固体充填液压支架机构干涉临界表征与自主解调方法  

Mechanism interference critical characterization and autonomous demodulation method of solid filling hydraulic support

作　　者：宗庭成 张强[1,2] 时培涛[1,2] 王云搏 李凤铭 常天骄 ZONG Tingcheng;ZHANG Qiang;SHI Peitao;WANG Yunbo;LI Fengming;CHANG Tianjiao(School of Mines,China University of Mining&Technology,Xuzhou 221116,China;Key Laboratory of Deep Coal Resource Mining,Ministry of Education of China,China University of Mining&Technology,Xuzhou 221116,China)

机构地区：[1]中国矿业大学矿业工程学院,江苏徐州221116 [2]中国矿业大学深部煤炭资源开采教育部重点实验室,江苏徐州221008

出　　处：《煤炭科学技术》2023年第8期260-270,共11页Coal Science and Technology

基　　金：国家自然科学基金面上资助项目(52174134);中央高校基本科研业务费专项资助项目(2021GJZPY12)。

摘　　要：在采充工序自驱执行过程中,能否实现机构干涉的自主解调,是固体充填液压支架能否实现智能化的基础。利用理论分析方法,以ZC5160/30/50型固体充填液压支架为例,从充填支架机构的几何及运动约束关系出发,建立了正交位姿控制指标:夯实铰点顶梁平距和夯实铰点顶梁垂距,实现了任意工况下支架后顶梁的位姿表征;分析了充填支架底卸式输送机在各工况因素作用下的运动特征,建立了正交位姿控制指标:底卸式输送机顶梁垂距和输送机顶梁平距,实现了任意工况下底卸式输送机的位姿表征;基于后顶梁和底卸式输送机的位姿控制指标进一步得出充填物料卸料过程中在煤层底板的落点位置表征指标:卸料中心距,实现了任意工况下充填物料的落点位置表征;分析了采充工序执行过程中各工序阶段机构动作与位姿调整的衔接关系和易干涉位置,基于正交位姿控制指标,利用投影法建立了任意工况下落料与典型碰撞位置的干涉临界控制方程;以夯实机构转角和夯实油缸行程表征典型工况下的干涉临界曲线,提出采用“干涉区、易干涉区、非干涉区”的三区分布特征表征干涉临界程度,并给出各干涉状态的解调路经;基于干涉临界控制方程、干涉三区分布特征和充填工序过程中机构动作与位姿调整的衔接关系,提出了干涉状态自主识别方法:利用角度传感器及行程传感器获取夯实机构的实时转角和行程,代入各易干涉位置的干涉临界方程得到处于该位置干涉临界状态的夯实机构转角或行程的理论值和干涉临界曲线,判断实际值在干涉临界曲线三区分布图上的位置即可实现干涉位置及状态的自主判别,根据干涉三区分布曲线图即可实现自主解调;基于干涉位置及干涉状态自主识别方法设计了干涉自主判别和解调算法。研究结果为充填液压支架机构位姿表征提供了新的�Whether the self-demodulation of mechanism interference can be realized in the self-driven execution process of filling operation is the basis for the solid filling hydraulic support to achieve intelligence.Using the theoretical analysis method,taking the ZC5160/30/50 type solid filling hydraulic support as an example,starting from the geometric and motion constraint relationship of the filling support mechanism,the orthogonal pose control index is established:the horizontal distance and vertical distance of the tamping hinge point top beam,which realizes the pose characterization of the rear top beam of the support under any working condition;The motion char acteristics of the bottom-discharge conveyor of the filling support under various working condition factors were analyzed,and the orthogonal pose control index was established:the vertical distance and horizontal distance of the top beam of the bottom-discharge conveyor,which realized the pose characterization of the bottom-discharge conveyor under any working condition;Based on the pose control index of the rear top beam and the bottom-discharge conveyor,the landing position characterization index of the filling material on the coal seam floor during the discharge process is further obtained:the discharge center distance,which realizes the landing position characterization of the filling material under any working condition;the connection relationship and easy interference position of the mechanism action and pose adjustment in each stage of the filling operation process are analyzed,based on the orthogonal pose control index,the interference critical control equation of the discharge and typical collision position under any working condition is established by using the projection method;taking the tamping mechanism rotation angle and tamping cylinder stroke as the characterization of the interference critical curve under typical working conditions,it is proposed to use the three-zone distribution characteristics of“interference zone,easy interference zon

关 键 词：智能充填 充填开采 液压支架 干涉临界 表征方法 自主解调 

分 类 号：TD822[矿业工程—煤矿开采]