深部综掘巷道机器人化超前支护方案与最佳支护时机研究

综掘工作面为顶板垮落、片帮等事故多发区，且随着煤炭开采深度的增加，安全问题更为 严峻，严重威胁着煤矿工人的人身安全。 超前支护是事故预防和安全保障的有效途径之一。 基 于自主设计的机器人化自移式支锚联合机组，提出了综掘巷道超前支护方案和支护时机的概念， 阐述了支护机器人的结构与工作原理。 以旗山矿地质条件为例，建立了巷道围岩－超前支架力学 耦合模型，采用数值模拟分析了不同支护时机下巷道围岩变形与支架受力情况。 结果表明:顶板 下沉10~15mm时，巷道围岩承载能力较强，平衡后顶板最大下沉量最小，约29.64mm，超前支 架顶部受力最小，约0.13Mpa，有利于超前支架的设计与巷道安全支护，为最佳支护时机。 总结 了综掘巷道最佳支护时机的确定方法，为利用巷道围岩的自承载能力、减小巷道围岩变形、降低 巷道支护成本、提高巷道支护效率和安全性提供了思路。

Robotized advance support scheme and optimum support?opportunity for deep fully mechanized roadway

The fully mechanized excavation working face is the accident-prone area,such as the roof?collapse and the rib spailling.With the increase of coal mining depth,the problem becomes more obvious,which seriously threatens the personal safety of coal miners.Advance support is one of the effective?ways to prevent accidents and ensure safety.Based on the self-designed robotized self-moving support-anchor combined unit,the advance support scheme of the fully mechanized roadway was proposed,and?the struclure and working principle of the support robot were introduced.The concept of optimum support opportunity was proposed.Taking the geological conditions of Qishan mine as an example,the mechanical coupling model of surrounding rock-advance support was established,and the deformation of?roadway surrounding rock and the stress of support at different support opportunities were numerically?analyzed.The results show that the bearing capacity of surrounding rock is strong with 10~15mm roof?subsidence of the roadway,and the maximum roof subsidence reach the lowest of 29.64 mm when it balances,the pressure on the top of advance support reach the lowest of approximately 0.13 MPa,which is good for the design of advance support and safe of the fully mechanized face and is the optimum support opportunity.Finally,this paper summarizes the determination method of the optimal support opportunity of the fully mechanized roadway , which provides ideas for using the surrounding rock self-bearing capacity of roadway,reducing the surrounding rock deformation of roadway,reducing the support cost of roadway,and improving the supporting efficiency and safety of roadway.