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.