50000 kN液压支架试验台中梁复合定位调高方法研究  

Research on composite positioning and height adjustment method of middle beam for 50000 kN hydraulic support test bench

作　　者：吴成峰 万传旭 王涛 陈策 张建卓[2] WU Chengfeng;WAN Chuanxu;WANG Tao;CHEN Ce;ZHANG Jianzhuo(Shandong Yankuang Intelligent Manufacturing Co.,Ltd.,Zoucheng 273500,Shandong,China;School of Mechanical Engineering,Liaoning Technical University,Fuxin 123000,Liaoning,China)

机构地区：[1]山东兖矿智能制造有限公司,山东邹城273500 [2]辽宁工程技术大学机械工程学院,辽宁阜新123000

出　　处：《矿山机械》2023年第8期1-6,共6页Mining & Processing Equipment

基　　金：国家自然科学基金联合基金项目(U1908222);辽宁工程技术大学学科创新团队资助项目(LNTU20TD-28)。

摘　　要：液压支架试验台是测试液压支架性能是否达标的关键试验装备,在试验过程中,液压支架试验台中梁经常需要调高以适应不同型号液压支架和不同项目的压架试验。50 000 kN液压支架试验台承载立柱高度达到17 m,由于受温度效应影响,无法单独依靠高精度位移传感器实现精确定位控制,出现插拔销困难现象。针对该问题,提出一种以位移传感器粗定位为基础,辅以图像处理技术的中梁复合精确定位调高方法。采用多尺度Retinex方法对图像进行增强处理,使用自适应阈值的Canny边缘检测算法对立柱销轴孔、销轴定位孔进行边缘提取,通过筛除后的数据点提取立柱销轴孔和销轴定位孔的圆心,计算二者圆心坐标误差,判断中梁是否运动到位。经过试验验证,该方法可以准确计算立柱销轴孔和销轴定位孔间的相对位置,保证中梁调高过程中立柱销轴孔和销轴定位孔的精确定位,保证插拔销顺利。The hydraulic support test bench is a key test equipment to test whether the performance of the hydraulic support meets the standard.During the test,the middle beam in the hydraulic support test bench often needs to be adjusted for pressure tests of different types of hydraulic supports and different projects.The height of the load-bearing column of the 50000 kN hydraulic support test bench reaches 17 m,but due to the influence of temperature effect,it is impossible to achieve precise positioning control by relying on the highprecision displacement sensor alone,resulting in difficulty in inserting and removing pins.In response to the above problems,a composite positioning and height adjustment method of the middle beam was proposed based on the rough positioning of displacement sensor and supplemented by image processing technology.The multiscale Retinex method was used to enhance the image processing,and the Canny edge detection algorithm with adaptive threshold was used to extract the edge of the column pin hole and the pin positioning hole.At the same time,the centers of the column pin hole and pin positioning hole were extracted by the screened data points,and the coordinate error of the two centers was calculated to tell whether the middle beam was in place.It was verified by tests that the method could accurately calculate the relative position between the column pin hole and the pin positioning hole,ensuring the precise positioning of the column pin hole and the pin positioning hole during the height adjustment of the middle beam,and ensuring the smooth inserting and removing of the pin.

关 键 词：液压支架试验台 中梁调高 视觉定位 边缘检测 

分 类 号：TD355.4[矿业工程—矿井建设] TH137[机械工程—机械制造及自动化]