CN117927286A - Top coal caving control method based on top coal caving support - Google Patents

Abstract

The invention discloses a top coal caving control method based on a top coal caving bracket, which comprises a base, a top beam, a supporting oil cylinder, a shield beam, a tail beam, a connecting rod group, a first rod, a second rod, a tail beam driving, a monitoring module and an image module, wherein the supporting oil cylinder is arranged between the base and the top beam; the top side of the shield beam is rotationally connected with the top beam, the tail beam is rotationally connected with the bottom side of the shield beam, one end of the connecting rod group is rotationally connected with the shield beam, and the other end of the connecting rod group is rotationally connected with the base; one end of the first rod is rotationally connected with the shield beam, the other end of the first rod is rotationally connected with one end of the second rod, the other end of the second rod is rotationally connected with the tail beam, one end driven by the tail beam is rotationally connected with the shield beam, and the other end driven by the tail beam is rotationally connected with the joint of the first rod and the second rod; the monitoring module and the image module are both arranged on the tail boom. The top coal caving control method can avoid the problems of multiple caving and missed caving in the coal caving process, and improves the coal caving quality and the recovery rate of resources.

Description

Top coal caving control method based on top coal caving support

Technical Field

The invention relates to the technical field of coal exploitation, in particular to a caving coal control method based on a caving coal bracket.

Background

Fully-mechanized caving top coal is a major breakthrough in the thick coal seam mining technology in China, and is beneficial to reasonable and centralized production, easier in top plate management, high in unit yield and low in energy consumption, and is commonly known in recent years because the fully-mechanized caving top coal can achieve the aim of high yield and high efficiency.

However, the conventional top coal caving process has a certain problem, firstly, the common top coal caving process has simple coal caving operation flow, and the problems of multiple caving, missed caving and the like can be caused by physical observation or setting of the size and time of a coal caving opening only by working experience, and the resource recovery rate is difficult to improve, and the coal caving quality is to be improved.

Secondly, the working face is difficult to realize accurate coal discharge cooperative control, and the size of a coal discharge port of the support cannot be timely adjusted according to the thickness of an upper coal layer and dynamic information change in the mining process, so that the phenomenon of nonuniform coal discharge is caused.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems in the related art to some extent.

Therefore, the embodiment of the invention provides a top coal caving control method based on a top coal caving bracket, which can avoid the problems of multiple caving and missed caving in the coal caving process, improves the coal caving quality and the recovery rate of resources, and also avoids the condition that the coal caving is uneven due to uneven coal seam thickness.

The embodiment of the invention discloses a top coal caving control method based on a top coal caving bracket, which comprises the following steps:

The support oil cylinders are arranged between the base and the top beam and used for propping the top beam;

The top side of the shield beam is rotationally connected with the top beam, the tail beam is rotationally connected with the bottom side of the shield beam, the tail beam can be telescopically adjusted, one end of the connecting rod group is rotationally connected with the shield beam, and the other end of the connecting rod group is rotationally connected with the base;

The device comprises a first rod, a second rod and a tail beam drive, wherein one end of the first rod is rotationally connected with the shield beam, the other end of the first rod is rotationally connected with one end of the second rod, the other end of the second rod is rotationally connected with the tail beam, one end of the tail beam drive is rotationally connected with the shield beam, and the other end of the tail beam drive is rotationally connected with a joint of the first rod and the second rod;

The monitoring module and the image module are both arranged on the tail beam, the monitoring module is used for measuring the thickness of the coal bed above the caving coal bracket, and the image module is used for identifying coal gangue;

The top coal caving control method comprises the following steps:

S1: transmitting and receiving monitoring signals to the overburden by the monitoring module, and obtaining coal seam thickness information by differential feedback of the monitoring signals to different overburden;

s2: determining the expansion and contraction amount of the tail beam and the expansion and contraction amount of the tail beam drive according to the obtained coal seam thickness information;

S3: regulating and controlling the tail beam and the tail beam drive to the determined telescopic quantity so as to control the size of a coal discharging opening of the tail beam;

S4: in the coal discharging process, the tail beam and the telescopic quantity driven by the tail beam are monitored, meanwhile, the image module is used for collecting image information of coal gangue at the coal discharging opening, the content of the coal gangue is determined through the image information, and if the proportion of the content of the coal gangue exceeds a set threshold, the telescopic quantity driven by the tail beam and the tail beam is adjusted to be smaller or the coal discharging opening is closed.

In some embodiments, the linkage includes at least two front links and one rear link, at least two of the front links are each provided on a front side of the rear link and are arranged at intervals in a width direction of the base, and the at least two front links are symmetrically arranged with respect to the rear link;

The first rod, the second rod and the tail boom are driven to form driving mechanisms, two driving mechanisms are arranged, the rear connecting rod is located between the two driving mechanisms, and the two driving mechanisms are symmetrically arranged relative to the rear connecting rod.

In some embodiments, the tail boom comprises:

The fixed beam is rotationally connected with the shield beam, the second rod is rotationally connected with the fixed beam, and the movable beam is slidingly assembled on the fixed beam;

The telescopic driving device comprises a fixed beam, a telescopic driving device and a tail beam, wherein one end of the telescopic driving device is connected with the fixed beam in a rotating mode, the other end of the telescopic driving device is connected with the movable beam in a rotating mode, and the telescopic driving device is used for driving the movable beam to slide relative to the fixed beam so as to realize telescopic adjustment of the tail beam.

In some embodiments, the fixed beam comprises a plurality of ear plates, the ear plates are arranged at intervals along the width direction of the fixed beam, the end part of the second rod is rotatably assembled between two adjacent ear plates, the assembly groove is limited between two adjacent ear seats, the movable beam is provided with a box body, and the box body is slidingly assembled in part of the assembly groove.

In some embodiments, the three assembly grooves include a first groove and two second grooves, the first groove is located between the two second grooves, a main ear seat and two auxiliary ear seats are arranged on the fixed beam, the main ear seat and the two auxiliary ear seats are connected with the shield beam in a rotating mode, the main ear seat is located between the two auxiliary ear seats, the main ear seat is blocked at one end of the first groove, the two auxiliary ear seats are blocked at one end of the two second grooves in a one-to-one correspondence mode, the movable beam is provided with two boxes, and the two boxes are slidably assembled in the two second grooves in a one-to-one correspondence mode.

In some embodiments, the telescopic drives are arranged at intervals in the width direction of the tail beam, the telescopic drives are assembled in the first groove, an inner rib plate is arranged in the first groove, the inner rib plate is arranged between the telescopic drives, and the telescopic drives are connected with the inner rib plate in a rotating mode.

In some embodiments, the fixing base includes two movable cover plates and two fixed cover plates, the two movable cover plates are detachably plugged at the notch of the first groove and are sequentially arranged in the width direction of the first groove, and the butt joint positions of the two movable cover plates are detachably connected with the inner rib plate;

the two fixed cover plates are fixed between the corresponding two lug plates, the two fixed cover plates are plugged at the notch of the two second grooves in a one-to-one correspondence manner, and the two movable cover plates are positioned between the two fixed cover plates.

In some embodiments, the movable beam comprises an end plate, gear shaping and gangue blocking plates, the end plate is connected to the end parts of the two boxes, the gear shaping is provided with a plurality of gear shaping, the gear shaping is uniformly distributed on one side, deviating from the boxes, of the end plate, the gangue blocking plates are connected with the end plate and are bent and extended towards one side of the fixed beam, and the gangue blocking plates are assembled with the fixed beam in a sliding mode.

In some embodiments, the gangue blocking plate comprises a plurality of plate parts extending towards the fixed beam, the plate parts are arranged at intervals along the width direction of the fixed beam, a plurality of stop blocks are arranged on the fixed beam, each stop block is provided with an opening, and at least part of the plate parts are slidably assembled in the openings of the stop blocks in a one-to-one correspondence manner.

In some embodiments, in use, the method further comprises the steps of:

the number of the top coal caving brackets is multiple, and the monitoring module is used for acquiring the thickness information of the coal bed above each top coal caving bracket;

And carrying out numerical simulation according to the coal seam thickness information acquired by each monitoring module, obtaining continuous thickness distribution of the coal seam on the upper part of the working surface through the numerical simulation, and correcting the tail boom and the expansion and contraction amount driven by the tail boom according to the coal seam thickness above each caving coal bracket.

The beneficial effects are that: according to the top coal caving control method based on the top coal caving support, disclosed by the embodiment of the invention, the problems of multiple caving and missed caving in the coal caving process can be avoided, the coal caving quality and the recovery rate of resources are improved, and the condition that the coal caving is uneven due to uneven coal bed thickness is avoided.

Drawings

FIG. 1 is a rear perspective view of a caving coal rack according to an embodiment of the invention.

Fig. 2 is a front side perspective view of a caving coal rack according to an embodiment of the invention.

Fig. 3 is a schematic view of a retracted state and an extended state of a tail boom according to an embodiment of the present invention.

Fig. 4 is a left side schematic view of a caving coal rack of an embodiment of the invention.

Fig. 5 is a rear bottom view of a caving coal rack according to an embodiment of the invention.

Fig. 6 is a bottom side schematic view of a tail boom of a caving coal cradle of an embodiment of the invention.

Fig. 7 is a schematic top side view of a tail boom of a caving coal cradle of an embodiment of the invention.

Fig. 8 is a schematic diagram of a coal caving process of a caving roof support according to an embodiment of the invention.

FIG. 9 is a schematic illustration of the thickness of an upper seam of coal from different caving coal holders in accordance with an embodiment of the invention.

FIG. 10 is a system integration block diagram of a caving coal rack of an embodiment of the invention.

FIG. 11 is a system block diagram of a control system for a caving coal rack according to an embodiment of the invention.

Fig. 12 is a schematic diagram of a coal discharging opening size adjustment principle of a top coal discharging bracket according to an embodiment of the present invention.

Reference numerals:

A caving coal rack 100;

A base 1;

A top beam 2;

A support cylinder 3;

A shield beam 4; a hinge seat 41;

Tail boom 5; a fixed beam 51; an ear plate 511; a first slot 512; a second groove 513; a main ear mount 514; a sub-ear mount 515; side gusset 516; an inner rib plate 517; a removable cover 518; a fixed cover plate 519; a stopper 5110; a movable beam 52; a box 521; an end plate 522; gear shaping 523; a gangue stop 524; a plate portion 5241; a connecting plate 525; a telescopic drive 53;

a link group 6; a front link 61; a rear link 62;

A first lever 7;

a second rod 8;

Tail boom drive 9;

a rear scraper conveyor 200;

A coal seam 300;

A gangue layer 400.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

The top coal caving control method of the embodiment of the invention is realized based on a top coal caving support 100, and as shown in fig. 1 and 2, the top coal caving support 100 comprises a base 1, a top beam 2, a plurality of support cylinders 3, a shield beam 4, a tail beam 5, a connecting rod group 6, a first rod 7, a second rod 8, a tail beam drive 9, a monitoring module and an image module.

A plurality of support cylinders 3 are arranged between the base 1 and the top beam 2 and are used for supporting the top beam 2. For example, as shown in fig. 1 and 2, the top beam 2 and the base 1 are oppositely arranged in the up-down direction, the support cylinders 3 are hydraulic cylinders, two support cylinders 3 may be provided, two support cylinders 3 may be arranged at intervals in the left-right direction, the top end of each support cylinder 3 may be hinged with the top beam 2, and the bottom end of each support cylinder 3 may be hinged with the base 1.

The top side of the shield beam 4 is rotatably connected with the top beam 2, the tail beam 5 is rotatably connected with the bottom side of the shield beam 4, and the tail beam 5 is telescopically adjustable, for example, as shown in fig. 3, the tail beam 5 may comprise two parts, namely a fixed beam 51 and a movable beam 52, the fixed beam 51 may be hinged with the bottom end of the shield beam 4, the movable beam 52 may be slidably assembled on the fixed beam 51, and in use, the movable beam 52 may be slidably adjusted relative to the fixed beam 51, so that the tail beam 5 may be switched to a retracted state, i.e. the state of fig. 3 (a), or the tail beam 5 may be switched to an extended state, i.e. the state of fig. 3 (b).

The top of the connecting rod group 6 is rotationally connected with the shield beam 4, and the bottom of the connecting rod group 6 is rotationally connected with the base 1. For example, as shown in fig. 1 and 2, the link group 6 may include a front link 61 and a rear link 62, the front link 61 may be located at a front side of the rear link 62, and upper and lower ends of the front link 61 and the rear link 62 may be hinged with the shield beam 4 and the base 1, respectively. When the telescopic adjustment device is used, the connecting rod group 6 can enhance the stability of telescopic adjustment of the support cylinder 3.

As shown in fig. 4, one end of the first rod 7 is rotatably connected to the shield beam 4, and the other end of the first rod 7 is rotatably connected to one end of the second rod 8. For example, the underside of the shield beam 4 may be integrally formed with a hinge seat 41, the front end of the first pole 7 may be hinge-fitted with the hinge seat 41, and the rear end of the first pole 7 may be hinge-fitted with the front end of the second pole 8.

The other end of the second rod 8 is rotationally connected with the tail boom 5, one end of the tail boom drive 9 is rotationally connected with the shield beam 4, and the other end of the tail boom drive 9 is rotationally connected with the joint of the first rod 7 and the second rod 8. For example, as shown in fig. 4, the rear end of the second rod 8 may be hinged to the fixed beam 51 of the tail boom 5, the tail boom drive 9 may be an oil cylinder, the top end of the tail boom drive 9 may be hinged to the shield beam 4, and the bottom end of the tail boom drive 9 may be hinged to the hinge of the first rod 7 and the second rod 8, i.e., the corresponding ends of the tail boom drive 9, the first rod 7, and the second rod 8 are all hinged together.

When the coal discharging device is used, the telescopic tail beam driving device 9 can drive the hinged part of the first rod 7 and the second rod 8 to move up and down, for example, when the tail beam driving device 9 stretches, the rear end of the second rod 8 can swing upwards, so that the tail beam 5 can be driven to swing upwards, and the coal discharging opening can be plugged. When the tail beam drive 9 is contracted, the rear end of the second rod 8 can swing downwards, so that the tail beam 5 can be driven to swing downwards and the coal discharge opening can be unblocked.

The monitoring module and the image module are both arranged on the tail boom 5, the monitoring module is used for measuring the thickness of the coal seam 300 above the caving coal bracket 100, and the image module is used for identifying coal gangue. Specifically, the monitoring module may be a vibration acceleration sensor, and in use, the monitoring module may measure the thickness of the coal seam 300 above the roof caving coal rack 100. The image module can be a high-definition camera, can collect images of fallen gangue, and can analyze image information through the image analysis module and the like, so that the duty ratio of the gangue in the gangue can be judged.

Based on the top coal caving bracket 100, the top coal caving control method according to the embodiment of the invention comprises the following steps:

S1: and transmitting and receiving monitoring signals to the overburden by the monitoring module, and obtaining the thickness information of the coal seam 300 by differential feedback of the monitoring signals to different overburden layers. For example, since the coal layer 300 and the rock layer of the overburden are both one layer, when in use, the monitoring module can transmit the monitoring signal to the overburden like a penetrating radar, the monitoring signal can penetrate the coal layer 300 and the rock layer, and the reflected monitoring signal reflects the difference due to the difference of the reflectivity, the vibration frequency and the like of the coal layer 300 and the rock layer, and the thickness of the coal layer 300 can be measured and monitored by means of the difference.

S2: and determining the expansion and contraction amount of the tail boom 5 and the expansion and contraction amount of the tail boom drive 9 according to the obtained thickness information of the coal seam 300. Specifically, after the thickness dimension of the coal seam 300 is determined, the expansion and contraction amount of the tail boom 5 and the expansion and contraction amount of the tail boom drive 9 can be adjusted according to the determined thickness dimension, and the adjustment of the expansion and contraction amounts can realize the adjustment of the size of the coal discharging opening, so that the coal discharging speed is controlled under different thicknesses of the coal seam 300.

S3: and regulating and controlling the tail boom 5 and the tail boom drive 9 to the determined telescopic quantity to control the size of the coal discharging opening of the tail boom 5. Therefore, the adjustment and control of the coal caving speed of each top coal caving bracket 100 can be realized, and the action cooperativity of a plurality of top coal caving brackets 100 in the coal caving process is ensured.

S4: in the coal discharging process, the telescopic amounts of the tail boom 5 and the tail boom drive 9 are monitored, for example, corresponding travel sensors can be arranged on the tail boom 5 and the tail boom drive 9, and the telescopic amounts of the tail boom 5 and the tail boom drive 9 can be monitored in real time by the travel sensors, so that the positions and the forms of the tail boom 5 and the tail boom drive 9 are conveniently determined, and the tail boom is conveniently adjusted in place.

Meanwhile, image information acquisition is carried out on the coal gangue at the coal discharging opening through an image module, the content of the gangue is determined through the image information, and if the proportion of the content of the gangue exceeds a set threshold value, the expansion and contraction amount of the tail boom 5 and the tail boom drive 9 is adjusted to be small or the coal discharging opening is closed. Therefore, the correction and the timely closing of the coal discharging speed of the coal discharging port can be realized by the image module, so that the overall resource recovery efficiency can be ensured.

In some embodiments, the link group 6 includes at least two front links 61 and one rear link 62, at least two front links 61 are each provided on a front side of the rear link 62 and are arranged at intervals in the width direction of the base 1, and at least two front links 61 are symmetrically arranged about the rear link 62.

For example, as shown in fig. 5, the front links 61 may be provided with two, the two front links 61 may be arranged in parallel at intervals in the left-right direction, the rear links 62 may be provided with only one, and the rear links 62 may be located at the intermediate positions of the two front links 61 in the left-right direction, whereby the left and right sides of the rear links 62 may form the escape space, thereby facilitating the installation arrangement of the subsequent driving mechanism.

As shown in fig. 5, the first rod 7, the second rod 8 and the tail boom drive 9 form driving mechanisms, two driving mechanisms are provided, the two driving mechanisms are all installed in the corresponding avoidance spaces, the rear connecting rod 62 is located between the two driving mechanisms, and the two driving mechanisms are symmetrically arranged about the rear connecting rod 62. Thereby ensuring the structural strength and the stability of the left and right sides of the tail boom drive 9.

In some embodiments, as shown in fig. 5, the tail boom 5 includes a fixed boom 51, a movable boom 52 and a telescopic drive 53, the fixed boom 51 being rotatably connected to the shield boom 4, the second pole 8 being rotatably connected to the fixed boom 51, the movable boom 52 being slidably mounted to the fixed boom 51.

The telescopic driving device 53 may be a telescopic cylinder, one end of the telescopic driving device 53 is rotatably connected with the fixed beam 51, the other end of the telescopic driving device 53 is rotatably connected with the movable beam 52, and the telescopic driving device 53 is used for driving the movable beam 52 to slide relative to the fixed beam 51, so that telescopic adjustment of the tail beam 5 can be achieved.

In some embodiments, the fixing beam 51 includes a plurality of ear plates 511, and the ear plates 511 are arranged at intervals along the width direction of the fixing beam 51, for example, as shown in fig. 6, the ear plates 511 may be provided with four, and the four ear plates 511 may be arranged at intervals in parallel in the left-right direction. The ends of the second lever 8 are rotatably fitted between the adjacent two lugs 511, for example, four lugs 511 may be paired one by one, and the ends of the second levers 8 of the two driving mechanisms may be hinge-fitted between the corresponding pair of lugs 511.

It should be noted that, as shown in fig. 5, the arrangement of the ear plate 511 and the hinge seat 41 facilitates the rotational assembly of the first rod 7 and the second rod 8, and may also enable a certain space between the first rod 7 and the second rod 8 and the shield beam 4, so that the first rod 7 and the second rod 8 may be prevented from approaching and interfering with the shield beam 4 or the tail beam 5.

The assembly grooves are limited between two adjacent lugs, the movable beam 52 is provided with a box 521, and the box 521 is slidingly assembled in part of the assembly grooves. As shown in fig. 6, the box 521 may have a box-shaped structure formed by butt welding of transverse and longitudinal rib plates, the box 521 may be slidably fitted in a corresponding assembly groove, and the abutment limit of the box 521 and the groove wall of the assembly groove may enhance the guiding performance and structural strength of the assembly.

In some embodiments, as shown in fig. 6, there are three assembly slots, where the three assembly slots include a first slot 512 and two second slots 513, the first slot 512 is located between the two second slots 513, a main ear seat 514 and two auxiliary ear seats 515 are disposed on the fixed beam 51, the main ear seat 514 and the two auxiliary ear seats 515 can be integrally formed on the fixed beam 51, and the main ear seat 514 and the two auxiliary ear seats 515 are both rotationally connected with the shield beam 4, so as to ensure structural stability of the rotational assembly.

The main ear seat 514 is located between the two sub ear seats 515, and the main ear seat 514 is plugged at one end of the first groove 512, the two sub ear seats 515 are plugged at one end of the two second grooves 513 in a one-to-one correspondence manner, the movable beam 52 is provided with two box bodies 521, and the two box bodies 521 are slidably assembled in the two second grooves 513 in a one-to-one correspondence manner. Thereby ensuring the structural stability of the movable seat and the fixed seat assembly.

In some embodiments, as shown in fig. 6, two telescopic drives 53 are provided, the two telescopic drives 53 are arranged at intervals in the width direction (left-right direction) of the tail boom 5, the two telescopic drives 53 are all assembled in the first groove 512, an inner rib plate 517 is arranged in the first groove 512, the inner rib plate 517 is arranged between the two telescopic drives 53, and the two telescopic drives 53 are all rotationally connected with the inner rib plate 517, specifically, a pivot shaft can be fixed between the inner rib plate 517 and the corresponding ear plate 511, and the end part of the telescopic drive 53 can be rotationally assembled on the outer peripheral side of the pivot shaft.

In some embodiments, as shown in fig. 6, the fixing base includes two movable cover plates 518 and two fixed cover plates 519, where the two movable cover plates 518 are detachably plugged at the notch of the first slot 512 and are sequentially arranged in the width direction of the first slot 512, and the butt joint positions of the two movable cover plates 518 are detachably connected with the inner rib plate 517. For example, one side of the movable cover 518 may be fixedly connected to the corresponding ear plate 511 by a fastener such as a bolt, and the other side of the movable cover 518 may be fixedly connected to the inner rib plate 517 by a fastener.

The movable cover plate 518 can be used for shielding and protecting the telescopic drive 53, and secondly, when the telescopic drive 53 is damaged, the movable cover plate 518 can be removed, so that the telescopic drive 53 can be overhauled and replaced conveniently.

The two fixed cover plates 519 are fixed between the two corresponding ear plates 511, and the two fixed cover plates 519 are plugged at the notches of the two second grooves 513 in a one-to-one correspondence manner, and the two movable cover plates 518 are located between the two fixed cover plates 519. Therefore, a stop limit can be formed between the fixed cover plate 519 and the box 521, so that the box 521 is prevented from falling out of the notch of the corresponding second groove 513, and the structural stability of sliding assembly is ensured.

It should be noted that, the whole box 521 may be T-shaped, that is, the width of the portion of the box 521 facing away from the fixed beam 51 is larger, so that the box 521 may form a step structure, and when in use, the step structure may be blocked with the ear plate 511, thereby playing a role in limiting the telescopic travel of the movable beam 52 and the fixed beam 51.

In some embodiments, as shown in fig. 6, a connecting plate 525 may be disposed between two boxes 521, and the connecting plate 525 may serve to enhance the overall structural strength.

In some embodiments, as shown in fig. 6, the fixing beam 51 further includes two side rib plates 516, the two side rib plates 516 may be integrally formed on the left and right sides of the fixing beam 51, and the four ear plates 511 are located between the two side rib plates 516, where the side rib plates 516 may play a role in enhancing structural strength.

In some embodiments, as shown in fig. 6 and 7, the movable beam 52 includes an end plate 522, a gear shaping 523 and a gangue blocking plate 524, the end plate 522 is connected to the ends of the two boxes 521, the gear shaping 523 is provided with a plurality of gear shaping 523, and the plurality of gear shaping 523 are uniformly distributed on one side of the end plate 522 away from the boxes 521, and in use, the gear shaping 523 can be inserted into the bottom plate, so that the stability of fixing the tail beam 5 can be enhanced.

The gangue blocking plate 524 is connected with the end plate 522 and is bent and extended to one side of the fixed beam 51, and the gangue blocking plate 524 is assembled with the fixed beam 51 in a sliding manner. For example, the gangue blocking plate 524 may be connected to a long side of one side of the end plate 522 or integrally formed, and the gangue blocking plate 524 may be wrapped on a top side of the fixed beam 51 and slidably assembled with the fixed beam 51, and when the movable beam 52 slides relative to the fixed beam 51, the gangue blocking plate 524 may also slide relative to the fixed beam 51, thereby enhancing structural stability of the assembly of the movable beam 52 and the fixed beam 51, and fully satisfying the effect of blocking coal and gangue.

In some embodiments, as shown in fig. 7, the gangue stop plate 524 includes a plurality of plate portions 5241 extending toward the fixed beam 51, the plurality of plate portions 5241 may be arranged at intervals along the width direction of the fixed beam 51, for example, the plate portions 5241 may be provided in two, and the two plate portions 5241 may be formed separately by forming grooves in the gangue stop plate 524, i.e., each of the plate portions 5241 has one groove on both left and right sides.

The fixed beam 51 is provided with a plurality of stoppers 5110, each stopper 5110 is provided with an opening, and at least part of the plate portions 5241 are slidably assembled in the openings of the stoppers 5110 in a one-to-one correspondence manner. For example, as shown in fig. 7, two stoppers 5110 may be provided, and the two stoppers 5110 may be annular and may be fixed on the fixed beam 51, and the two plate portions 5241 may be slidably assembled in the openings of the two stoppers 5110 in a one-to-one correspondence manner, so that, on one hand, a situation that a gap between the gangue blocking plate 524 and the fixed beam 51 is large may be avoided, and on the other hand, stability of the slidably assembly may be enhanced.

In some embodiments, in use, the method further comprises the steps of:

There are a plurality of caving coal brackets 100, and the thickness information of the coal layer 300 above each caving coal bracket 100 is obtained through a monitoring module. For example, as shown in fig. 9, the support a, the support B, the support C, the support D, and the like in fig. 9 are independent caving coal supports 100, and each caving coal support 100 may be provided with a monitoring module, so that the acquisition of the thickness information of the coal layer 300 of the caving coal support 100 may be realized.

Numerical simulation is performed according to the thickness information of the coal seam 300 acquired by each monitoring module, for example, the thickness information of the coal seam 300 acquired by each monitoring module can be input into corresponding simulation software, fluctuation simulation of the coal seam 300 can be realized by the simulation software, namely continuous thickness distribution of the coal seam 300 at the upper part of the working surface is obtained through the numerical simulation, and the expansion and contraction amounts of the tail boom 5 and the tail boom drive 9 are corrected according to the thickness of the coal seam 300 above each caving coal bracket 100. Thereby further ensuring that the coal caving speeds which are matched with the different coal seam 300 thicknesses are adopted.

A specific example of an embodiment of the present invention is described below.

The caving coal support 100 comprises tail beams 5, shield beams 4, rear connecting rods 62, front connecting rods 61, support cylinders 3, a base 1, top beams 2, tail beam 5 jacks (corresponding to tail beam driving 9), rear long rods (corresponding to first rods 7), rear short rods (corresponding to second rods 8) and the like.

The base 1 has supporting and moving functions, the connecting holes at the two ends of the rear connecting rod 62 and the front connecting rod 61 are respectively connected with the base 1 and the shield beam 4, the four parts form a single-degree-of-freedom four-bar mechanism, the function of adjusting the posture of the hydraulic support is achieved, the upper end and the lower end of the supporting cylinder 3 are respectively connected with the column nest of the base 1 and the column cap of the top beam 2, the connecting parts can be regarded as hinge points, and the tail part of the top beam 2 is hinged with the front end of the shield beam 4.

The tail boom 5, the tail boom 5 jack, the rear long rod and the rear short rod form a four-bar linkage mechanism, one end of the rear long rod is hinged on the shield beam 4 through an ear seat, the other end of the rear long rod is hinged with the rear short rod and the pushing rod end of the tail boom 5 jack, and the fixed end of the tail boom 5 jack is hinged on the shield beam 4. The other end of the rear short rod is hinged on a short rod ear seat (corresponding to the ear plate 511).

The tail boom 5 includes a fixed beam 51 and a movable beam 52, and the fixed beam 51 includes a tail boom box 521, and the movable beam 52 may be a plugboard. The tail boom box 521 includes a short-bar ear seat, an auxiliary hinge ear seat (corresponding to the auxiliary ear seat 515), a main hinge ear seat (corresponding to the main ear seat 514), a top plate, side rib plates 516, a jack board jack (corresponding to the telescopic drive 53), a connecting cover plate (corresponding to the fixed cover plate 519), a movable cover plate 518, an inner rib plate 517, and a stopper 5110.

The connection relation between the components and the equipment is as follows: two pairs of short rod lugs are respectively fixedly connected to the top plate, two auxiliary hinged lugs are fixedly connected to the top plate, and two side edges are reinforced with the lug plates 511. The main hinged ear seat is also fixedly connected to the top plate, and two side edges are reinforced with the ear plates 511; the auxiliary hinging lug seat and the main hinging lug seat are used for hinging the tail beam 5 to the tail end of the top beam 2 through a pin shaft; the main rib plates are fixedly connected to two sides of the top plate to play a role in reinforcement; one end of each jack of the two plugboards is fixed between the lug seat of the short rod and the pin hole of the inner rib plate 517 through a pin shaft; the connecting cover plate is fixedly connected to two adjacent short rod lugs on the side edge to play a role in connection and fixation; the movable cover plate 518 is connected to the short rod lug seat and the inner rib plate 517 through a detachable bolt group, and plays roles of connecting, fixing and protecting the jack of the plugboard; the inner rib plate 517 is fixedly connected to the top plate; two stoppers 5110 are fixedly attached to the top plate.

The plugboard (movable beam 52) comprises a plugboard box 521, a connecting plate 525, plugboard lugs, an end plate 522, gear shaping 523 and gangue blocking plates 524, and the connection relation between each component and equipment is as follows: the plugboard box 521 is a hollow box 521 formed by splicing longitudinal rib plates and transverse rib plates; the connecting plate 525 is fixedly connected between the plugboard boxes 521; two pairs of plugboard lug seats are fixedly connected to the connecting plate 525 and the end plate 522 and are used for hinging the jack pushing rod ends of the plugboard jacks; the end plate 522 is fixedly connected to the plugboard box 521 and the connecting plate 525; a plurality of gear shaping 523 is fixedly attached to the end plate 522; the gangue stop 524 is fixedly connected to the end plate 522 at one end and is slidably restrained in the opening of the stopper 5110 at the other end.

Referring to fig. 8 (a), in the initial stage of coal caving, the base 1 is supported, the supporting cylinder 3 extends out, and the top beam 2, the shield beam 4 and the lifting are driven by the hinging point, and the rear connecting rod 62 and the front connecting rod 61 play a role in stabilizing. The top beam 2 and the shield beam 4 are provided with balance jacks for adjusting the posture of the top beam 2 so as to be better matched with the upper coal layer 300. And the piston rods of the jacks of the tail beams 5 extend out simultaneously, the rear long rod and the rear short rod are driven to move through the hinge points until the jacks of the tail beams 5 extend out to the maximum stroke state, the tail beams 5 swing backwards to the maximum angle around the hinge points of the jacks of the tail beams 5 and the shield beams 4 under the drive of the rear short rods, and finally, the jacks of the tail beams 5 are locked through unidirectional locking, and the tail beams 5 are kept in the maximum swing state.

Furthermore, the pair of inserting plate jacks extend out, the inserting plate is driven to extend out of the tail beam box 521 through the link inserting plate lug seat, the gear shaping 523 is inserted into the coal seam 300, the inserting plate box 521 plays a role in extending and guiding between the short rod lug seats, and meanwhile, the gangue blocking plate 524 is slidingly restrained on the stop block 5110 to play a role in guiding. At this time, due to the formation pressure, the coal layer 300 and the gangue layer 400 are settled together and compacted on the tail beam 5, the shield beam 4 and the top beam 2 of the caving coal hydraulic support, the tail beam 5 supports the upper coal layer 300 at this time, and the gangue blocking plate 524 plays a role in placing coal leakage/gangue.

Referring to fig. 8 (b), during coal discharging, a pair of insert plate jacks retract, the insert plate is driven to retract in the tail beam box 521 by linking insert plate lugs, the insert plate box 521 plays a retracting guide role between the short rod lugs, and the insert plate finally retracts completely. And then, the piston rod of the jack of the tail boom 5 is retracted, the rear long rod and the rear short rod are driven to move through the hinge points until the jack of the tail boom 5 is retracted to an initial state, and the tail boom 5 swings forwards to a maximum angle around the hinge points of the tail boom 5 and the shield beam 4 under the drive of the rear short rod. At this time, the coal layer 300 and the gangue layer 400 are settled together due to the formation pressure, and the coal layer 300 falls down first, and the coal pieces smoothly fall down onto the lower scraper conveyor due to the absence of the tail boom 5.

Referring to fig. 8 (c), after the coal caving is completed, when the upper coal seam 300 is completely collapsed and the gangue begins to fall, the piston rod of the tail boom 5 jack extends, the process of fig. 8 (a) is repeated, and finally the plugboard extends, and the coal caving process is completed.

The caving coal support 100 of the embodiment of the invention further comprises a plurality of sensors, wherein the sensors mainly comprise a stay cord stroke sensor A, a stay cord stroke sensor B, a vibration acceleration sensor (equivalent to a monitoring module) and a high-definition camera (equivalent to an image module).

The connection relation of each part is as follows: the stay cord stroke sensor A is fixed on an actuator tail boom 5 digital oil cylinder (corresponding to a tail boom drive 9) and used for accurate measurement of the stroke, and the stay cord stroke sensor B is fixed on an inserting plate digital oil cylinder (corresponding to a telescopic drive 53) and used for accurate measurement of the stroke. The vibration acceleration sensor is fixed on the hydraulic support tail beam 5 and is used for measuring the thickness of the coal seam 300 at the upper part of the hydraulic support; the high-definition camera is fixed at the lower part of the tail beam 5 of the hydraulic support and used for recognizing coal gangue.

As shown in fig. 11, the controller mainly includes a central processing unit, a program editing module, a data storage module, a fault diagnosis module, and a remote communication module. The central processing unit is used for carrying out data processing and instruction issuing; the program editing module is used for timely correcting and dynamically adjusting the program; the data storage module is used for storing and calling various information; the fault diagnosis module is used for monitoring abnormal physical information; the remote communication module is used for carrying out wireless communication with the outside.

In addition, as shown in fig. 10, the rear scraper conveyor 200 and the pull-back mechanism of the auxiliary part of the coal discharging process are used for collecting and timely conveying the discharged top coal by the rear scraper conveyor 200; the pulling back sliding mechanism is fixed between the hydraulic support base 1and the back scraper conveyor 200 and is used for pulling the back scraper conveyor 200 when the working surface is pushed. The power part comprises a power supply system and a liquid supply system, the power supply system is used for supplying power to the components such as the sensor, the controller and the electromagnetic reversing valve, and the liquid supply system is used for supplying hydraulic power to the digital oil cylinder of the tail boom 5 and other oil cylinders of the hydraulic support.

When in use, referring to fig. 10, the vibration acceleration sensor fixed on each hydraulic support tail beam 5 measures the thickness of the coal layer 300 at the upper part of the hydraulic support, numerical simulation is carried out through the central processing unit and the program editing module, the continuous thickness distribution of the coal layer 300 at the upper part of the working surface is obtained, and then the coal quantity above each hydraulic support (group) is calculated, so that the size of the coal discharge opening of each hydraulic support (group) is adjusted on the basis of the same coal discharge time, and the coal discharge speeds of different hydraulic supports (groups) are adjusted, so that the coal discharge process is uniform and stable. Avoid the coal discharging problems such as multiple discharging and missing discharging caused by the consistent size of the coal discharging ports of the hydraulic support (group).

Referring to fig. 11 and 12, the control system of the caving coal stand 100 operates as follows:

Firstly, before coal discharge starts, a vibration acceleration sensor on a bracket tail beam 5 measures the thickness of a coal layer 300 on the upper part of a hydraulic bracket, numerical simulation is carried out through a central processing unit and a program editing module, continuous thickness distribution of the coal layer 300 on the upper part of a working face is obtained, then the amount of coal above each (group of) hydraulic bracket is calculated, and then the extending length of a digital oil cylinder of the tail beam 5 and a digital oil cylinder of an inserting plate is calculated through logic operation of the program editing module, so that the size of a coal discharge opening of the tail beam 5 is controlled.

And secondly, starting coal discharge, enabling the Liang Shuzi oil cylinder and the plugboard digital oil cylinder to be controlled by the electric-hydraulic reversing valve group according to an instruction issued by the central processing unit, and quickly adjusting the coal discharge ports of the brackets (groups) to be slightly different in size, so that accurate coal discharge cooperative control is realized.

Thirdly, in the coal discharging process, a stay rope stroke sensor A is fixed on the digital oil cylinder of the tail boom 5 of the actuator and used for accurate stroke measurement and information feedback, and a stay rope stroke sensor B is fixed on the digital oil cylinder of the plugboard and used for accurate stroke measurement and information feedback. Every two hydraulic supports are provided with a high-definition camera and are fixed at the lower part of the tail beam 5 of the hydraulic support for identifying coal gangue, so that the effect of assisting in observing the coal discharging process is achieved, errors of measuring the coal thickness and controlling the coal discharging amount by using a vibration acceleration sensor are made up, if the detected gangue content exceeds a certain proportion, the errors are fed back to a central processing unit in time, and then the size of a coal discharging opening is adjusted in time. Meanwhile, information such as coal discharge amount, support posture and the like can be transmitted to the centralized control platform in real time through the remote communication module, and the centralized control platform can also control the hydraulic support through remote manual operation of the electro-hydraulic reversing valve group.

The beneficial effects are that: according to the top coal caving control method based on the top coal caving support 100, disclosed by the embodiment of the invention, the problems of excessive caving and missed caving in the coal caving process can be avoided, the coal caving quality and the recovery rate of resources are improved, and the condition that the coal caving is uneven due to uneven thickness of the coal layer 300 is avoided.

The top coal caving bracket 100 adopts a four-bar tail beam 5 control mechanism, the device is provided with the tail beam 5, a tail beam 5 jack, a rear long rod and a rear short rod, the four parts form a four-bar mechanism, a dead point of the mechanism is avoided in the working process, the posture adjustment flexibility of the tail beam 5 is improved, the working resistance of the tail beam 5 jack is reduced, and the stability and the safety of the hydraulic bracket are improved.

The invention relates to a top coal caving bracket 100, which adopts a double-layer detachable tail beam 5 mechanism, wherein a tail beam box 521 and an inserting plate jointly form the tail beam 5 mechanism. The plugboard is inserted between the short rod lugs through the plugboard box 521 on one hand; on the other hand, the gangue stop 524 is slidingly restrained on the stop 5110. The expansion and contraction of the insert plate in the tail boom box 521 is realized.

According to the hydraulic support for the tail caving coal, the movable cover plate 518 connected through the bolts is adopted, when the plugboard jack is damaged, the movable cover plate 518 can be conveniently detached, maintenance and replacement of the jack are carried out, and good structural innovation is achieved.

The hydraulic support for the tail caving coal adopts the arrangement mode of the single rear connecting rod 62, so that the space is reasonably saved while the support stability is ensured, and the space is provided for the mechanism installation of the tail boom 5 jack, the rear long rod and the rear short rod, and the hydraulic support has good structural innovation.

According to the hydraulic support for the tail caving roof coal, a movable gangue blocking plate 524 is adopted, one end of the movable gangue blocking plate is fixedly connected to the plugboard end plate 522, the other end of the movable gangue blocking plate is slidingly restrained in an opening of the stop block 5110, and the gangue blocking effect can be achieved when the plugboard stretches and contracts.

The hydraulic support for the tail caving coal has the advantages of high supporting efficiency, reasonable design, flexible mechanism, high bearing capacity, simple control and lower cost.

According to the accurate top coal caving control method, the high-definition camera, the vibration acceleration sensor and the like are adopted to perform multiple combined actions, so that the coal gangue identification precision is effectively improved, and the coal caving quality is improved.

According to the accurate top coal caving control method, the multi-bracket cooperative control coal caving method is adopted, the coal caving speed can be reasonably adjusted according to the thickness difference of the coal seam 300 at the top of different brackets, the coal caving process is stable and accurate, and the phenomenon of uneven coal caving is greatly reduced.

According to the caving coal control method, the digital oil cylinder with the stay cord stroke sensor is adopted in the execution part, so that the pushing stroke of the hydraulic cylinder can be visually displayed and set, the posture adjustment precision of the tail boom 5 is greatly improved, and the caving coal amount control precision is improved.

The top coal caving control method adopts a flexible dynamic program editing module, solves the telescopic travel of the beam digital oil cylinder and the plugboard digital oil cylinder in time according to the coal caving time and the coal caving amount requirement, introduces optimization parameters in the process, and ensures the stability of the stress and the posture of the hydraulic support while meeting the requirement of controlling the size of a coal caving.

The top coal caving control method of the invention can calculate the amount of coal caving accurately, solve the problems of missed caving, multiple caving and the like of the top coal caving process which is operated by experience from the source, and improve the resource utilization rate.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

For purposes of this disclosure, the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While the above embodiments have been shown and described, it should be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations of the above embodiments may be made by those of ordinary skill in the art without departing from the scope of the invention.

Claims (10)

1. The caving coal control method based on the caving coal bracket is characterized in that the caving coal bracket comprises the following steps:

The support oil cylinders are arranged between the base and the top beam and used for propping the top beam;

The top side of the shield beam is rotationally connected with the top beam, the tail beam is rotationally connected with the bottom side of the shield beam, the tail beam can be telescopically adjusted, one end of the connecting rod group is rotationally connected with the shield beam, and the other end of the connecting rod group is rotationally connected with the base;

The device comprises a first rod, a second rod and a tail beam drive, wherein one end of the first rod is rotationally connected with the shield beam, the other end of the first rod is rotationally connected with one end of the second rod, the other end of the second rod is rotationally connected with the tail beam, one end of the tail beam drive is rotationally connected with the shield beam, and the other end of the tail beam drive is rotationally connected with a joint of the first rod and the second rod;

The monitoring module and the image module are both arranged on the tail beam, the monitoring module is used for measuring the thickness of the coal bed above the caving coal bracket, and the image module is used for identifying coal gangue;

The top coal caving control method comprises the following steps:

S1: transmitting and receiving monitoring signals to the overburden by the monitoring module, and obtaining coal seam thickness information by differential feedback of the monitoring signals to different overburden;

s2: determining the expansion and contraction amount of the tail beam and the expansion and contraction amount of the tail beam drive according to the obtained coal seam thickness information;

S3: regulating and controlling the tail beam and the tail beam drive to the determined telescopic quantity so as to control the size of a coal discharging opening of the tail beam;

S4: in the coal discharging process, the tail beam and the telescopic quantity driven by the tail beam are monitored, meanwhile, the image module is used for collecting image information of coal gangue at the coal discharging opening, the content of the coal gangue is determined through the image information, and if the proportion of the content of the coal gangue exceeds a set threshold, the telescopic quantity driven by the tail beam and the tail beam is adjusted to be smaller or the coal discharging opening is closed.

2. The caving coal control method based on a caving coal bracket according to claim 1, wherein the link group comprises at least two front links and one rear link, at least two front links are both arranged on the front side of the rear link and are arranged at intervals in the width direction of the base, and the at least two front links are symmetrically arranged with respect to the rear link;

The first rod, the second rod and the tail boom are driven to form driving mechanisms, two driving mechanisms are arranged, the rear connecting rod is located between the two driving mechanisms, and the two driving mechanisms are symmetrically arranged relative to the rear connecting rod.

3. The caving coal control method based on the caving coal bracket according to claim 2, wherein the tail boom comprises:

The fixed beam is rotationally connected with the shield beam, the second rod is rotationally connected with the fixed beam, and the movable beam is slidingly assembled on the fixed beam;

The telescopic driving device comprises a fixed beam, a telescopic driving device and a tail beam, wherein one end of the telescopic driving device is connected with the fixed beam in a rotating mode, the other end of the telescopic driving device is connected with the movable beam in a rotating mode, and the telescopic driving device is used for driving the movable beam to slide relative to the fixed beam so as to realize telescopic adjustment of the tail beam.

4. The caving coal control method based on the caving coal bracket according to claim 3, wherein the fixed beam comprises a plurality of ear plates, the ear plates are arranged at intervals along the width direction of the fixed beam, the end part of the second rod is rotatably assembled between two adjacent ear plates, an assembly groove is limited between two adjacent ear seats, the movable beam is provided with a box body, and the box body is slidingly assembled in part of the assembly groove.

5. The caving coal control method based on the caving coal support according to claim 4, wherein three assembly grooves are provided, the three assembly grooves comprise a first groove and two second grooves, the first groove is located between the two second grooves, a main ear seat and two auxiliary ear seats are arranged on the fixed beam and are rotationally connected with the shield beam, the main ear seat is located between the two auxiliary ear seats, the main ear seat is plugged at one end of the first groove, the two auxiliary ear seats are plugged at one end of the two second grooves in a one-to-one correspondence manner, the movable beam is provided with two box bodies, and the two box bodies are slidably assembled in the two second grooves in a one-to-one correspondence manner.

6. The caving coal control method based on the caving coal support, according to claim 5, characterized in that two telescopic drives are arranged, the two telescopic drives are arranged at intervals in the width direction of the tail beam, the two telescopic drives are assembled in the first groove, an inner rib plate is arranged in the first groove, the inner rib plate is arranged between the two telescopic drives, and the two telescopic drives are connected with the inner rib plate in a rotating mode.

7. The caving coal control method based on the caving coal bracket according to claim 6, wherein the fixed seat comprises two movable cover plates and two fixed cover plates, the two movable cover plates are detachably plugged at the notch of the first groove and are sequentially arranged in the width direction of the first groove, and the butt joint positions of the two movable cover plates are detachably connected with the inner rib plate;

the two fixed cover plates are fixed between the corresponding two lug plates, the two fixed cover plates are plugged at the notch of the two second grooves in a one-to-one correspondence manner, and the two movable cover plates are positioned between the two fixed cover plates.

8. The caving coal control method based on the caving coal support, according to claim 5, characterized in that the movable beam comprises end plates, gear shaping and gangue blocking plates, the end plates are connected to the end parts of the two boxes, the gear shaping is provided with a plurality of gear shaping, the gear shaping is uniformly distributed on one side of the end plates, which is away from the boxes, the gangue blocking plates are connected with the end plates and are bent and extended towards one side of the fixed beam, and the gangue blocking plates are assembled with the fixed beam in a sliding mode.

9. The caving coal control method based on the caving coal bracket according to claim 8, wherein the gangue blocking plate comprises a plurality of plate parts extending to the fixed beam, the plurality of plate parts are arranged at intervals along the width direction of the fixed beam, a plurality of stop blocks are arranged on the fixed beam, each stop block is provided with an opening, and at least part of the plate parts are slidably assembled in the openings of the plurality of stop blocks in a one-to-one correspondence manner.

10. The roof coal caving control method based on a roof coal rack of any one of claims 1 to 9, further comprising the steps of, in use:

the number of the top coal caving brackets is multiple, and the monitoring module is used for acquiring the thickness information of the coal bed above each top coal caving bracket;

And carrying out numerical simulation according to the coal seam thickness information acquired by each monitoring module, obtaining continuous thickness distribution of the coal seam on the upper part of the working surface through the numerical simulation, and correcting the tail boom and the expansion and contraction amount driven by the tail boom according to the coal seam thickness above each caving coal bracket.