CN110645034A - Sliding type flexible advance support mechanism and method - Google Patents
Sliding type flexible advance support mechanism and method Download PDFInfo
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- CN110645034A CN110645034A CN201911038434.XA CN201911038434A CN110645034A CN 110645034 A CN110645034 A CN 110645034A CN 201911038434 A CN201911038434 A CN 201911038434A CN 110645034 A CN110645034 A CN 110645034A
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/0004—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor along the working face
- E21D23/0013—Frame type supports
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/0056—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor with individual advancing shifting devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/04—Structural features of the supporting construction, e.g. linking members between adjacent frames or sets of props; Means for counteracting lateral sliding on inclined floor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/08—Advancing mechanisms
- E21D23/10—Advancing mechanisms with advancing devices separate from the supporting construction
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
Abstract
A sliding type flexible advance support mechanism and a method thereof are provided, the mechanism comprises a flexible support component and a walking support component, and the flexible support component is arranged above the walking support component. The method comprises the following steps: in an initial state, the flexible supporting assembly is made to support the top plate of the roadway in a self-adaptive mode, and the walking supporting assembly is made to support the bottom plate of the roadway; when the walking is needed, the auxiliary supporting longitudinal beam combination of the flexible supporting component is separated from the top plate of the roadway, the auxiliary supporting beam combination of the walking supporting component is separated from the bottom plate of the roadway, the pushing hydraulic cylinder extends forwards, so that the integral auxiliary supporting longitudinal/transverse beam combination moves forwards by a step distance, and the top support of the auxiliary supporting longitudinal/transverse beam combination to the roadway is recovered after the walking is finished; when the main supporting longitudinal/transverse beam combination needs to continuously step forward, the main supporting longitudinal/transverse beam combination is separated from the top/bottom plate of the roadway, the hydraulic cylinder is pushed to retract, the main supporting longitudinal/transverse beam combination integrally moves forward by a step distance, and the top support of the main supporting longitudinal/transverse beam combination on the roadway is recovered after the stepping is finished; and continuously and alternately sliding and stepping for supporting.
Description
Technical Field
The invention belongs to the technical field of roadway support, and particularly relates to a sliding type flexible advanced support mechanism and a sliding type flexible advanced support method.
Background
The underground mine is the main form of coal production in China, the mine roof support is an important safety construction point of the underground mine production, and after the comprehensive excavation working face applies the advance support, the advance support can be effectively matched with equipment such as an excavator, an anchor rod drilling machine and the like to realize synchronous operation of excavation, support and anchoring, so that the continuous operation of the development machine is ensured.
However, due to the fact that the coal side is soft, the top plate is broken, the top plate is separated from the layer, the crack is abnormal in development and the like, if the tunneling operation staff is mishandled, the tunneling machine is enabled to be over-excavated or under-excavated, the top plate of the roadway is not flat and fluctuates greatly, the existing advance support equipment is difficult to adapt to the uneven top plate well, particularly, the top beam of the advance support equipment cannot be fully attached to the uneven top plate, the top plate is prone to being stressed unevenly in the process of supporting the top plate, and therefore the top plate can be damaged and destroyed to a certain extent.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a sliding type flexible advance support mechanism and a sliding type flexible advance support method, which can be well adapted to an uneven top plate, wherein a flexible support assembly in the mechanism can be fully attached to the uneven top plate, so that the condition of unbalanced stress of the top plate is avoided, and the top plate is effectively protected from being damaged.
In order to achieve the purpose, the invention adopts the following technical scheme: a sliding flexible advance support mechanism comprises a flexible support component and a walking support component, wherein the flexible support component is arranged above the walking support component; the flexible supporting assembly comprises a main supporting longitudinal beam assembly and an auxiliary supporting longitudinal beam assembly, and the main supporting longitudinal beam assembly and the auxiliary supporting longitudinal beam assembly are arranged in parallel; the walking support assembly comprises a main support beam assembly and an auxiliary support beam assembly, and the main support beam assembly and the auxiliary support beam assembly are overlapped and arranged in a lap joint mode.
The main protecting longitudinal beam assembly comprises a front canopy, a main front longitudinal beam, a main middle longitudinal beam and a main rear longitudinal beam, wherein the rear end of the front canopy is hinged with the front end of the main front longitudinal beam, the rear end of the main front longitudinal beam is hinged with the front end of the main middle longitudinal beam, and the rear end of the main middle longitudinal beam is hinged with the front end of the main rear longitudinal beam; a pitching hydraulic cylinder is connected between the front canopy and the main front longitudinal beam, the end part of a piston rod of the pitching hydraulic cylinder is hinged to the lower surface behind the front canopy, and the end part of a cylinder body of the pitching hydraulic cylinder is hinged to the lower surface in front of the main front longitudinal beam; the auxiliary supporting longitudinal beam assembly comprises an auxiliary front longitudinal beam, an auxiliary middle longitudinal beam and an auxiliary rear longitudinal beam, the rear end of the auxiliary front longitudinal beam is hinged with the front end of the auxiliary middle longitudinal beam, and the auxiliary middle longitudinal beam is hinged with the front end of the auxiliary rear longitudinal beam.
And the lower surfaces of the main front longitudinal beam, the main middle longitudinal beam, the main rear longitudinal beam, the auxiliary front longitudinal beam, the auxiliary middle longitudinal beam and the auxiliary rear longitudinal beam are fixedly provided with equal-strength supporting beam frames, and the lower end surface of each equal-strength supporting beam frame is fixedly provided with a hydraulic lifting connector.
Differential compensation hydraulic cylinders are arranged on the upper surfaces of the front canopy, the main front longitudinal beam, the main middle longitudinal beam, the main rear longitudinal beam, the auxiliary front longitudinal beam, the auxiliary middle longitudinal beam and the auxiliary rear longitudinal beam, the differential compensation hydraulic cylinders are distributed in a plurality of numbers and are distributed at equal intervals along the tunneling direction, a supporting long steel plate is horizontally arranged at the top end of a piston rod of each differential compensation hydraulic cylinder, and the piston rods of the differential compensation hydraulic cylinders are connected with the middle parts of the lower surfaces of the long supporting steel plates in a universal ball joint mode; a plurality of short supporting steel plates are connected in series between every two adjacent long supporting steel plates; the supporting long steel plate is provided with a supporting long rubber pad on the upper surface, the supporting short steel plate is provided with a supporting short rubber pad on the upper surface, the length and width dimensions of the supporting long steel plate, the supporting short steel plate, the supporting long rubber pad and the supporting short rubber pad are all equal, and the width dimensions of the supporting long steel plate, the supporting short steel plate, the supporting long rubber pad and the supporting short rubber pad are larger than those of the front canopy and each longitudinal beam; the hydraulic differential compensation device is characterized in that valve bodies are arranged in the beam bodies of the front canopy, the main front longitudinal beam, the main middle longitudinal beam, the main rear longitudinal beam, the auxiliary front longitudinal beam, the auxiliary middle longitudinal beam and the auxiliary rear longitudinal beam, all differential compensation hydraulic cylinders uniformly distribute pressure oil through the valve bodies, an outer sleeve is sleeved on the outer side of each differential compensation hydraulic cylinder, and a piston rod reset spring of the differential compensation hydraulic cylinder is arranged in the outer sleeve.
The supporting long steel plate and the supporting short steel plate are in a sliding connection structure, the end parts of the supporting long steel plate and the supporting short steel plate are respectively provided with a limiting sliding pin and a limiting sliding groove, when the supporting long steel plate and the supporting short steel plate generate relative sliding motion, the limiting sliding pin can linearly move along the limiting sliding groove, and the limiting sliding pin can freely rotate in the limiting sliding groove; the spacing sliding pin moves along the spacing sliding groove linearly to adjust the spacing between the long supporting steel plate and the short supporting steel plate; the included angle between the long supporting steel plate and the short supporting steel plate is adjusted through the free rotation of the limiting sliding pin in the limiting sliding groove.
The main supporting beam assembly comprises main beams and main connecting longitudinal sliding rails, the main beams are distributed at equal intervals, and adjacent main beams are fixedly connected by the main connecting longitudinal sliding rails; the auxiliary supporting beam assembly comprises auxiliary beams and auxiliary connecting longitudinal sliding rails, the auxiliary beams and the main beams are equal in number and distributed at equal intervals, and the adjacent auxiliary beams are fixedly connected by the auxiliary connecting longitudinal sliding rails; the main cross beam is overlapped and stacked on the auxiliary connecting longitudinal slide rail, a main cross beam limiting slide block is fixedly arranged on the lower surface of the main cross beam at the overlapped and stacked position, and the main cross beam limiting slide block can linearly move along the auxiliary connecting longitudinal slide rail; the auxiliary cross beam is overlapped and stacked on the main connecting longitudinal sliding rail, an auxiliary cross beam limiting sliding block is fixedly arranged on the lower surface of the auxiliary cross beam at the overlapped and stacked position, and the auxiliary cross beam limiting sliding block can linearly move along the main connecting longitudinal sliding rail; all main cross beams in the main supporting cross beam assembly and all auxiliary cross beams in the auxiliary supporting cross beam assembly are positioned in the same horizontal plane, and hydraulic supporting stand columns are vertically hung on the lower surfaces of the end parts of all the main cross beams and the auxiliary cross beams; a pushing hydraulic cylinder is connected between the main cross beam and the auxiliary cross beam adjacent to the main cross beam, the end part of a piston rod of the pushing hydraulic cylinder is hinged on the main cross beam, and the end part of a cylinder barrel of the pushing hydraulic cylinder is hinged on the auxiliary cross beam.
The main front longitudinal beam, the main middle longitudinal beam and the main rear longitudinal beam are sequentially arranged on the main cross beam through an equal-strength supporting beam frame and a hydraulic lifting connector below the main front longitudinal beam, the main middle longitudinal beam and the main rear longitudinal beam, and the main supporting longitudinal beam assembly follows the main cross beam; the auxiliary front longitudinal beam, the auxiliary middle longitudinal beam and the auxiliary rear longitudinal beam are sequentially arranged on the auxiliary cross beam through the equal-strength supporting beam frame and the hydraulic lifting connector below the auxiliary front longitudinal beam, the auxiliary middle longitudinal beam and the auxiliary rear longitudinal beam, and the auxiliary supporting longitudinal beam assembly and the auxiliary cross beam follow up.
A sliding flexible advance support method adopts the sliding flexible advance support mechanism, and comprises the following steps:
the method comprises the following steps: controlling all the hydraulic support columns to extend downwards and lean against the roadway bottom plate; controlling the pushing hydraulic cylinder to be in a retraction state; controlling all pitching hydraulic cylinders to retract, so that all front canopy beams are in a downward swinging state, and finishing the adjustment of the initial state;
step two: firstly, controlling all pitching hydraulic cylinders to extend out, enabling all front canopy beams to swing upwards until the front canopy beams return to a horizontal state, and then controlling all hydraulic lifting type connectors to lift upwards until all main supporting longitudinal beam assemblies and all auxiliary supporting longitudinal beam assemblies lift upwards and abut against a roadway top plate;
step three: because the roadway roof is uneven, in order to ensure that the main supporting longitudinal beam assembly and the auxiliary supporting longitudinal beam assembly are fully attached to the roadway roof, the control valve body supplies oil to all the differential compensation hydraulic cylinders in a unified manner, so that the differential compensation hydraulic cylinders extend upwards, the supporting long steel plates and the supporting long rubber pads at the top ends of the differential compensation hydraulic cylinders can generate self-adaptive deflection along with the flatness of the roadway roof, and meanwhile, the supporting short steel plates and the supporting short rubber pads can synchronously and self-adaptively deflect and generate abdicating sliding between the adjacent supporting long steel plates until all the supporting long rubber pads and the supporting short rubber pads are self-adaptively attached to the surface of the roadway roof;
step four: when the combined body needs to advance forwards, a valve body in the auxiliary supporting longitudinal beam combination body is controlled to uniformly unload all differential hydraulic cylinders in the combined body, the differential hydraulic cylinders retract under the action of a return spring, and all hydraulic lifting connectors in the auxiliary supporting longitudinal beam combination body are controlled to retract at the same time, so that the auxiliary supporting longitudinal beam combination body is completely separated from a roadway top plate;
step five: controlling all hydraulic support columns in the auxiliary support longitudinal beam combination to retract and separate from a roadway bottom plate, then controlling the pushing hydraulic cylinder to extend forwards until the auxiliary support cross beam combination slides forwards by a step distance along the main connecting longitudinal slide rail in the main support cross beam combination under the thrust action of the pushing hydraulic cylinder;
step six: after the auxiliary supporting beam assembly finishes advancing by one step, all hydraulic supporting upright columns in the auxiliary supporting longitudinal beam assembly are controlled to extend downwards and abut against the roadway bottom plate again; then all the hydraulic lifting type connectors in the auxiliary supporting longitudinal beam combination body are controlled to rise upwards again, finally, the valve body in the auxiliary supporting longitudinal beam combination body is controlled to supply oil to all the differential compensation hydraulic cylinders in the auxiliary supporting longitudinal beam combination body in a unified mode again, so that the differential compensation hydraulic cylinders extend upwards again until all the supporting long rubber pads and the supporting short rubber pads in the auxiliary supporting longitudinal beam combination body are attached to the surface of the roadway top plate in a self-adaptive mode again;
step seven: when the main and the main protecting longitudinal beam assemblies need to continuously step forward, the valve body in the main protecting longitudinal beam assembly is controlled to uniformly unload all the differential hydraulic cylinders in the main protecting longitudinal beam assembly, the differential hydraulic cylinders realize retraction under the action of a return spring, and all the hydraulic lifting connectors in the main protecting longitudinal beam assembly are controlled to retract at the same time, so that the main protecting longitudinal beam assembly is completely separated from a roadway top plate;
step eight: controlling all hydraulic support upright columns in the main support longitudinal beam assembly to retract and separate from a roadway bottom plate, controlling a pushing hydraulic cylinder to retract, and under the action of the pulling force of the pushing hydraulic cylinder, enabling the main support transverse beam assembly to slide forwards by a step distance along a secondary connecting longitudinal sliding rail in the secondary support transverse beam assembly;
step nine: after the main supporting beam assembly finishes advancing by one step, all hydraulic supporting upright columns in the main supporting beam assembly are controlled to extend downwards and abut against the roadway bottom plate again; then all the hydraulic lifting type connectors in the main supporting longitudinal beam combination body are controlled to rise upwards again, finally, the valve body in the main supporting longitudinal beam combination body is controlled to supply oil to all the differential compensation hydraulic cylinders in the main supporting longitudinal beam combination body in a unified mode again, so that the differential compensation hydraulic cylinders extend upwards again until all the supporting long rubber pads and the supporting short rubber pads in the main supporting longitudinal beam combination body are attached to the surface of the roadway top plate in a self-adaptive mode again;
step ten: and repeating the fourth step to the ninth step to realize the alternate sliding stepping support of the main support cross beam assembly and the auxiliary support longitudinal beam assembly.
The invention has the beneficial effects that:
the sliding type flexible advanced support mechanism and the sliding type flexible advanced support method can be well suitable for the uneven top plate, the flexible support assembly in the mechanism can be fully attached to the uneven top plate, the condition that the stress of the top plate is unbalanced is avoided, and the top plate is effectively protected from being damaged.
Drawings
Fig. 1 is a schematic structural view of a sliding flexible advance support mechanism of the present invention;
figure 2 is a schematic structural view of the flexible support assembly of the present invention (when the primary and secondary support stringer assemblies are assembled in single units);
FIG. 3 is a schematic structural view of the walking support assembly of the present invention;
FIG. 4 is a schematic view of the assembly of the valve body, the differential compensation hydraulic cylinder, the support long steel plate and the support short steel plate of the present invention;
in the figure, 1-front canopy, 2-main front longitudinal beam, 3-main middle longitudinal beam, 4-main rear longitudinal beam, 5-pitching hydraulic cylinder, 6-auxiliary front longitudinal beam, 7-auxiliary middle longitudinal beam, 8-auxiliary rear longitudinal beam, 9-equistrength supporting beam frame, 10-hydraulic lifting connector, 11-differential hydraulic cylinder, 12-supporting long steel plate, 13-supporting short steel plate, 14-supporting long rubber pad, 15-supporting short rubber pad, 16-valve body, 17-limiting sliding pin, 18-limiting sliding groove, 19-main cross beam, 20-main connecting longitudinal sliding rail, 21-auxiliary cross beam, 22-auxiliary connecting longitudinal sliding rail, 23-main cross beam limiting sliding block, 24-auxiliary cross beam limiting sliding block, 25-hydraulic supporting upright post and 26-pushing hydraulic cylinder.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1 to 4, a sliding flexible advance support mechanism comprises a flexible support component and a walking support component, wherein the flexible support component is arranged above the walking support component; the flexible supporting assembly comprises a main supporting longitudinal beam assembly and an auxiliary supporting longitudinal beam assembly, and the main supporting longitudinal beam assembly and the auxiliary supporting longitudinal beam assembly are arranged in parallel; the walking support assembly comprises a main support beam assembly and an auxiliary support beam assembly, and the main support beam assembly and the auxiliary support beam assembly are overlapped and arranged in a lap joint mode.
The main supporting longitudinal beam assembly comprises a front canopy 1, a main front longitudinal beam 2, a main middle longitudinal beam 3 and a main rear longitudinal beam 4, wherein the rear end of the front canopy 1 is hinged with the front end of the main front longitudinal beam 2, the rear end of the main front longitudinal beam 2 is hinged with the front end of the main middle longitudinal beam 3, and the rear end of the main middle longitudinal beam 3 is hinged with the front end of the main rear longitudinal beam 4; a pitching hydraulic cylinder 5 is connected between the front cantilever 1 and the main front longitudinal beam 2, the end part of a piston rod of the pitching hydraulic cylinder 5 is hinged to the lower surface of the rear part of the front cantilever 1, and the end part of a cylinder body of the pitching hydraulic cylinder 5 is hinged to the lower surface of the front part of the main front longitudinal beam 2; the auxiliary supporting longitudinal beam assembly comprises an auxiliary front longitudinal beam 6, an auxiliary middle longitudinal beam 7 and an auxiliary rear longitudinal beam 8, the rear end of the auxiliary front longitudinal beam 6 is hinged to the front end of the auxiliary middle longitudinal beam 7, and the auxiliary middle longitudinal beam 7 is hinged to the front end of the auxiliary rear longitudinal beam 8.
Equal-strength supporting beam frames 9 are fixedly arranged on the lower surfaces of the main front longitudinal beam 2, the main middle longitudinal beam 3, the main rear longitudinal beam 4, the auxiliary front longitudinal beam 6, the auxiliary middle longitudinal beam 7 and the auxiliary rear longitudinal beam 8, and a hydraulic lifting connector 10 is fixedly arranged on the lower end surface of each equal-strength supporting beam frame 9.
Differential hydraulic cylinders 11 are respectively arranged on the upper surfaces of the front canopy 1, the main front longitudinal beam 2, the main middle longitudinal beam 3, the main rear longitudinal beam 4, the auxiliary front longitudinal beam 6, the auxiliary middle longitudinal beam 7 and the auxiliary rear longitudinal beam 8, a plurality of differential hydraulic cylinders 11 are distributed at equal intervals along the tunneling direction, a supporting long steel plate 12 is horizontally arranged at the top end of a piston rod of each differential hydraulic cylinder 11, and the piston rod of each differential hydraulic cylinder 11 is in universal ball joint with the middle part of the lower surface of the long supporting steel plate 12; a plurality of supporting short steel plates 13 are connected in series between the adjacent supporting long steel plates 12; the upper surface of the long supporting steel plate 12 is provided with a long supporting rubber pad 14, the upper surface of the short supporting steel plate 13 is provided with a short supporting rubber pad 15, the long and wide dimensions of the long supporting steel plate 12, the short supporting steel plate 13, the long supporting rubber pad 14 and the short supporting rubber pad 15 are all equal, and the width dimensions of the long supporting steel plate 12, the short supporting steel plate 13, the long supporting rubber pad 14 and the short supporting rubber pad 15 are larger than the width dimensions of the front canopy 1 and each longitudinal beam; valve bodies 16 are arranged in beam bodies of the front canopy 1, the main front longitudinal beam 2, the main middle longitudinal beam 3, the main rear longitudinal beam 4, the auxiliary front longitudinal beam 6, the auxiliary middle longitudinal beam 7 and the auxiliary rear longitudinal beam 8, all differential compensation hydraulic cylinders 11 are uniformly distributed with pressure oil through the valve bodies 16, outer sleeves are sleeved on the outer sides of all differential compensation hydraulic cylinders 11, and piston rod reset springs of the differential compensation hydraulic cylinders 11 are arranged in the outer sleeves.
The supporting long steel plate 12 and the supporting short steel plate 13 adopt a sliding connection structure, the end parts of the supporting long steel plate 12 and the supporting short steel plate 13 are respectively provided with a limiting sliding pin 17 and a limiting sliding groove 18, when the supporting long steel plate 12 and the supporting short steel plate 13 generate relative sliding motion, the limiting sliding pin 17 can linearly move along the limiting sliding groove 18, and the limiting sliding pin 17 can freely rotate in the limiting sliding groove 18; the spacing between the support long steel plate 12 and the support short steel plate 13 is adjusted through the linear movement of the limiting sliding pin 17 along the limiting sliding groove 18; the angle between the long steel supporting plate 12 and the short steel supporting plate 13 can be adjusted by the free rotation of the limit sliding pin 17 in the limit sliding groove 18.
The main supporting beam assembly comprises main beams 19 and main connecting longitudinal sliding rails 20, the main beams 19 are distributed at equal intervals, and the adjacent main beams 19 are fixedly connected by the main connecting longitudinal sliding rails 20; the auxiliary supporting beam assembly comprises auxiliary beams 21 and auxiliary connecting longitudinal sliding rails 22, the number of the auxiliary beams 21 is equal to that of the main beams 19, the auxiliary beams are distributed at equal intervals, and the adjacent auxiliary beams 21 are fixedly connected by the auxiliary connecting longitudinal sliding rails 22; the main beam 19 is overlapped and stacked on the auxiliary connecting longitudinal slide rail 22, a main beam limiting slide block 23 is fixedly arranged on the lower surface of the main beam 19 at the overlapped and stacked position, and the main beam limiting slide block 23 can linearly move along the auxiliary connecting longitudinal slide rail 22; the auxiliary cross beam 21 is overlapped and stacked on the main connecting longitudinal slide rail 20, an auxiliary cross beam limiting slide block 24 is fixedly arranged on the lower surface of the auxiliary cross beam 21 at the overlapped and stacked position, and the auxiliary cross beam limiting slide block 24 can linearly move along the main connecting longitudinal slide rail 20; all main beams 19 in the main supporting beam assembly and all auxiliary beams 21 in the auxiliary supporting beam assembly are positioned in the same horizontal plane, and hydraulic supporting columns 25 are vertically hung on the lower surfaces of the end parts of all the main beams 19 and the auxiliary beams 21; a pushing hydraulic cylinder 26 is connected between the main beam 19 and the adjacent auxiliary beam 21, the end of a piston rod of the pushing hydraulic cylinder 26 is hinged on the main beam 19, and the end of a cylinder barrel of the pushing hydraulic cylinder 26 is hinged on the auxiliary beam 21.
The main front longitudinal beam 2, the main middle longitudinal beam 3 and the main rear longitudinal beam 4 are sequentially arranged on the main cross beam 19 through an equal-strength supporting beam frame 9 and a hydraulic lifting connector 10 below the main front longitudinal beam, and the main supporting longitudinal beam assembly follows the main cross beam 19; the auxiliary front longitudinal beam 6, the auxiliary middle longitudinal beam 7 and the auxiliary rear longitudinal beam 8 are sequentially arranged on the auxiliary cross beam 21 through the equal-strength supporting beam frame 9 and the hydraulic lifting connector 10 below the auxiliary front longitudinal beam, and the auxiliary supporting longitudinal beam assembly follows the auxiliary cross beam 21.
In the embodiment, the main supporting longitudinal beam assembly consisting of the front canopy 1, the main front longitudinal beam 2, the main middle longitudinal beam 3 and the main rear longitudinal beam 4 is provided with six main supporting longitudinal beam assemblies, every two main supporting longitudinal beam assemblies form one group and three groups, and the front ends of the two front canopy 1 in each group are fixedly connected together by a cross rod; the auxiliary supporting longitudinal beam assembly consisting of the auxiliary front longitudinal beam 6, the auxiliary middle longitudinal beam 7 and the auxiliary rear longitudinal beam 8 is provided with six pieces, and every two pieces form one group and three groups in total; each group of main supporting longitudinal beam combination is provided with a group of auxiliary supporting longitudinal beam combination; the number of the main beams 19 is three, and every two adjacent main beams 19 are fixedly connected through two main connecting longitudinal sliding rails 20; the number of the auxiliary beams 21 is three, and every two adjacent auxiliary beams 21 are fixedly connected through two auxiliary connecting longitudinal sliding rails 22.
A sliding flexible advance support method adopts the sliding flexible advance support mechanism, and comprises the following steps:
the method comprises the following steps: all the hydraulic support columns 25 are controlled to extend downwards and lean against the roadway bottom plate; controlling the pushing hydraulic cylinder 26 to be in a retraction state; controlling all the pitching hydraulic cylinders 5 to retract, so that all the front cantilever beams 1 are in a downward swinging state, and finishing the adjustment of the initial state;
step two: firstly, controlling all the pitching hydraulic cylinders 5 to extend out, enabling all the front canopy beams 1 to swing upwards until the front canopy beams 1 restore to a horizontal state, and then controlling all the hydraulic lifting type connectors 10 to lift upwards until all the main supporting longitudinal beam assemblies and the auxiliary supporting longitudinal beam assemblies lift upwards and abut against a roadway top plate;
step three: because the roadway roof is uneven, in order to ensure that the main supporting longitudinal beam assembly and the auxiliary supporting longitudinal beam assembly are fully attached to the roadway roof, the control valve body 16 supplies oil uniformly to all the differential compensation hydraulic cylinders 11 to ensure that the differential compensation hydraulic cylinders 11 extend upwards, the supporting long steel plates 12 and the supporting long rubber pads 14 at the top ends of the differential compensation hydraulic cylinders 11 can generate self-adaptive deflection along with the flatness of the roadway roof, and meanwhile, the supporting short steel plates 13 and the supporting short rubber pads 15 can synchronously and self-adaptively deflect and generate abdicating sliding between the adjacent supporting long steel plates 12 until all the supporting long rubber pads 14 and the supporting short rubber pads 15 are self-adaptively attached to the surface of the roadway roof;
step four: when the walking is needed, the valve body 16 in the auxiliary supporting longitudinal beam combination body is controlled to uniformly unload all the differential hydraulic cylinders 11 in the auxiliary supporting longitudinal beam combination body, the differential hydraulic cylinders 11 retract under the action of the return spring, and all the hydraulic lifting connectors 10 in the auxiliary supporting longitudinal beam combination body are controlled to retract at the same time, so that the auxiliary supporting longitudinal beam combination body is completely separated from a roadway top plate;
step five: controlling all hydraulic support columns 25 in the auxiliary support longitudinal beam combination to retract and separate from a roadway bottom plate, then controlling a pushing hydraulic cylinder 26 to extend forwards, and under the thrust action of the pushing hydraulic cylinder 26, enabling the auxiliary support cross beam combination to slide forwards by a step distance along a main connecting longitudinal slide rail 20 in the main support cross beam combination;
step six: after the auxiliary supporting beam assembly finishes advancing by one step, all the hydraulic supporting upright columns 25 in the auxiliary supporting longitudinal beam assembly are controlled to extend downwards and abut against the roadway bottom plate again; then controlling all the hydraulic lifting type connectors 10 in the auxiliary supporting longitudinal beam combination body to rise upwards again, finally controlling a valve body 16 in the auxiliary supporting longitudinal beam combination body to supply oil to all the differential compensation hydraulic cylinders 11 in the auxiliary supporting longitudinal beam combination body in a unified mode again, and enabling the differential compensation hydraulic cylinders 11 to extend upwards again until all the supporting long rubber pads 14 and the supporting short rubber pads 15 in the auxiliary supporting longitudinal beam combination body are attached to the surface of a roadway top plate in a self-adaptive mode again;
step seven: when the main and the main protection longitudinal beam assemblies need to continuously step forward, the valve body 16 in the main and the main protection longitudinal beam assemblies is controlled to uniformly unload oil to all the differential compensation hydraulic cylinders 11 in the main and the main protection longitudinal beam assemblies, the differential compensation hydraulic cylinders 11 retract under the action of a return spring, and all the hydraulic lifting connectors 10 in the main and the main protection longitudinal beam assemblies are controlled to retract at the same time, so that the main and the main protection longitudinal beam assemblies are completely separated from a roadway top plate;
step eight: controlling all hydraulic support upright posts 25 in the main support longitudinal beam combination to retract and separate from the roadway bottom plate, controlling the pushing hydraulic cylinder 26 to retract, and under the action of the pulling force of the pushing hydraulic cylinder 26, enabling the main support cross beam combination to slide forwards by a step distance along the auxiliary connecting longitudinal slide rail 22 in the auxiliary support cross beam combination;
step nine: after the main supporting beam assembly finishes advancing by one step, all the hydraulic supporting upright posts 25 in the main supporting beam assembly are controlled to extend downwards and lean against the roadway bottom plate again; then controlling all the hydraulic lifting connectors 10 in the main supporting and longitudinal beam combination body to rise upwards again, finally controlling a valve body 16 in the main supporting and longitudinal beam combination body to supply oil to all the differential compensation hydraulic cylinders 11 in the main supporting and longitudinal beam combination body uniformly again, and enabling the differential compensation hydraulic cylinders 11 to extend upwards again until all the supporting long rubber pads 14 and the supporting short rubber pads 15 in the main supporting and longitudinal beam combination body are attached to the surface of a roadway top plate in a self-adaptive mode again;
step ten: and repeating the fourth step to the ninth step to realize the alternate sliding stepping support of the main support cross beam assembly and the auxiliary support longitudinal beam assembly.
The embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications without departing from the scope of the present invention are intended to be included in the scope of the present invention.
Claims (8)
1. The utility model provides a flexible advance support mechanism of sliding which characterized in that: the walking support device comprises a flexible support assembly and a walking support assembly, wherein the flexible support assembly is arranged above the walking support assembly; the flexible supporting assembly comprises a main supporting longitudinal beam assembly and an auxiliary supporting longitudinal beam assembly, and the main supporting longitudinal beam assembly and the auxiliary supporting longitudinal beam assembly are arranged in parallel; the walking support assembly comprises a main support beam assembly and an auxiliary support beam assembly, and the main support beam assembly and the auxiliary support beam assembly are overlapped and arranged in a lap joint mode.
2. A sliding flexible advance support mechanism according to claim 1, wherein: the main protecting longitudinal beam assembly comprises a front canopy, a main front longitudinal beam, a main middle longitudinal beam and a main rear longitudinal beam, wherein the rear end of the front canopy is hinged with the front end of the main front longitudinal beam, the rear end of the main front longitudinal beam is hinged with the front end of the main middle longitudinal beam, and the rear end of the main middle longitudinal beam is hinged with the front end of the main rear longitudinal beam; a pitching hydraulic cylinder is connected between the front canopy and the main front longitudinal beam, the end part of a piston rod of the pitching hydraulic cylinder is hinged to the lower surface behind the front canopy, and the end part of a cylinder body of the pitching hydraulic cylinder is hinged to the lower surface in front of the main front longitudinal beam; the auxiliary supporting longitudinal beam assembly comprises an auxiliary front longitudinal beam, an auxiliary middle longitudinal beam and an auxiliary rear longitudinal beam, the rear end of the auxiliary front longitudinal beam is hinged with the front end of the auxiliary middle longitudinal beam, and the auxiliary middle longitudinal beam is hinged with the front end of the auxiliary rear longitudinal beam.
3. A sliding flexible advance support mechanism according to claim 2, wherein: and the lower surfaces of the main front longitudinal beam, the main middle longitudinal beam, the main rear longitudinal beam, the auxiliary front longitudinal beam, the auxiliary middle longitudinal beam and the auxiliary rear longitudinal beam are fixedly provided with equal-strength supporting beam frames, and the lower end surface of each equal-strength supporting beam frame is fixedly provided with a hydraulic lifting connector.
4. A sliding flexible advance support mechanism according to claim 2, wherein: differential compensation hydraulic cylinders are arranged on the upper surfaces of the front canopy, the main front longitudinal beam, the main middle longitudinal beam, the main rear longitudinal beam, the auxiliary front longitudinal beam, the auxiliary middle longitudinal beam and the auxiliary rear longitudinal beam, the differential compensation hydraulic cylinders are distributed in a plurality of numbers and are distributed at equal intervals along the tunneling direction, a supporting long steel plate is horizontally arranged at the top end of a piston rod of each differential compensation hydraulic cylinder, and the piston rods of the differential compensation hydraulic cylinders are connected with the middle parts of the lower surfaces of the long supporting steel plates in a universal ball joint mode; a plurality of short supporting steel plates are connected in series between every two adjacent long supporting steel plates; the supporting long steel plate is provided with a supporting long rubber pad on the upper surface, the supporting short steel plate is provided with a supporting short rubber pad on the upper surface, the length and width dimensions of the supporting long steel plate, the supporting short steel plate, the supporting long rubber pad and the supporting short rubber pad are all equal, and the width dimensions of the supporting long steel plate, the supporting short steel plate, the supporting long rubber pad and the supporting short rubber pad are larger than those of the front canopy and each longitudinal beam; the hydraulic differential compensation device is characterized in that valve bodies are arranged in the beam bodies of the front canopy, the main front longitudinal beam, the main middle longitudinal beam, the main rear longitudinal beam, the auxiliary front longitudinal beam, the auxiliary middle longitudinal beam and the auxiliary rear longitudinal beam, all differential compensation hydraulic cylinders uniformly distribute pressure oil through the valve bodies, an outer sleeve is sleeved on the outer side of each differential compensation hydraulic cylinder, and a piston rod reset spring of the differential compensation hydraulic cylinder is arranged in the outer sleeve.
5. A sliding flexible advance support mechanism according to claim 4, wherein: the supporting long steel plate and the supporting short steel plate are in a sliding connection structure, the end parts of the supporting long steel plate and the supporting short steel plate are respectively provided with a limiting sliding pin and a limiting sliding groove, when the supporting long steel plate and the supporting short steel plate generate relative sliding motion, the limiting sliding pin can linearly move along the limiting sliding groove, and the limiting sliding pin can freely rotate in the limiting sliding groove; the spacing sliding pin moves along the spacing sliding groove linearly to adjust the spacing between the long supporting steel plate and the short supporting steel plate; the included angle between the long supporting steel plate and the short supporting steel plate is adjusted through the free rotation of the limiting sliding pin in the limiting sliding groove.
6. A sliding flexible advance support mechanism according to claim 1, wherein: the main supporting beam assembly comprises main beams and main connecting longitudinal sliding rails, the main beams are distributed at equal intervals, and adjacent main beams are fixedly connected by the main connecting longitudinal sliding rails; the auxiliary supporting beam assembly comprises auxiliary beams and auxiliary connecting longitudinal sliding rails, the auxiliary beams and the main beams are equal in number and distributed at equal intervals, and the adjacent auxiliary beams are fixedly connected by the auxiliary connecting longitudinal sliding rails; the main cross beam is overlapped and stacked on the auxiliary connecting longitudinal slide rail, a main cross beam limiting slide block is fixedly arranged on the lower surface of the main cross beam at the overlapped and stacked position, and the main cross beam limiting slide block can linearly move along the auxiliary connecting longitudinal slide rail; the auxiliary cross beam is overlapped and stacked on the main connecting longitudinal sliding rail, an auxiliary cross beam limiting sliding block is fixedly arranged on the lower surface of the auxiliary cross beam at the overlapped and stacked position, and the auxiliary cross beam limiting sliding block can linearly move along the main connecting longitudinal sliding rail; all main cross beams in the main supporting cross beam assembly and all auxiliary cross beams in the auxiliary supporting cross beam assembly are positioned in the same horizontal plane, and hydraulic supporting stand columns are vertically hung on the lower surfaces of the end parts of all the main cross beams and the auxiliary cross beams; a pushing hydraulic cylinder is connected between the main cross beam and the auxiliary cross beam adjacent to the main cross beam, the end part of a piston rod of the pushing hydraulic cylinder is hinged on the main cross beam, and the end part of a cylinder barrel of the pushing hydraulic cylinder is hinged on the auxiliary cross beam.
7. A sliding flexible advance support mechanism according to claim 6, wherein: the main front longitudinal beam, the main middle longitudinal beam and the main rear longitudinal beam are sequentially arranged on the main cross beam through an equal-strength supporting beam frame and a hydraulic lifting connector below the main front longitudinal beam, the main middle longitudinal beam and the main rear longitudinal beam, and the main supporting longitudinal beam assembly follows the main cross beam; the auxiliary front longitudinal beam, the auxiliary middle longitudinal beam and the auxiliary rear longitudinal beam are sequentially arranged on the auxiliary cross beam through the equal-strength supporting beam frame and the hydraulic lifting connector below the auxiliary front longitudinal beam, the auxiliary middle longitudinal beam and the auxiliary rear longitudinal beam, and the auxiliary supporting longitudinal beam assembly and the auxiliary cross beam follow up.
8. A sliding flexible advance support method which adopts the sliding flexible advance support mechanism of claim 1 and is characterized by comprising the following steps:
the method comprises the following steps: controlling all the hydraulic support columns to extend downwards and lean against the roadway bottom plate; controlling the pushing hydraulic cylinder to be in a retraction state; controlling all pitching hydraulic cylinders to retract, so that all front canopy beams are in a downward swinging state, and finishing the adjustment of the initial state;
step two: firstly, controlling all pitching hydraulic cylinders to extend out, enabling all front canopy beams to swing upwards until the front canopy beams return to a horizontal state, and then controlling all hydraulic lifting type connectors to lift upwards until all main supporting longitudinal beam assemblies and all auxiliary supporting longitudinal beam assemblies lift upwards and abut against a roadway top plate;
step three: because the roadway roof is uneven, in order to ensure that the main supporting longitudinal beam assembly and the auxiliary supporting longitudinal beam assembly are fully attached to the roadway roof, the control valve body supplies oil to all the differential compensation hydraulic cylinders in a unified manner, so that the differential compensation hydraulic cylinders extend upwards, the supporting long steel plates and the supporting long rubber pads at the top ends of the differential compensation hydraulic cylinders can generate self-adaptive deflection along with the flatness of the roadway roof, and meanwhile, the supporting short steel plates and the supporting short rubber pads can synchronously and self-adaptively deflect and generate abdicating sliding between the adjacent supporting long steel plates until all the supporting long rubber pads and the supporting short rubber pads are self-adaptively attached to the surface of the roadway roof;
step four: when the combined body needs to advance forwards, a valve body in the auxiliary supporting longitudinal beam combination body is controlled to uniformly unload all differential hydraulic cylinders in the combined body, the differential hydraulic cylinders retract under the action of a return spring, and all hydraulic lifting connectors in the auxiliary supporting longitudinal beam combination body are controlled to retract at the same time, so that the auxiliary supporting longitudinal beam combination body is completely separated from a roadway top plate;
step five: controlling all hydraulic support columns in the auxiliary support longitudinal beam combination to retract and separate from a roadway bottom plate, then controlling the pushing hydraulic cylinder to extend forwards until the auxiliary support cross beam combination slides forwards by a step distance along the main connecting longitudinal slide rail in the main support cross beam combination under the thrust action of the pushing hydraulic cylinder;
step six: after the auxiliary supporting beam assembly finishes advancing by one step, all hydraulic supporting upright columns in the auxiliary supporting longitudinal beam assembly are controlled to extend downwards and abut against the roadway bottom plate again; then all the hydraulic lifting type connectors in the auxiliary supporting longitudinal beam combination body are controlled to rise upwards again, finally, the valve body in the auxiliary supporting longitudinal beam combination body is controlled to supply oil to all the differential compensation hydraulic cylinders in the auxiliary supporting longitudinal beam combination body in a unified mode again, so that the differential compensation hydraulic cylinders extend upwards again until all the supporting long rubber pads and the supporting short rubber pads in the auxiliary supporting longitudinal beam combination body are attached to the surface of the roadway top plate in a self-adaptive mode again;
step seven: when the main and the main protecting longitudinal beam assemblies need to continuously step forward, the valve body in the main protecting longitudinal beam assembly is controlled to uniformly unload all the differential hydraulic cylinders in the main protecting longitudinal beam assembly, the differential hydraulic cylinders realize retraction under the action of a return spring, and all the hydraulic lifting connectors in the main protecting longitudinal beam assembly are controlled to retract at the same time, so that the main protecting longitudinal beam assembly is completely separated from a roadway top plate;
step eight: controlling all hydraulic support upright columns in the main support longitudinal beam assembly to retract and separate from a roadway bottom plate, controlling a pushing hydraulic cylinder to retract, and under the action of the pulling force of the pushing hydraulic cylinder, enabling the main support transverse beam assembly to slide forwards by a step distance along a secondary connecting longitudinal sliding rail in the secondary support transverse beam assembly;
step nine: after the main supporting beam assembly finishes advancing by one step, all hydraulic supporting upright columns in the main supporting beam assembly are controlled to extend downwards and abut against the roadway bottom plate again; then all the hydraulic lifting type connectors in the main supporting longitudinal beam combination body are controlled to rise upwards again, finally, the valve body in the main supporting longitudinal beam combination body is controlled to supply oil to all the differential compensation hydraulic cylinders in the main supporting longitudinal beam combination body in a unified mode again, so that the differential compensation hydraulic cylinders extend upwards again until all the supporting long rubber pads and the supporting short rubber pads in the main supporting longitudinal beam combination body are attached to the surface of the roadway top plate in a self-adaptive mode again;
step ten: and repeating the fourth step to the ninth step to realize the alternate sliding stepping support of the main support cross beam assembly and the auxiliary support longitudinal beam assembly.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111088985A (en) * | 2020-01-13 | 2020-05-01 | 河南工程学院 | Roadway supporting device for coal mine underground operation |
| CN113202532A (en) * | 2021-04-27 | 2021-08-03 | 安徽理工大学 | Rigid-flexible coupling supporting walking device |
| CN113669085A (en) * | 2021-08-25 | 2021-11-19 | 华能煤炭技术研究有限公司 | Anchor net laying device, anchor net advance support equipment and anchor net laying method |
| CN113738427A (en) * | 2021-08-25 | 2021-12-03 | 华能煤炭技术研究有限公司 | Supporting beam, advance supporting equipment and circulating laying method of supporting beam |
| CN113882888A (en) * | 2021-11-01 | 2022-01-04 | 安徽理工大学 | Double-door efficient and rapid circulating self-moving anchor support integrated equipment and control method |
| CN117211843A (en) * | 2023-11-09 | 2023-12-12 | 焦作煤业集团赵固（新乡）能源有限责任公司 | Coal mine roof supporting device |
| CN111779480B (en) * | 2020-07-31 | 2024-05-03 | 辽宁工程技术大学 | Short-body tunneling robot and application method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111088985A (en) * | 2020-01-13 | 2020-05-01 | 河南工程学院 | Roadway supporting device for coal mine underground operation |
| CN111779480B (en) * | 2020-07-31 | 2024-05-03 | 辽宁工程技术大学 | Short-body tunneling robot and application method thereof |
| CN113202532A (en) * | 2021-04-27 | 2021-08-03 | 安徽理工大学 | Rigid-flexible coupling supporting walking device |
| CN113669085A (en) * | 2021-08-25 | 2021-11-19 | 华能煤炭技术研究有限公司 | Anchor net laying device, anchor net advance support equipment and anchor net laying method |
| CN113738427A (en) * | 2021-08-25 | 2021-12-03 | 华能煤炭技术研究有限公司 | Supporting beam, advance supporting equipment and circulating laying method of supporting beam |
| CN113882888A (en) * | 2021-11-01 | 2022-01-04 | 安徽理工大学 | Double-door efficient and rapid circulating self-moving anchor support integrated equipment and control method |
| CN113882888B (en) * | 2021-11-01 | 2024-04-19 | 安徽理工大学 | Double-door type efficient and rapid circulation self-moving anchor supporting integrated equipment and control method |
| CN117211843A (en) * | 2023-11-09 | 2023-12-12 | 焦作煤业集团赵固（新乡）能源有限责任公司 | Coal mine roof supporting device |
| CN117211843B (en) * | 2023-11-09 | 2024-02-02 | 焦作煤业集团赵固（新乡）能源有限责任公司 | Coal mine roof supporting device |
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