 MPa. The robot rocker arm gripping mechanism must undergo at least 20 gripping operations, with a gripping success rate of at least 95% and a gripping force error within ±2%. The telescopic mechanism 14 must be tested for telescopic stroke accuracy 15 times, with an error not exceeding ±0.05 meters. The angle adjustment mechanism's angle adjustment accuracy must be tested 10 times vertically and 10 times horizontally, with an error within ±0.5°. During the underground installation and operation stage, the connection and parameter matching with the coal mining machinery and control system 7 is completed, and remote monitoring and parameter adjustment are carried out through the surface monitoring center.

[0054] The present invention uses specific examples to explain the principles and embodiments of the present invention, and the above description of the examples is only used to help understand the method and core idea of ​​the present invention, and at the same time, for those skilled in the art, there are changes in the form and application scope for implementing the invention according to the idea of ​​the present invention. In summary, the contents of this specification should not be understood as limiting the present invention. [Explanation of symbols]

[0055] 1-Top beam 2-Pressure displacement sensor 3-Support pillar 4-Biasing mechanism 5- Support Base 6-Top Plate Pressure Sensor 7-Control System 8-1st angle sensor 9-turn rocker arm base 10-3rd angle sensor 11-Grip force sensor 12-Gripping air cylinder 13-4th angle sensor 14- Telescoping mechanism 15-High resolution camera 16-Connection mechanism 17-Rear sealed beam 18-Claw

Claims

1. a hydraulic support for intelligently assembling prefabricated fillers after support, comprising: a hydraulic support group, a robotic rocker arm, an image acquisition system, and a control system, wherein an upper portion of the hydraulic support group is arranged to support a mined area, the image acquisition system is attached to the rear center of the hydraulic support group, and an acquisition end of the image acquisition system is installed toward the robotic rocker arm, the mounting end of the robotic rocker arm is rotatably attached to the rear of the hydraulic support group, the gripping end of the robotic rocker arm is movable in multiple directions, the image acquisition system is electrically connected to the control system, and the gripping end of the robotic rocker arm is arranged to grip prefabricated fillers with the assistance of the image acquisition system and assemble the prefabricated fillers in the mined area, the drive unit of the hydraulic support group and the drive unit of the robotic rocker arm are both electrically connected to the control system and operate under the control of the control system, and when the robotic rocker arm completes assembly of one point in the mined area, the control system controls the hydraulic support group to move forward to the next point along the scraper conveyor; the hydraulic support group includes a support base, a biasing mechanism, a top beam, a front shield beam, a rear shield beam, a plurality of shield beam actuators, and a plurality of support pillars, the biasing mechanism is attached to a front end of the support base, and the biasing mechanism is arranged to connect a scraper conveyor, and the biasing mechanism can drive the support base to advance along the scraper conveyor after the coal mining machine cuts the coal; the top beam is provided with a top plate pressure sensor and a pressing displacement sensor, and the top plate pressure sensor and the pressing displacement sensor are both electrically connected to the control system, the top plate pressure sensor is arranged to detect a pressure applied by the top beam when supporting a mined area and transmit the pressure to the control system; the pressing displacement sensor is arranged to detect a moving distance of the support base and transmit the distance information to the control system; the front shield beam is rotatably attached to a front end of the top beam, and the rear shield beam is rotatably attached to a rear end of the top beam, the robot rocker arm and the support pillar are both attached to the support base, each support pillar is supported by a lower end of the top beam and is extendable and retractable, the shield beam actuator is attached to both the lower end of the front shield beam and the lower end of the rear shield beam, both ends of the shield beam actuator located at the lower end of the front shield beam are supported by the lower end of the front shield beam and the lower end of the top beam, respectively, the shield beam actuator located at the lower end of the front shield beam is arranged to rotate and drive the front shield beam to expand or contract the front shield beam, both ends of the shield beam actuator located at the lower end of the rear shield beam are supported by the lower end of the rear shield beam and the upper end of the support base, respectively, the shield beam actuator located at the lower end of the rear shield beam isA hydraulic support for intelligently assembling prefabricated filling bodies after support, characterized in that the rear shield beam is rotated to expand or contract the rear shield beam.

2. 2. The hydraulic support for intelligently assembling prefabricated filling bodies after support as described in claim 1, characterized in that the robot rocker arm includes a rocker arm body and a gripping mechanism, wherein the mounting end of the rocker arm body is rotatably mounted to the rear of the hydraulic support group, and the free end of the rocker arm body is connected to the gripping mechanism via a connection mechanism, and further, the rocker arm body can drive the gripping mechanism to operate in multiple directions, and the connection mechanism can drive the gripping mechanism to rotate.

3. 3. The hydraulic support for intelligently assembling prefabricated fillers after support according to claim 2, wherein the rocker arm body is attached to the rear of the hydraulic support group via a rotating rocker arm base, a telescopic mechanism is provided on a forearm connecting rod of the rocker arm body, the telescopic mechanism includes a multi-stage telescopic hydraulic cylinder, the output end of the telescopic mechanism is connected to a wrist joint of the rocker arm body, the telescopic mechanism is configured to drive the gripping mechanism to extend and retract, a telescopic displacement sensor is also attached to the telescopic mechanism, the telescopic displacement sensor is configured to detect the telescopic stroke of the telescopic mechanism, the telescopic displacement sensor is electrically connected to the control system, angle adjustment mechanisms are attached to the rotating rocker arm base and the shoulder joint, elbow joint and wrist joint of the rocker arm body, the angle adjustment mechanisms adjust the movement of the rocker arm body under the control of the control system, and the rocker arm body is configured to drive the prefabricated fillers to move in horizontal and vertical directions.

4. 4. The hydraulic support for intelligently assembling prefabricated filled bodies after support as claimed in claim 3, characterized in that the angle adjustment mechanism includes an angle adjustment motor, a worm gear, a worm, and an angle sensor, the output shaft of the angle adjustment motor is connected to the worm, the worm meshes with the worm gear, and the angle sensor is configured to detect the rotation angle of the corresponding joint of the rocker arm body and send the angle information to the control system, so that the control system controls the operation of the angle adjustment motor.

5. The hydraulic support for intelligently assembling prefabricated filling bodies after support, as described in claim 3, characterized in that the horizontal angle adjustment range of the angle adjustment mechanism is -15 to +15°, the vertical angle adjustment range of the angle adjustment mechanism is -30 to +30°, and the adjustment accuracy of the angle adjustment mechanism is ±1°.

6. 3. The hydraulic support for intelligently assembling prefabricated filler bodies after being supported according to claim 2, wherein the gripping mechanism includes a mounting frame and a plurality of claws, the mounting frame having a plurality of mounting ends, the plurality of claws being respectively detachably attached to different mounting ends, each of the claws having an inner wall with an anti-slip pattern, the mounting frame having a plurality of gripping air cylinders attached thereto, the plurality of gripping air cylinders being arranged to rotate the corresponding claws in a direction toward or away from each other, each of the claws being provided with a gripping force sensor, the gripping force sensor and the gripping air cylinder both being electrically connected to the control system, the gripping force sensor being arranged to detect the pressure when the claw grips the prefabricated filler body and send a pressure signal to the control system, so that the control system controls the gripping air cylinders and adjusts their operating state.

7. The hydraulic support for intelligently assembling prefabricated filling bodies after support, as described in claim 6, characterized in that the mounting frame is cross-shaped, the four ends of the mounting frame form the four mounting ends, the number of claws is two or four, when the number of claws is two, the two claws are installed symmetrically, and when the number of claws is four, the four claws correspond one by one to the four mounting ends.

8. A precision assembly process for intelligently assembling prefabricated infill bodies after support, using hydraulic supports for intelligently assembling prefabricated infill bodies after support according to any one of claims 1 to 7, comprising: Step S1: manufacturing and assembling a hydraulic support group according to design requirements and moving the hydraulic support group into the well; Step S2: Test the hydraulic support group inside the mine to debug the hydraulic system of the hydraulic support group, test whether the support column can smoothly extend and retract, test whether the biasing mechanism can accurately control the movement of the hydraulic support group, and test the performance of each part in the hydraulic support group under various pressures and loads; Step S3: attaching the robot rocker arm to the rear of the hydraulic support group; Step S4: Debug each joint and each connecting rod of the robot rocker arm, check the flexibility and sealing of each joint and each connecting rod, and then debug the gripping mechanism and adjust the claw shape, opening / closing angle, and gripping force according to the shape of the prefabricated filling material and the phase interlocking interface; Step S5: calibrate the stroke of the telescopic mechanism, install telescopic displacement sensors for debugging, and test the angle adjustment mechanism. By linking the rotary motors and angle adjustment mechanisms at each joint, the rocker arm body can be rotated in all directions, allowing for fine adjustment of the angle. The corresponding angle sensors are used to feed back data to the control system for calibration. Step S6: Integrate and debug the control system by building a control system with a programmable logic controller as its core, and properly connecting the hydraulic support group, the robot rocker arm drive unit, and each sensor to the programmable logic controller; Step S7: Create control system software including a hydraulic support group movement control module, a robot rocker arm operation control module, and a fault diagnosis and safety protection module. During the underground debugging process, use analog signals to input data from each sensor, and test the control system's calculation accuracy regarding the hydraulic support group's movement speed and biasing force, and its ability to accurately control the robot rocker arm's operation. At the same time, test the response speed and reliability of the fault diagnosis and safety protection module. Step S8: After the support has been debugged, a hydraulic support that intelligently assembles the prefabricated filler is installed at a predetermined position on the underground coal mining work surface, and the hydraulic support group and the scraper conveyor are connected via a biasing mechanism. The front and rear shield beams are extended by driving the shield beam actuators, so that the upper end surfaces of the front and rear shield beams are flush with the upper end surface of the top beam. At this time, the front, top, and rear shield beams are simultaneously used to support the top plate of the mined area. Step S9: complete the connection between the control system and the control mechanism of the coal mining machine, perform online debugging of the entire equipment, and readjust the parameters of the movement speed and biasing force of the hydraulic support group according to the coal cutting speed of the coal mining machine and the actual geological conditions inside the mine to achieve coordinated work, and at the same time, fine-tune the operation of the robot rocker arm on site to ensure that the robot rocker arm can accurately grasp the prefabricated filler from the scraper conveyor and assemble the prefabricated filler in the mined area according to the design requirements; Step S10: during the coal cutting process of the coal mining machine, the hydraulic support group monitors the pressure of the top plate in real time, and automatically adjusts the supporting force of the support pillar according to the pressure change to stabilize the top plate; when the coal mining machine finishes cutting the coal, the biasing mechanism moves the hydraulic support group forward, leaving a space for the post-support assembly of the hydraulic support group; Step S11: Install an image capture mechanism at the rear center of the hydraulic support group, use the image capture system to take videos of the mined area, obtain image information, select video clips of the process of compacting the prefabricated filler, construct a target data set, process the images, then select and train an appropriate model, evaluate the trained model to find the optimal parameters for the corresponding model, then compare various models with each other, and finally select the optimal operating situation identification algorithm model. This step is closely integrated with the assembly process of the robot rocker arm, and in each assembly process, data is acquired in real time, the operating situation is analyzed, and adjustments are made. Step S12: the robot rocker arm starts to operate under the coordination of the control system, the gripping mechanism grips the prefabricated filler from the scraper conveyor, the telescopic mechanism moves the prefabricated filler to a predetermined position in the mined area, and the angle adjustment mechanism at each joint of the robot rocker arm accurately adjusts the placement angle of the prefabricated filler according to the design requirements, thereby achieving accurate placement for each layer; Step S13: The control system collects data from each sensor in real time and transmits the operation data of the equipment to the ground monitoring center through remote communication, so that the ground operator can always grasp the operation status of the equipment based on the monitoring data, and if an abnormality is detected, can timely issue a remote parameter adjustment or shutdown instruction; at the same time, the fault diagnosis function and alarm function continue to operate, and can immediately issue an alarm signal when an abnormal state is detected; A precision assembly process for intelligently assembling prefabricated fillers after support, comprising:

9. In step S11, the image acquisition mechanism is a high-resolution camera, and a video AI algorithm is embedded in the high-resolution camera. The video AI algorithm identifies the operating conditions based on a preset model and divides the operating conditions into normal operating conditions and abnormal operating conditions. The normal operating conditions include: the prefabricated filler is successfully grasped, the prefabricated filler is accurately positioned, the detection data of each sensor is within a predetermined threshold, and there is no abnormality in the video image; The precision assembly process for intelligently assembling prefabricated fillers after support according to claim 8, characterized in that the abnormal operating circumstances include: when any sensor detection data exceeds a limit, when an abnormality is detected in a video image, when the operation of the equipment deviates from a preset trajectory, when communication is interrupted, when there is environmental interference, or when the scraper conveyor fails to transport the prefabricated fillers on time.

Images