Key technology of temporary support robot for rapid excavation of coal mine roadway

Abstract

The coal industry has long been troubled by the imbalance between mining and tunneling, and between excavating and support. The main cause of this problem is the inability to perform excavating and permanent support operations in parallel. Additionally, the limited space near the tunneling face hampers the efficiency of permanent support. Temporary support is an effective method to ensure the stability of the surrounding rock and expand the space for parallel operations between excavating and permanent support activities. This work provides a brief overview of the current research status on temporary support, emphasizing that the key to achieving safe, efficient, and rapid excavation lies in the development of temporary support robots. To meet the development needs of temporary support robots, three key technologies are proposed: the construction of a coupling model between the robot and the surrounding rock, spatial layout optimization of the rapid advancement system, and adaptive control of the robot. This work details the methods and approaches for constructing the coupling model, the elements of system spatial layout optimization, and the methods and strategies for the robot's adaptive control. Our team successfully tested the shield robot system at Xiaobaodang Mining Company, verifying the feasibility of these key technologies.