CN114439527A - Intelligent solid filling hydraulic support working condition state representation method - Google Patents

Intelligent solid filling hydraulic support working condition state representation method Download PDF

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CN114439527A
CN114439527A CN202111542213.3A CN202111542213A CN114439527A CN 114439527 A CN114439527 A CN 114439527A CN 202111542213 A CN202111542213 A CN 202111542213A CN 114439527 A CN114439527 A CN 114439527A
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point
tamping
top beam
hydraulic support
characterization
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CN114439527B (en
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张强
张吉雄
李猛
李凤铭
孙忠良
崔鹏飞
宗庭成
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/12—Control, e.g. using remote control
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/04—Structural features of the supporting construction, e.g. linking members between adjacent frames or sets of props; Means for counteracting lateral sliding on inclined floor
    • E21D23/0472—Supports specially adapted for people walking or transporting material
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/04—Structural features of the supporting construction, e.g. linking members between adjacent frames or sets of props; Means for counteracting lateral sliding on inclined floor
    • E21D23/0481—Supports specially adapted for use in combination with the placing of filling-up materials
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F15/00—Methods or devices for placing filling-up materials in underground workings
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
    • G06F17/12—Simultaneous equations, e.g. systems of linear equations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/17—Mechanical parametric or variational design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation

Abstract

An intelligent solid filling hydraulic support working condition state representation method belongs to the field of intelligent mining of mines. Establishing a skeleton model according to the structural characteristics of the filling hydraulic support; based on a framework model of the support, preferably selecting an origin and a horizontal and vertical coordinate axis to establish a rectangular coordinate system to form a position state representation model; screening a scaffold potential stability representation scheme, and determining a potential stability function equation; analyzing and establishing a tamping mechanism of the hydraulic support and a motion track function of the bottom-dump scraper conveyor under the stable state, and determining the critical condition of the interference condition; judging whether the key mechanism is interfered under any position state of the filling hydraulic support according to the critical condition, and adjusting the tamping angle and the tamping elongation of the tamping mechanism to perform interference demodulation; and finally, verifying the advantages and disadvantages of the characterization method of the working condition state of the support through the control effects of the stable characterization of the state of the filled hydraulic support and the structural interference.

Description

Intelligent solid filling hydraulic support working condition state representation method
Technical Field
The invention relates to an intelligent control technology for mining, in particular to a working condition and position representation method for an intelligent solid filling hydraulic support, and belongs to the technical field of intelligent coal mining.
Background
With the development of intelligent mining technology and the construction of intelligent mines, the national requirements for green large-scale treatment of a large amount of solid wastes and source treatment technology such as surface subsidence control are increasing day by day, and the hard requirement for efficient intelligent filling mining is urgent. The traditional solid filling mining technology has the defects of low filling speed, low filling single-face productivity, unsatisfactory overall filling benefit and the like, and the intelligent solid filling coal mining technology is a key technology for solving the limitation of the traditional filling technology.
Based on the operation scene of the intelligent filling hydraulic support, the normal propulsion of the filling process is influenced by the fuzzy spatial posture of the hydraulic support, and the intelligent filling hydraulic support is the basis for interference accurate control of a scraper conveyor and a tamping mechanism after the hydraulic support is filled and is also an important foundation stone of the intelligent solid filling coal mining technology.
Disclosure of Invention
The invention aims to provide an intelligent solid filling hydraulic support working condition state representation method, which can accurately represent a solid filling hydraulic support stable state and a working procedure interference state, and is used as a basis for realizing the stable state of a front upright post and a rear upright post of a filling hydraulic support and accurately controlling the interference state of a filling hydraulic support tamping mechanism and a bottom-dump scraper conveyor, so that the solid filling mining efficiency is improved.
In order to solve the technical problems, the invention adopts the following technical scheme: the invention provides a working condition state representation method for an intelligent solid filling hydraulic support, which is characterized in that a skeleton model is established according to the structural characteristics of the filling hydraulic support; based on a framework model of the support, preferably selecting an origin and a horizontal and vertical coordinate axis to establish a rectangular coordinate system to form a position state representation model; screening a scaffold potential stability representation scheme, and determining a potential stability function equation; analyzing and establishing a tamping mechanism of the hydraulic support and a motion track function of the bottom-dump scraper conveyor under the stable state, and determining the critical condition of the interference condition; judging whether the key mechanism is interfered under any position state of the filling hydraulic support according to the critical condition, and adjusting the tamping angle and the tamping elongation of the tamping mechanism to perform interference demodulation; and finally, verifying the advantages and disadvantages of the characterization method of the working condition state of the support through the control effects of the stable characterization of the state of the filled hydraulic support and the structural interference.
The method comprises the following specific steps:
step A, analyzing structural parameters of the filling hydraulic support according to structural characteristics of the filling hydraulic support, establishing a skeleton model of the filling hydraulic support, and entering step B;
b, representing the position state of the framework model according to the framework model filled with the hydraulic support, selecting an original point position, establishing a rectangular coordinate system, and entering the step C;
c, selecting the elongation of a front upright column, the included angle between the front upright column and the base, the elongation of a rear upright column and the included angle between the rear upright column and the base as a group of characterization parameters according to a framework model filled with the hydraulic support, and then entering the step D;
d, according to the selected characterization parameters and the selected characterization methods, selecting scheme points of different characterization methods to characterize the working condition of the bracket, confirming that the filling hydraulic bracket is in a stable state by checking the consistency of the heights of the selected scheme points, and entering the step E;
e, establishing a function model of a key mechanism in the filling hydraulic support through the support characterization parameters and the structure parameters selected in the step C, and representing a motion trail equation of the key mechanism, wherein the key mechanism is a tamping mechanism and a bottom-dump scraper conveyor; then entering step F;
step F, analyzing three interference states of blanking interference in a blanking process, collision interference in the tamping process and the like according to the motion track equation of the tamping mechanism and the scraper conveyor, simultaneously establishing corresponding process function models of two key mechanisms as interference criterion equations, and entering the step G;
and G, verifying whether the key mechanism is interfered under any position state or not according to the interference criterion equation of different interference position states in the step F, and verifying the quality of the working condition position state characterization method by adjusting the tamping angle and the tamping elongation of the tamping mechanism to perform interference demodulation.
In the step B, an origin position selection principle is as follows: the first principle is favorable for representing the overall accuracy of the support; and the second principle is favorable for interference discrimination and demodulation.
The selection scheme of the origin position is as follows:
when the hinged point O of the rear upright post and the rear top beam is selectedCWhen the point is the origin position; establishing a rectangular coordinate system by taking the direction along the mining direction as the X-axis direction and the direction perpendicular to the X axis and towards the earth as the Y-axis direction;
when the hinge point O of the front upright post and the base is selectedAWhen the position is the original position; establishing a rectangular coordinate system by taking the direction of the top beam perpendicular to the X axis as the positive direction of the Y axis along the direction of mining as the direction of the X axis;
when the hinge point O of the rear upright post and the base is selectedBWhen the position is the original position; establishing a rectangular coordinate system by taking the direction of the top beam perpendicular to the X axis as the positive direction of the Y axis along the direction of mining as the direction of the X axis;
in step D, the characterization selection principle is as follows: the first principle is to ensure the characterization precision; the second principle is to minimize environmental impact.
In the step D, the working conditions of the bracket are characterized by selecting scheme points of different characterization methods, which specifically comprise the following steps:
(1) when points A, B and C on the beam are selected as datum points, the characterization method comprises the following steps: selecting a point A at a hinge point of a front upright post and a front top beam on a top plate of the support, a point B at a hinge point of the front top beam and a rear top beam and a point C at a hinge point of the rear upright post and the rear top beam, characterizing three points A, B and C, measuring a characterization constant of the three points, giving a height characterization function of the point A and the point C, measuring the height of the point B at which the front top beam and the rear top beam are hinged by using a height measurement sensor, and determining that the filling hydraulic support is in a stable state by verifying the height consistency of the three points;
(2) when points A, B and F on the beam are selected as datum points, the characterization method comprises the following steps: selecting a point A at the hinged joint of a front upright column and a front top beam on a top plate of the support, a point B at the hinged joint of the front top beam and a rear top beam and a point F at the tail of the rear top beam, characterizing the point A, the point B and the point F, determining a characterization constant of the three points, giving a height characterization function of the point A, measuring the point B at the hinged joint of the front top beam and the rear top beam and the height of the point F at the tail of the rear top beam by using a height measurement sensor, and determining that the filling hydraulic support is in a stable state by verifying the height consistency of the three points;
(3) when points A, E and C on the beam are selected as datum points, the characterization method comprises the following steps: selecting a point A at a hinge point of a front upright post and a front top beam on a top plate of the bracket, a point E at any position between the point A at the hinge point of the front upright post and the front top beam and a point B of a rear upright post and the hinge point of the rear top beam and the rear upright post as a point C, characterizing the points A, E and C, measuring the characterization constants of the three points, giving a height characterization function of the point A and the point C, measuring the height of the point E by using a height measurement sensor, and determining that the filling hydraulic bracket is in a stable state by verifying the height consistency of the three points;
(4) when points D, B and C on the beam are selected as datum points, the characterization method comprises the following steps: the method comprises the steps of selecting a bracket top plate, wherein a front upright post and a front top beam hinged point left side top beam position point as a D point, the front top beam and a rear top beam hinged point as a B point and the rear top beam and the rear upright post hinged point as a C point, characterizing the D point, the B point and the C point, determining a characterization constant of the three points, giving a height characterization function of the C point, measuring the top beam position D point by using a height measurement sensor, measuring the height of the front top beam and the rear top beam hinged point B point, and determining that a filling hydraulic bracket is in a stable state by verifying the height consistency of the three points.
In step E, the motion trajectory equation of the key mechanism:
(1) selecting a hinge point O between the rear upright post and the baseBIn a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is as follows:
the motion trail equation of the bottom-dump scraper conveyor is as follows:
x＝L1+Lhcosh(H1-H2≤y≤H1)
y＝H1-H2 (L1+Lh cosh≤x≤L1+L2+Lhcosh)
x＝L1+L2+Lhcosh(H1-H2≤y≤H1) (1)
the motion track equation of the tamping mechanism is as follows:
y＝tanαx (Lmincosα≤x≤L0cosα) (2)
the motion trail of the tamping head of the tamping mechanism is as follows:
Figure BDA0003414665930000031
(2) selecting a hinge point O between the rear upright post and the baseAIn a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is as follows:
the motion trail equation of the bottom-dump scraper conveyor is as follows:
x＝L1+L4+Lhcosh(H1-H2≤y≤H1)
y＝H1-H2 (L1+L4+Lhcosh≤x≤L1+L2+L4+Lhcosh)
x＝L1+L2+L4+Lhcosh(H1-H2≤y≤H1) (1)
the motion track equation of the tamping mechanism is as follows:
y＝tanα(x+L4) (Lmincosα≤x≤L0cosα) (2)
the motion track equation of the tamping head of the tamping mechanism is as follows:
Figure BDA0003414665930000032
(3) selecting a hinge point O between the rear upright post and the baseCIn a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is as follows:
the motion trail equation of the bottom-dump scraper conveyor is as follows:
x＝L1(0≤y≤H2
y＝H2 (L1≤x≤L1+L2)
x＝L1+L2(H1-H2≤y≤H1) (1)
the motion track equation of the tamping mechanism is as follows:
y＝tanαx+H1-H0-Lhcoshtanα (Lmincosα≤x≤L0cosα) (2)
the motion track equation of the tamping head of the tamping mechanism is as follows:
Figure BDA0003414665930000033
in the formula:
L0the state values of the length of the tamping mechanism at different moments;
Lq，Lhthe lengths of the front upright post and the rear upright post after extending out are respectively corresponding to mm;
H0the height difference of the hinge point of the rear upright post and the vertical direction of the bracket base is mm;
H1the height from the vertical direction of the top beam of the support to the base is mm;
H2-height of the multi-hole bottom-dump conveyor, mm;
Lminthe length of the tamping mechanism which does not extend out is mm;
L1the horizontal distance from the hinged point of the rear upright post and the rear top beam to the bottom-dump scraper conveyor is mm;
L2width of the multi-hole bottom-dump conveyor, mm; l is3The length of a tamping head of a tamping mechanism is mm;
q, h-corresponding to the front and rear column inclination angle, °, respectively;
alpha is the state value and degree of the included angle between the tamping mechanism and the horizontal direction at different moments.
In step F, the hinge point O of the rear upright post and the baseBIn a rectangular coordinate system established for the origin position, the method for analyzing three interference states comprises the following steps:
(1) in the blanking process, blanking interference is caused, and the abscissa of the rightmost point a of the tamping head of the tamping mechanism 11 is larger than the abscissa of the left point c in the blanking of the bottom-discharge scraper conveyor 4, namely
Figure BDA0003414665930000041
Judging an equation for blanking interference in a blanking process;
(2) collision interference in the blanking process, namely collision between the tamping mechanism 11 and the tamping head and the bottom-dump scraper conveyor 4, namely simultaneous equations of a formula (1), a formula (2) and a formula (3) in the step E are solved, and the simultaneous equations are solved into a collision interference judgment equation in the blanking process;
(3) and (3) collision interference in the tamping procedure, namely the tamping mechanism 11 and the tamping head collide with the bottom-dump scraper conveyor 4, namely a simultaneous equation set of the formula (1), the formula (2) and the formula (3) in the step E is solved, and the simultaneous equation set is solved into a collision interference judgment equation in the tamping procedure.
Due to the adoption of the technical scheme, compared with the prior art, the method has the following technical effects: the invention designs an intelligent working condition state representation method of a solid filling hydraulic support, aiming at the scientific problems of accurate representation of the state of the filling hydraulic support and quantitative discrimination control of structural interference control, a skeleton model is established according to the structural characteristics and static parameters of the filling hydraulic support; establishing a rectangular coordinate system based on a skeleton model, preferably selecting an origin and a horizontal and vertical coordinate, introducing characterization parameters of key hinge points, preferably selecting a matching scheme of various hinge points and top plate key points, selecting an optimal characterization scheme, determining stable position state positioning characterization, analyzing a dynamic trajectory equation of interference positions of key mechanisms in the stable position state characterization, and determining a critical condition of an interference condition; and judging the interference condition of any position state of the filled hydraulic support according to the critical condition of the interference condition.
Drawings
Fig. 1 is a structural composition diagram of a filling hydraulic support of the present invention.
Fig. 2 is a skeleton schematic diagram of the filling hydraulic support of the invention.
FIG. 3 shows the original point of the present invention at the hinge point O between the front pillar and the baseAAnd filling a characterization model diagram of the hydraulic support.
FIG. 4 is a diagram showing the hinge point O of the rear pillar and the base at the original point of the present inventionBAnd filling a characterization model diagram of the hydraulic support.
FIG. 5 shows the origin position of the present invention at the top plate position OCAnd filling a characterization model diagram of the hydraulic support.
FIG. 6 is a model diagram of a steady state reference point for filling a hydraulic support according to the present invention.
FIG. 7 is the origin O of the present inventionBAnd filling a mechanism parameter model diagram of the hydraulic support.
FIG. 8 is the origin O of the present inventionAAnd filling a mechanism parameter model diagram of the hydraulic support.
FIG. 9 is the origin O of the present inventionCAnd filling a mechanism parameter model diagram of the hydraulic support.
The numerals in fig. 1 correspond to the structure names: 1. a telescopic beam; 2. a front header; 3. a back top beam; 4. a bottom discharge scraper conveyor; 5. a discharging oil cylinder; 6. a front pillar; 7. a base; 8. a rear pillar; 9. a diagonal tilt angle oil cylinder; 10. a sliding oil cylinder; 11. a tamping mechanism; 12. tamping an oil cylinder;
the letter designations in fig. 3 correspond to the following meanings: l isq，LhThe length of the front upright post and the rear upright post after extending is mm respectively; h0The height difference of the hinge point of the rear upright post and the vertical direction of the bracket base is mm; q and h respectively correspond to the inclination angles and degrees of the front and rear upright columns; alpha is the tamping angle of the tamping mechanism; o isAThe point is the hinge point of the front upright post and the base; o isBThe point is a hinge point of the rear upright post and the base; o isCThe point is the hinge point of the rear upright post and the top plate.
The letter designations in fig. 5 correspond to the following meanings: l isq，LhRespectively corresponding to the front and the rear upright posts to extend outBack length, mm; h0The height difference of the hinge point of the rear upright post and the vertical direction of the bracket base is mm; h1The height from the top beam of the bracket to the base is mm; h2The height of the porous bottom-dump conveyor is mm; l is0The length of the tamping mechanism after stretching out is mm; l is1The horizontal distance from the hinged point of the rear upright post and the rear top beam to the bottom-dump scraper conveyor is mm; l is2The width of the porous bottom-dump conveyor is mm; l is3The length of a tamping head of a tamping mechanism is mm; q and h respectively correspond to the inclination angles and degrees of the front and rear upright columns; alpha is the tamping angle of the tamping mechanism; p is the extension width of the porous bottom-dump conveyor, and is mm; o isAThe point is the hinge point of the front upright post and the base; o isBThe point is a hinge point of the rear upright post and the base; the point A is a hinge point of the front upright post and the top plate; the point B is the hinged point of the front upright post and the front top beam; c (O)C) The point is a hinge point of the rear upright post and the top plate; the G point is a middle shaft point of the front top beam; the point a is the rightmost point of the tamping head of the tamping mechanism; the point b is the leftmost point of the tamping head of the tamping mechanism; and point c is the left side point in the blanking of the bottom discharge type scraper conveyor.
Detailed Description
The invention relates to a working condition state representation method of an intelligent solid filling hydraulic support, which comprises the steps of establishing a skeleton model according to the structural characteristics of the filling hydraulic support; based on a framework model of the support, preferably selecting an origin and a horizontal and vertical coordinate axis to establish a rectangular coordinate system to form a position state representation model; screening a scaffold potential stability representation scheme, and determining a potential stability function equation; analyzing and establishing a tamping mechanism of the hydraulic support and a motion track function of the bottom-dump scraper conveyor under the stable state, and determining the critical condition of the interference condition; judging whether the key mechanism is interfered under any position state of the filling hydraulic support according to the critical condition, and adjusting the tamping angle and the tamping elongation of the tamping mechanism to perform interference demodulation; and finally, verifying the advantages and disadvantages of the characterization method of the working condition state of the support through the control effects of the stable characterization of the state of the filled hydraulic support and the structural interference.
The method comprises the following specific steps:
step A, analyzing structural parameters of the filling hydraulic support according to structural characteristics of the filling hydraulic support, establishing a skeleton model of the filling hydraulic support, and entering step B;
b, representing the position state of the framework model according to the framework model filled with the hydraulic support, selecting an original point position, establishing a rectangular coordinate system, and entering the step C;
step C, selecting the elongation of the front upright column, the included angle between the front upright column and the base, the elongation of the rear upright column and the included angle between the rear upright column and the base as a group of characterization parameters according to the skeleton model filled with the hydraulic support, and then entering the step D;
d, according to the selected characterization parameters and the characterization methods, selecting scheme points of different characterization methods to characterize the working conditions of the support, determining that the filling hydraulic support is in a stable position state by checking that the selected scheme points are consistent in height, and entering the step E;
step E, establishing a function model of a key mechanism in the filling hydraulic support through the support characterization parameters and the structure parameters selected in the step C, and representing a motion trail equation of the key mechanism, wherein the key mechanism is a tamping mechanism and a bottom-dump scraper conveyor; then entering step F;
step F, analyzing three interference states of blanking interference in a blanking process, collision interference in the tamping process and the like according to the motion track equation of the tamping mechanism and the scraper conveyor, simultaneously establishing corresponding process function models of two key mechanisms as interference criterion equations, and entering the step G;
and G, verifying whether the key mechanism is interfered under any position state or not according to the interference criterion equation of different interference position states in the step F, and verifying the quality of the working condition position state characterization method by adjusting the tamping angle and the tamping elongation of the tamping mechanism to perform interference demodulation.
In the step B, an origin position selection principle is as follows: the first principle is favorable for representing the overall accuracy of the support; and the second principle is favorable for interference discrimination and demodulation.
The selection scheme of the origin position is as follows:
when the hinged point O of the rear upright post and the rear top beam is selectedCWhen the point is the origin position; the direction along the mining direction is the X-axis direction, the direction perpendicular to the X axis is the earth direction, and the direction is establishedAn angular coordinate system;
when the hinge point O of the front upright post and the base is selectedAWhen the position is the original position; establishing a rectangular coordinate system by taking the direction of the top beam perpendicular to the X axis as the positive direction of the Y axis along the direction of mining as the direction of the X axis;
when the hinge point O of the rear upright post and the base is selectedBWhen it is the original position; establishing a rectangular coordinate system by taking the direction along the mining direction as the X-axis direction and the direction vertical to the X-axis direction as the Y-axis positive direction;
in step D, the characterization selection principle is as follows: the first principle is to ensure the characterization precision; the second principle is to minimize environmental impact.
In the step D, the working conditions of the bracket are characterized by selecting scheme points of different characterization methods, which specifically comprise the following steps:
(1) when points A, B and C on the beam are selected as datum points, the characterization method comprises the following steps: selecting a point A at a hinge point of a front upright post and a front top beam on a top plate of the support, a point B at a hinge point of the front top beam and a rear top beam and a point C at a hinge point of the rear upright post and the rear top beam, characterizing three points A, B and C, measuring a characterization constant of the three points, giving a height characterization function of the point A and the point C, measuring the height of the point B at which the front top beam and the rear top beam are hinged by using a height measurement sensor, and determining that the filling hydraulic support is in a stable state by verifying the height consistency of the three points;
(2) when points A, B and F on the beam are selected as datum points, the characterization method comprises the following steps: selecting a point A at the hinged joint of a front upright column and a front top beam on a top plate of the support, a point B at the hinged joint of the front top beam and a rear top beam and a point F at the tail of the rear top beam, characterizing the point A, the point B and the point F, determining a characterization constant of the three points, giving a height characterization function of the point A, measuring the point B at the hinged joint of the front top beam and the rear top beam and the height of the point F at the tail of the rear top beam by using a height measurement sensor, and determining that the filling hydraulic support is in a stable state by verifying the height consistency of the three points;
(3) when points A, E and C on the beam are selected as datum points, the characterization method comprises the following steps: selecting a point A at a hinge point of a front upright post and a front top beam on a top plate of the bracket, a point E at any position between the point A at the hinge point of the front upright post and the front top beam and a point B of a rear upright post and the hinge point of the rear top beam and the rear upright post as a point C, characterizing the points A, E and C, measuring the characterization constants of the three points, giving a height characterization function of the point A and the point C, measuring the height of the point E by using a height measurement sensor, and determining that the filling hydraulic bracket is in a stable state by verifying the height consistency of the three points;
(4) when points D, B and C on the beam are selected as datum points, the characterization method comprises the following steps: the method comprises the steps of selecting a bracket top plate, wherein a front upright post and a front top beam hinged point left side top beam position point as a D point, the front top beam and a rear top beam hinged point as a B point and the rear top beam and the rear upright post hinged point as a C point, characterizing the D point, the B point and the C point, determining a characterization constant of the three points, giving a height characterization function of the C point, measuring the top beam position D point by using a height measurement sensor, measuring the height of the front top beam and the rear top beam hinged point B point, and determining that a filling hydraulic bracket is in a stable state by verifying the height consistency of the three points.
In step E, the motion trajectory equation of the key mechanism:
(1) selecting a hinge point O between the rear upright post and the baseBIn a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is as follows:
the motion trail equation of the bottom-dump scraper conveyor is as follows:
x＝L1+Lhcosh(H1-H2≤y≤H1)
y＝H1-H2 (L1+Lhcosh≤x≤L1+L2+Lhcosh)
x＝L1+L2+Lhcosh(H1-H2≤y≤H1) (1)
the motion track equation of the tamping mechanism is as follows:
y＝tanαx (Lmincosα≤x≤L0cosα) (2)
the motion trail of the tamping head of the tamping mechanism is as follows:
Figure BDA0003414665930000071
(2) selecting a hinge point O between the rear upright post and the baseAIn a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is as follows:
the motion trail equation of the bottom-dump scraper conveyor is as follows:
x＝L1+L4+Lhcosh(H1-H2≤y≤H1)
y＝H1-H2 (L1+L4+Lhcosh≤x≤L1+L2+L4+Lhcosh)
x＝L1+L2+L4+Lhcosh(H1-H2≤y≤H1) (1)
the motion track equation of the tamping mechanism is as follows:
y＝tanα(x+L4) (Lmincosα≤x≤L0cosα) (2)
the motion track equation of the tamping head of the tamping mechanism is as follows:
Figure BDA0003414665930000072
(3) selecting a hinge point O of the rear upright post and the baseCIn a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is as follows:
the motion trail equation of the bottom-dump scraper conveyor is as follows:
x＝L1(0≤y≤H2)
y＝H2 (L1≤x≤L1+L2)
x＝L1+L2(H1-H2≤y≤H1) (1)
the motion track equation of the tamping mechanism is as follows:
y＝tanαx+H1-H0-Lhcoshtanα (Lmincosα≤x≤L0cosα) (2)
the motion track equation of the tamping head of the tamping mechanism is as follows:
Figure BDA0003414665930000073
in the formula:
L0the state values of the length of the tamping mechanism at different moments;
Lq，Lhthe lengths of the front upright post and the rear upright post which extend out are respectively corresponding to mm;
H0the height difference of the hinge point of the rear upright post and the vertical direction of the bracket base is mm;
H1the height from the vertical direction of the top beam of the support to the base is mm;
H2-height of the multi-hole bottom-dump conveyor, mm;
Lminthe length of the tamping mechanism which does not extend out is mm;
L1the horizontal distance, mm, from the hinged point of the rear upright post and the rear top beam to the bottom-dump scraper conveyor;
L2width of the multi-hole bottom-dump conveyor, mm; l is3The length of a tamping head of a tamping mechanism is mm;
q, h-corresponding to the front and rear column inclination angle, °, respectively;
alpha is the state value and degree of the included angle between the tamping mechanism and the horizontal direction at different moments.
In step F, the hinge point O of the rear upright post and the baseBIn a rectangular coordinate system established for the origin position, the method for analyzing three interference states comprises the following steps:
(1) in the blanking process, blanking interference is caused, and the abscissa of the rightmost point a of the tamping head of the tamping mechanism 11 is larger than the abscissa of the left point c in the blanking of the bottom-discharge scraper conveyor 4, namely
Figure BDA0003414665930000081
Judging an equation for blanking interference in a blanking process;
(2) collision interference in the blanking process, namely collision between the tamping mechanism 11 and the tamping head and the bottom-dump scraper conveyor 4, namely simultaneous equations of a formula (1), a formula (2) and a formula (3) in the step E are solved, and the simultaneous equations are solved into a collision interference judgment equation in the blanking process;
(3) and (3) collision interference in the tamping procedure, namely the tamping mechanism 11 and the tamping head collide with the bottom-dump scraper conveyor 4, namely a simultaneous equation set of the formula (1), the formula (2) and the formula (3) in the step E is solved, and the simultaneous equation set is solved into a collision interference judgment equation in the tamping procedure.
The following detailed description of embodiments of the invention is provided in conjunction with the accompanying drawings:
as shown in figure 1, the method aims at the working condition state representation method of the intelligent solid filling hydraulic support, and solves the problems that the space state of the intelligent support is fuzzy when the intelligent support operates, and related mechanisms interfere to cause support damage and influence engineering efficiency. According to the method, a framework model is constructed by extracting and filling structural features of the hydraulic support, a rectangular coordinate system is preferably constructed at the optimal original point position, a position state representation model is constructed, a function modeling idea is adopted, a hydraulic support related mechanism is abstracted, and a function in the rectangular coordinate system is used for describing support related components.
A working condition state representation method for an intelligent solid filling hydraulic support is characterized in that a rectangular coordinate system is established according to the filling hydraulic support by taking the original point of a hinged point of a tamping mechanism and a base, the horizontal direction of the tamping mechanism as an X-axis direction, and the direction perpendicular to the X-axis and the top beam as a Y-axis positive direction, and a mathematical model is judged by determining static structure parameters and dynamic track parameters of the filling hydraulic support.
The filling hydraulic support position state representation and interference discrimination demodulation method specifically comprises the following steps:
step A, analyzing the structural parameters of the front top beam 2, the rear top beam 3, the front upright post 6, the rear upright post 8 and the tamping mechanism 11 of the filling hydraulic support according to the structural characteristics of the four-column type filling hydraulic support, and marking the hinge point O of the front upright post and the baseAThe tamping mechanism is hinged with the hinge point O of the rear upright post and the baseBAnd the hinge point O of the rear upright post and the top plateCAs shown in fig. 2, a skeleton model is built to fill the hydraulic bracket, and thenEntering the step B;
b, selecting an original point position according to a skeleton model filled with the hydraulic support;
origin position selection principle: the integral characterization precision of the support is the first principle, and interference discrimination and demodulation are facilitated to be the second principle. Therefore, the original point position of the four-column filling hydraulic support in the figure 1 can be selected to be the hinge point O between the front upright column and the baseAOr the hinge point O of the rear upright post and the baseBOr the hinge point O of the rear upright post and the top plateCThe point(s) is (are) such that,
as shown in fig. 3, 4, 5, the analysis compares:
scheme one. and OAThe number of point-related and close connecting mechanisms is small, a large number of lengths of relative positions need to be measured, and the characterization precision of the whole support is smaller than that of the latter;
scheme two, the origin is arranged at OCThe point can move frequently, so that a characterization function under a coordinate system is influenced, and the point is not suitable for serving as an origin;
scheme IIIBThe point construction connection is more, and the point construction connection is connected with a possible interference mechanism, and the two principles of selecting the origin are met. Therefore, the hinge point O of the rear pillar and the baseBTaking the horizontal direction of the tamping mechanism as the X-axis direction, taking the vertical X-axis direction as the positive direction of the Y-axis, establishing a rectangular coordinate system, and entering the step C;
c, selecting the elongation L of the front upright post according to the skeleton model of the filled hydraulic supportqThe included angle q between the front upright post and the base and the elongation L of the rear upright posthTaking an included angle h between the rear upright post and the base as a group of characterization parameters, and then entering the step D;
and D, according to the selected characterization parameters, expressing that the height characterization equations of a hinge point A of the front upright post and the front top beam and a hinge point C of the rear upright post and the rear top beam are respectively Lqsinq+H0And Lhsinh+H0On the top plate of the bracket, a hinge point A of a front upright post and a front top beam, a hinge point B of the front top beam and a rear top beam, a hinge point C of the rear upright post and the rear top beam are selected from D, E and F, three points are respectively positioned on the left side of the point A, between the point A and the point C and on the right side of the point C,
as shown in fig. 6. Thereby judging four types of characterization methods for stably dividing the top plate of the bracket,
respectively (A, B, C), (A, B, F), (A, E, C), (D, B, C).
The selection principle of the characterization method is as follows: the characterization precision is guaranteed to be a first principle, and the minimum influence of the environment is a second principle. As can be seen by comparison: the characterization methods of (A, B, G), (D, B and C) need to install two height measuring sensors, and are influenced most by the environment; in the method (A, E and C), the position state of the bracket cannot be completely reflected by the point E, and the representation precision is low; the (A, B and C) method has the highest precision and is minimally influenced by the environment. The height of a hinged point D of the front top beam and the rear top beam is measured to be H through a height measuring sensor1+H0Verification of Lqsinq+H0＝Lhsinh+H0＝H1+H0If the heights of the three points A, B, C are consistent, determining that the filling hydraulic support is in a stable state, and then entering the step E;
step E, according to the position state representation model, as shown in FIG. 7, establishing a function model of a key mechanism in the filling hydraulic support through the representation parameters and the structure parameters selected in the step C, and representing a motion trail equation of the key mechanism, wherein the key mechanism is a tamping mechanism and a bottom-dump scraper conveyor; expressing a motion trail equation of the key mechanism, and then entering the step F;
the motion trail equation of the key mechanism is as follows:
the motion trail equation of the bottom-dump scraper conveyor is as follows:
Figure BDA0003414665930000091
the motion track equation of the tamping mechanism is as follows:
y＝tanαx(0≤L0cosα≤x≤L0cosα≤L0cosα) (2)
the motion trail of the tamping head of the tamping mechanism is as follows:
Figure BDA0003414665930000101
step F, analyzing three interference states of blanking interference, collision interference and collision interference in a tamping procedure according to function models of a tamping mechanism and a scraper conveyor of a filling hydraulic support, and establishing corresponding procedure function models of two key mechanisms as interference criterion equations in a simultaneous manner;
the method for analyzing three interference states is as follows:
(1) in the blanking process, blanking interference is caused, and the abscissa of the rightmost point a of the tamping head of the tamping mechanism 11 is larger than the abscissa of the left point c in the blanking of the bottom-discharge scraper conveyor 4, namely
Figure BDA0003414665930000102
Judging an equation for blanking interference in a blanking process;
(2) collision interference in the blanking process, namely collision between the tamping mechanism 11 and the tamping head and the bottom-discharge scraper conveyor 4, namely a simultaneous equation set of the formula (1), the formula (2) and the formula (3) in the step E is solved, and the simultaneous equation set is solved into a collision interference judgment equation in the blanking process;
(3) collision interference in the tamping procedure is realized, and the tamping mechanism 11 and the tamping head collide with the bottom-dump scraper conveyor 4, namely a simultaneous equation set of the formula (1), the formula (2) and the formula (3) in the step E is solved, and the simultaneous equation set is solved into a collision interference judgment equation in the tamping procedure;
compared with the prior art, the technical scheme has the following technical effects: the invention designs an intelligent working condition state representation method of a solid filling hydraulic support, which adopts a brand new method to establish a skeleton model according to the structural characteristics and static parameters of the filling hydraulic support aiming at the scientific problems of state representation of the filling hydraulic support and qualitative representation and quantitative expression of structural interference control; based on the framework model, selecting an optimal origin and horizontal and vertical coordinates to establish a rectangular coordinate system to form a position state representation model; and introducing a characterization parameter of a key hinge point, determining a stable position positioning characterization, analyzing a dynamic trajectory equation of an interference position of a key mechanism in the stable position characterization, and determining a critical condition of the interference condition.

Claims (8)

1. The working condition state representation method of the intelligent solid filling hydraulic support is characterized by comprising the following steps of:
establishing a skeleton model according to the structural characteristics of the filling hydraulic support; based on a framework model of the support, preferably selecting an origin and a horizontal and vertical coordinate axis to establish a rectangular coordinate system to form a position state representation model; screening a scaffold potential stability representation scheme, and determining a potential stability function equation; analyzing and establishing a tamping mechanism of the hydraulic support and a motion track function of the bottom-dump scraper conveyor under the stable state, and determining the critical condition of the interference condition; judging whether the key mechanism is interfered under any position state of the filling hydraulic support according to the critical condition, and adjusting the tamping angle and the tamping elongation of the tamping mechanism to perform interference demodulation; and finally, verifying the advantages and disadvantages of the characterization method of the working condition state of the support through the control effects of the stable characterization of the state of the filled hydraulic support and the structural interference.
2. The method for representing the working condition state of the intelligent solid-filled hydraulic support according to claim 1, characterized by comprising the following steps of: the method comprises the following specific steps:
step A, analyzing structural parameters of the filling hydraulic support according to structural characteristics of the filling hydraulic support, establishing a skeleton model of the filling hydraulic support, and entering step B;
b, representing the position state of the framework model according to the framework model filled with the hydraulic support, selecting an original point position, establishing a rectangular coordinate system, and entering the step C;
step C, selecting the elongation of the front upright column, the included angle between the front upright column and the base, the elongation of the rear upright column and the included angle between the rear upright column and the base as a group of characterization parameters according to the skeleton model filled with the hydraulic support, and then entering the step D;
d, according to the selected characterization parameters and the selected characterization methods, selecting scheme points of different characterization methods to characterize the working condition of the bracket, confirming that the filling hydraulic bracket is in a stable state by checking the consistency of the heights of the selected scheme points, and entering the step E;
step E, establishing a function model of a key mechanism in the filling hydraulic support through the support characterization parameters and the structure parameters selected in the step C, and representing a motion trail equation of the key mechanism, wherein the key mechanism is a tamping mechanism and a bottom-dump scraper conveyor; then entering step F;
step F, analyzing three interference states of blanking interference in a blanking process, collision interference in the tamping process and the like according to the motion track equation of the tamping mechanism and the scraper conveyor, simultaneously establishing corresponding process function models of two key mechanisms as interference criterion equations, and entering the step G;
and G, verifying whether the key mechanism is interfered under any position state or not according to the interference criterion equation of different interference position states in the step F, and verifying the quality of the working condition position state characterization method by adjusting the tamping angle and the tamping elongation of the tamping mechanism to perform interference demodulation.
3. The working condition and state representation method of the intelligent solid filling hydraulic support according to claim 2, characterized in that: in the step B, an origin position selection principle is as follows: the first principle is favorable for representing the overall accuracy of the support; the second principle is beneficial to interference discrimination and demodulation.
4. The method for characterizing the working condition state of the intelligent solid-filled hydraulic support according to claim 2 or 3, characterized in that: the selection scheme of the origin position is as follows:
when the hinged point O of the rear upright post and the rear top beam is selectedCWhen the point is the origin position; establishing a rectangular coordinate system by taking the direction along the mining direction as the X-axis direction and the direction perpendicular to the X axis and towards the earth as the Y-axis direction;
when the hinge point O of the front upright post and the base is selectedAWhen the position is the original position; establishing a rectangular coordinate system by taking the direction of the top beam perpendicular to the X axis as the positive direction of the Y axis along the direction of mining as the direction of the X axis;
when the hinge point O of the rear upright post and the base is selectedBWhen the position is the original position; establishing a rectangular coordinate system by taking the direction of the top beam perpendicular to the X axis as the positive direction of the Y axis along the direction of mining as the direction of the X axis;
5. the method for representing the working condition state of the intelligent solid-filled hydraulic support according to claim 2, characterized by comprising the following steps: in step D, the characterization selection principle is as follows: the first principle is to ensure the characterization precision; the second principle is to minimize environmental impact.
6. The method for representing the working condition state of the intelligent solid-filled hydraulic support according to claim 2, characterized by comprising the following steps: in the step D, the working conditions of the bracket are characterized by selecting scheme points of different characterization methods, which specifically comprise the following steps:
(1) when points A, B and C on the beam are selected as datum points, the characterization method comprises the following steps: selecting a point A at a hinge point of a front upright post and a front top beam on a top plate of the support, a point B at a hinge point of the front top beam and a rear top beam and a point C at a hinge point of the rear upright post and the rear top beam, characterizing three points A, B and C, measuring a characterization constant of the three points, giving a height characterization function of the point A and the point C, measuring the height of the point B at which the front top beam and the rear top beam are hinged by using a height measurement sensor, and determining that the filling hydraulic support is in a stable state by verifying the height consistency of the three points;
(2) when points A, B and F on the beam are selected as datum points, the characterization method comprises the following steps: selecting a point A at the hinged joint of a front upright column and a front top beam on a top plate of the support, a point B at the hinged joint of the front top beam and a rear top beam and a point F at the tail of the rear top beam, characterizing the point A, the point B and the point F, determining a characterization constant of the three points, giving a height characterization function of the point A, measuring the point B at the hinged joint of the front top beam and the rear top beam and the height of the point F at the tail of the rear top beam by using a height measurement sensor, and determining that the filling hydraulic support is in a stable state by verifying the height consistency of the three points;
(3) when points A, E and C on the beam are selected as datum points, the characterization method comprises the following steps: selecting a point A at a hinge point of a front upright post and a front top beam on a top plate of the bracket, a point E at any position between the point A at the hinge point of the front upright post and the front top beam and a point B of a rear upright post and the hinge point of the rear top beam and the rear upright post as a point C, characterizing the points A, E and C, measuring the characterization constants of the three points, giving a height characterization function of the point A and the point C, measuring the height of the point E by using a height measurement sensor, and determining that the filling hydraulic bracket is in a stable state by verifying the height consistency of the three points;
(4) when points D, B and C on the beam are selected as datum points, the characterization method comprises the following steps: the method comprises the steps of selecting a bracket top plate, wherein a front upright post and a front top beam hinged point left side top beam position point as a D point, the front top beam and a rear top beam hinged point as a B point and the rear top beam and the rear upright post hinged point as a C point, characterizing the D point, the B point and the C point, determining a characterization constant of the three points, giving a height characterization function of the C point, measuring the top beam position D point by using a height measurement sensor, measuring the height of the front top beam and the rear top beam hinged point B point, and determining that a filling hydraulic bracket is in a stable state by verifying the height consistency of the three points.
7. The working condition and state representation method of the intelligent solid filling hydraulic support according to claim 2, characterized in that: in step E, the motion trajectory equation of the key mechanism:
(1) selecting a hinge point O between the rear upright post and the baseBIn a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is as follows:
the motion trail equation of the bottom-dump scraper conveyor is as follows:
x＝L1+Lhcosh(H1-H2≤y≤H1)
y＝H1-H2(L1+Lhcosh≤x≤L1+L2+Lhcosh)
x＝L1+L2+Lhcosh(H1-H2≤y≤H1)(1)
the motion track equation of the tamping mechanism is as follows:
y＝tanαx(Lmincosα≤x≤L0cosα)(2)
the motion trail of the tamping head of the tamping mechanism is as follows:
Figure FDA0003414665920000031
(2) selecting a hinge point O between the rear upright post and the baseAIn a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is as follows:
the motion trail equation of the bottom-dump scraper conveyor is as follows:
x＝L1+L4+Lhcosh(H1-H2≤y≤H1)
y＝H1-H2(L1+L4+Lhcosh≤x≤L1+L2+L4+Lhcosh)
x＝L1+L2+L4+Lhcosh(H1-H2≤y≤H1)(1)
the motion track equation of the tamping mechanism is as follows:
y＝tanα(x+L4)(Lmincosα≤x≤L0cosα)(2)
the motion track equation of the tamping head of the tamping mechanism is as follows:
Figure FDA0003414665920000032
(3) selecting a hinge point O between the rear upright post and the baseCIn a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is as follows:
the motion trail equation of the bottom-dump scraper conveyor is as follows:
x＝L1(0≤y≤H2)
y＝H2(L1≤x≤L1+L2)
x＝L1+L2(H1-H2≤y≤H1)(1)
the motion track equation of the tamping mechanism is as follows:
y＝tanαx+H1-H0-Lhcoshtanα(Lmincosα≤x≤L0cosα)(2)
the motion track equation of the tamping head of the tamping mechanism is as follows:
Figure FDA0003414665920000033
in the formula:
L0the length of the tamping mechanism is changed into the state value at different moments;
Lq，Lhthe lengths of the front upright post and the rear upright post after extending out are respectively corresponding to mm;
H0the height difference of the hinge point of the rear upright post and the vertical direction of the bracket base is mm;
H1the height from the vertical direction of the top beam of the support to the base is mm;
H2-height of the multi-hole bottom-dump conveyor, mm;
Lminthe length of the tamping mechanism which does not extend out is mm;
L1the horizontal distance from the hinged point of the rear upright post and the rear top beam to the bottom-dump scraper conveyor is mm;
L2width of the multi-hole bottom-dump conveyor, mm;
L3-the length of the tamping head of the tamping mechanism is mm;
L4the distance between the hinge points of the front and rear upright posts and the base is mm;
q, h-corresponding to the front and rear column inclination angle, °, respectively;
alpha is the state value and degree of the included angle between the tamping mechanism and the horizontal direction at different moments.
8. The method for representing the working condition state of the intelligent solid-filled hydraulic support according to claim 2, characterized by comprising the following steps: in step F, the hinge point O of the rear upright post and the baseBIn a rectangular coordinate system established for the origin position, the method for analyzing three interference states comprises the following steps:
(1) in the blanking process, blanking interference is caused, and the abscissa of the rightmost point a of the tamping head of the tamping mechanism 11 is larger than the abscissa of the left point c in the blanking of the bottom-discharge scraper conveyor 4, namely
Figure FDA0003414665920000041
Judging an equation for blanking interference in a blanking process;
(2) collision interference in the blanking process, namely collision between the tamping mechanism 11 and the tamping head and the bottom-discharge scraper conveyor 4, namely a simultaneous equation set of the formula (1), the formula (2) and the formula (3) in the step E is solved, and the simultaneous equation set is solved into a collision interference judgment equation in the blanking process;
(3) and (3) collision interference in the tamping procedure, namely the tamping mechanism 11 and the tamping head collide with the bottom-dump scraper conveyor 4, namely a simultaneous equation set of the formula (1), the formula (2) and the formula (3) in the step E is solved, and the simultaneous equation set is solved into a collision interference judgment equation in the tamping procedure.
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