CN114439527B - 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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CN114439527B
CN114439527B CN202111542213.3A CN202111542213A CN114439527B CN 114439527 B CN114439527 B CN 114439527B CN 202111542213 A CN202111542213 A CN 202111542213A CN 114439527 B CN114439527 B CN 114439527B
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upright post
top beam
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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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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
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    • 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
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK 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
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
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    • 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
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Abstract

An intelligent solid filling hydraulic support working condition position state representation method belongs to the field of intelligent mining of mines. Building a framework model according to the structural characteristics of the filling hydraulic support; based on a framework model of the bracket, establishing a rectangular coordinate system by optimizing an origin and an abscissa axis to form a bit state representation model; screening a bracket bit state stability characterization scheme and determining a bit state stability function equation; analyzing and establishing a tamping mechanism of a hydraulic support under stable state and a motion track function of a bottom discharge type scraper conveyor, and determining critical conditions of interference conditions; judging whether a key mechanism interferes with any position of the filling hydraulic support according to critical conditions, and adjusting the tamping angle and the tamping elongation of the tamping mechanism to perform interference demodulation; finally, the advantages and disadvantages of the method for representing the state of the working condition of the support are verified through the control effect on the state stability representation and the structural interference of the filling hydraulic support.

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 method for representing the working condition state of 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 demand for source management technology such as green large-scale treatment of large solid wastes, surface subsidence control and the like is increasing, and the hard demand for high-efficiency intelligent filling mining is urgent. The traditional solid filling mining technology has the defects of low filling speed, low filling single-side productivity, non-ideal overall filling benefit and the like, and the intelligent solid filling 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 fuzzy influence of the position of the hydraulic support in space on the normal propulsion of the filling process is a basis for the interference precision 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 technical problem to be solved by the invention is to provide the intelligent solid filling hydraulic support working condition position representation method, which can accurately represent the stable position and the working procedure interference position of the solid filling hydraulic support, and is used as a basis for realizing the stable position of the front upright post and the rear upright post of the filling hydraulic support and the accurate control of the interference position of the tamping mechanism of the filling hydraulic support and the bottom discharge type scraper conveyor, so that the solid filling mining efficiency is improved.
The invention adopts the following technical scheme for solving the technical problems: the invention provides a method for representing the working condition state of an intelligent solid filling hydraulic support, which comprises the steps of establishing a framework model according to the structural characteristics of the filling hydraulic support; based on a framework model of the bracket, establishing a rectangular coordinate system by optimizing an origin and an abscissa axis to form a bit state representation model; screening a bracket bit state stability characterization scheme and determining a bit state stability function equation; analyzing and establishing a tamping mechanism of a hydraulic support under stable state and a motion track function of a bottom discharge type scraper conveyor, and determining critical conditions of interference conditions; judging whether a key mechanism interferes with any position of the filling hydraulic support according to critical conditions, and adjusting the tamping angle and the tamping elongation of the tamping mechanism to perform interference demodulation; finally, the advantages and disadvantages of the method for representing the state of the working condition of the support are verified through the control effect on the state stability representation and the structural interference of the filling hydraulic support.
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 then entering the step B;
step B, representing the position state of the skeleton model according to the skeleton model filled with the hydraulic support, selecting an origin position, establishing a rectangular coordinate system, and entering the step C;
step C, selecting the elongation of a front upright post, the included angle between the front upright post and a base, the elongation of a rear upright post and the included angle between the rear upright post and the base as a group of characterization parameters according to a framework model of the filling hydraulic support, and then entering the step D;
step D, according to the selected characterization parameters and 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 through checking that the height of the selected scheme points is consistent, 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 track equation of the key mechanism, wherein the key mechanism is a tamping mechanism and a bottom discharge type scraper conveyor; then enter step F;
step F, analyzing the corresponding procedure function models of the two key mechanisms as interference criterion equations under three interference states of blanking interference in the blanking procedure, collision interference in the blanking procedure and collision interference in the tamping procedure according to the motion track equations of the tamping mechanism and the scraper conveyor, and entering the step G;
and G, verifying whether the key mechanism is interfered in any position according to the interference criterion equation of different interference positions in the step F, performing interference demodulation by adjusting the tamping angle and the tamping elongation of the tamping mechanism, and verifying the advantages and disadvantages of the working condition position representation method.
In step B, the origin position selection principle: the first principle is beneficial to the integral characterization precision of the bracket; the second principle is beneficial to interference discrimination and demodulation.
The original point position selection scheme specifically comprises the following steps:
when the hinge point O of the rear upright post and the rear top beam is selected C When the point is the origin position; establishing a rectangular coordinate system along the direction opposite to the mining direction as an X-axis direction and along the direction vertical to the X-axis direction to the earth as a Y-axis positive direction;
when selecting the hinge point O of the front upright post and the base A When the position is the origin position; establishing a rectangular coordinate system along the direction opposite to the mining direction as the X-axis direction and along the direction perpendicular to the X-axis top beam as the Y-axis positive direction;
when the hinge point O of the rear upright post and the base is selected B When the position is the origin position; establishing a rectangular coordinate system along the direction opposite to the mining direction as the X-axis direction and along the direction perpendicular to the X-axis top beam as the Y-axis positive direction;
in the step D, the characterization selection principle is as follows: the first principle is to ensure the characterization accuracy; the second principle is that the environmental impact is minimal.
In the step D, scheme points of different characterization methods are selected to characterize the working conditions of the bracket, and the method is specifically as follows:
(1) When the points A, B and C on the cross beam are selected as datum points, the characterization method comprises the following steps: selecting a front upright post and front top beam hinging point on a top plate of the support as a point A, a front top beam and rear top beam hinging point as a point B and a rear upright post and rear top beam hinging point as a point C, characterizing three points of the point A, the point B and the point C, measuring characterization constants of the three points, giving out a height characterization function of the point A and the point C, measuring the height of the front top beam and the rear top beam hinging point B by using a height measurement sensor, and determining that the filling hydraulic support is in a stable and positioning state by verifying that the three points are consistent in height;
(2) When the points A, B and F on the cross beam are selected as datum points, the characterization method comprises the following steps: selecting a front upright post and a front top beam hinging point on a top plate of the support as a point A, and a front top beam and a rear top beam hinging point as a point B and a rear top beam tail point F, characterizing the point A, the point B and the point F, measuring the characterization constants of the three points, providing a height characterization function of the point A, using a height measurement sensor to measure the height of the point B of the front top beam and the rear top beam hinging point B, and determining that the filling hydraulic support is in a stable position state through verifying that the three points are consistent in height;
(3) When the points A, E and C on the cross beam are selected as datum points, the characterization method comprises the following steps: selecting a hinge point of a front upright post and a front top beam on a top plate of the support as a point A, a hinge point of the front upright post and the front top beam as a point E and a hinge point of the rear upright post and the rear top beam as a point C at any position between the front upright post and the front top beam, and between the rear upright post and the rear top beam, characterizing three points of the point A, the point E and the point C, measuring 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 support is in a stable position state by verifying that the heights of the three points are consistent;
(4) When the points D, B and C on the cross beam are selected as datum points, the characterization method comprises the following steps: and selecting a point D at the left side top beam position of the front upright post and the front top beam hinge point on the top plate of the support, a point B at the front top beam and the back top beam hinge point and a point C at the back top beam and the back upright post hinge point, characterizing the three points D, B and C, measuring the characterization constants of the three points, providing a height characterization function of the point C, measuring the point D at the top beam position by using a height measurement sensor, and determining that the filling hydraulic support is in a stable position state by verifying the consistency of the heights of the three points.
In the step E, the motion trail equation of the key mechanism is as follows:
(1) Selecting the hinge point O between the rear upright and the base B In a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is specifically as follows:
the motion trail equation of the bottom discharge type scraper conveyor is as follows:
x＝L 1 +L h cosh(H 1 -H 2 ≤y≤H 1 )
y＝H 1 -H 2 (L 1 +L h cosh≤x≤L 1 +L 2 +L h cosh)
x＝L 1 +L 2 +L h cosh(H 1 -H 2 ≤y≤H 1 ) (1)
the motion trail equation of the tamping mechanism is as follows:
y＝tanαx (L min cosα≤x≤L 0 cosα) (2)
the motion trail of the tamping head of the tamping mechanism is as follows:
Figure BDA0003414665930000031
(2) Selecting the hinge point O between the rear upright and the base A In a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is specifically as follows:
the motion trail equation of the bottom discharge type scraper conveyor is as follows:
x＝L 1 +L 4 +L h cosh(H 1 -H 2 ≤y≤H 1 )
y＝H 1 -H 2 (L 1 +L 4 +L h cosh≤x≤L 1 +L 2 +L 4 +L h cosh)
x＝L 1 +L 2 +L 4 +L h cosh(H 1 -H 2 ≤y≤H 1 ) (1)
the motion trail equation of the tamping mechanism is as follows:
y＝tanα(x+L 4 ) (L min cosα≤x≤L 0 cosα) (2)
the motion trail equation of the tamping head of the tamping mechanism is as follows:
Figure BDA0003414665930000032
(3) Selecting the hinge point O between the rear upright and the base C In a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is specifically as follows:
the motion trail equation of the bottom discharge type scraper conveyor is as follows:
x＝L 1 (0≤y≤H 2
y＝H 2 (L 1 ≤x≤L 1 +L 2 )
x＝L 1 +L 2 (H 1 -H 2 ≤y≤H 1 ) (1)
the motion trail equation of the tamping mechanism is as follows:
y＝tanαx+H 1 -H 0 -L h coshtanα (L min cosα≤x≤L 0 cosα) (2)
the motion trail equation of the tamping head of the tamping mechanism is as follows:
Figure BDA0003414665930000033
in the formula:
L 0 -status values of the tamping mechanism length at different moments;
L q ，L h -the lengths of the front upright post and the rear upright post which respectively correspond to the length of mm after the front upright post and the rear upright post extend out;
H 0 -the height difference between the hinge point of the rear upright post and the vertical direction of the bracket base is mm;
H 1 -the vertical direction of the support top beam to the height of the base, mm;
H 2 -height of the porous bottom discharge conveyor, mm;
L min -the tamping mechanism does not extend for a length of mm;
L 1 -the horizontal distance from the hinge point of the rear upright post and the rear top beam to the bottom discharge type scraper conveyor is mm;
L 2 -width of the porous bottom discharge conveyor, mm; l (L) 3 The length of the tamping head is mm for the tamping mechanism;
q and h are respectively corresponding to the inclination angles of the front upright post and the rear upright post;
alpha-state value of the included angle between the tamping mechanism and the horizontal direction at different moments.
In step F, at the hinge point O of the rear upright post and the base B In a rectangular coordinate system established for the origin position, the method for analyzing three interference states is as follows:
(1) In the blanking process, 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 type scraper conveyor 4, namely
Figure BDA0003414665930000041
A blanking interference judgment equation in the blanking process;
(2) The collision interference in the blanking process, the collision between the tamping mechanism 11 and the tamping head and the bottom discharge type scraper conveyor 4 is that the simultaneous equations of the formula (1), the formula (2) and the formula (3) in the step E are solved, and the collision interference judgment equation in the blanking process is solved;
(3) And (3) collision interference in the tamping procedure, namely, the collision of the tamping mechanism 11 and the tamping head with the bottom discharge type scraper conveyor 4 is that the simultaneous equations of the formula (1), the formula (2) and the formula (3) in the step E are solved, and the collision interference judgment equation in the tamping procedure is solved.
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 solid filling hydraulic support working condition state representation method, which aims at the scientific problems of accurate representation of the filling hydraulic support state and quantitative discrimination control of structural interference control, and establishes a framework model according to the structural characteristics and static parameters of the filling hydraulic support; based on a skeleton model, a rectangular coordinate system is established by optimizing an origin and an abscissa, characterization parameters of key hinge points are introduced, a matching scheme of various hinge points and top plate key points is optimized, an optimal characterization scheme is selected, stable bit state positioning characterization is determined, a dynamic track equation of an interference bit state of a key mechanism in the stable bit state characterization is analyzed, and critical conditions of interference conditions are determined; and judging the interference condition of any position of the filling hydraulic support according to the critical condition of the interference condition.
Drawings
Fig. 1 is a structural view of a filling hydraulic support according to the present invention.
Fig. 2 is a schematic diagram of the skeleton of the filling hydraulic support of the present invention.
FIG. 3 shows the hinge point O of the front pillar and the base at the origin position of the present invention A And filling a characterization model diagram of the hydraulic support.
FIG. 4 shows the hinge point O of the rear pillar and the base at the origin position of the present invention B And filling a characterization model diagram of the hydraulic support.
FIG. 5 shows the origin position at the top plate position O C And filling a characterization model diagram of the hydraulic support.
Fig. 6 is a steady state reference point model of the filling hydraulic stent of the present invention.
FIG. 7 shows the origin O of the present invention B And (5) filling a mechanism parameter model diagram of the hydraulic support.
FIG. 8 shows the origin O of the present invention A And (5) filling a mechanism parameter model diagram of the hydraulic support.
FIG. 9 shows the origin O of the present invention C And (5) filling a mechanism parameter model diagram of the hydraulic support.
The corresponding structure name for the numerical designation in fig. 1 is: 1. a telescopic beam; 2. a front top beam; 3. a rear top beam; 4. a bottom discharge type scraper conveyor; 5. a discharging oil cylinder; 6. a front upright; 7. a base; 8. a rear pillar; 9. a cable-stayed swing angle oil cylinder; 10. a sliding oil cylinder; 11. a tamping mechanism; 12. tamping the oil cylinder;
the letter designations in fig. 3 correspond to the meanings: l (L) q ，L h The lengths of the front upright post and the rear upright post which respectively correspond to the length of the front upright post and the rear upright post after extending are mm; h 0 The height difference between the hinge point of the rear upright post and the vertical direction of the bracket base is mm; q and h correspond to the inclination angles of the front upright post and the rear upright post respectively; alpha is the tamping angle of the tamping mechanism; o (O) A The point is the hinge point of the front upright post and the base; o (O) B The point is the hinge point of the rear upright post and the base; o (O) C The point is the hinge point of the rear upright post and the top plate.
The letter designations in fig. 5 correspond to the meanings: l (L) q ，L h The lengths of the front upright post and the rear upright post which respectively correspond to the length of the front upright post and the rear upright post after extending are mm; h 0 The height difference between the hinge point of the rear upright post and the vertical direction of the bracket base is mm; h 1 The height from the vertical direction of the top beam of the bracket to the base is mm; h 2 The height of the porous bottom discharge conveyor is mm; l (L) 0 The length of the tamping mechanism after extending is mm; l (L) 1 For the hinge point of the rear upright post and the rear top beam to the bottom discharge type scraper conveyorHorizontal distance, mm; l (L) 2 The width of the porous bottom discharge conveyor is mm; l (L) 3 The length of the tamping head is mm for the tamping mechanism; q and h correspond to the inclination angles of the front upright post and the rear upright post respectively; alpha is the tamping angle of the tamping mechanism; p is the extension width of the porous bottom discharge conveyor, and mm; o (O) A The point is the hinge point of the front upright post and the base; o (O) B The point is the hinge point of the rear upright post and the base; the point A is the hinge point of the front upright post and the top plate; the hinging point of the front upright post and the front top beam is at the point B; c (O) C ) The point is the hinge point of the rear upright post and the top plate; the point G is the center axis 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 c is the left side point in blanking of the bottom discharge type scraper conveyor.
Detailed Description
According to the intelligent solid filling hydraulic support working condition state characterization method, a framework model is built according to the structural characteristics of the filling hydraulic support; based on a framework model of the bracket, establishing a rectangular coordinate system by optimizing an origin and an abscissa axis to form a bit state representation model; screening a bracket bit state stability characterization scheme and determining a bit state stability function equation; analyzing and establishing a tamping mechanism of a hydraulic support under stable state and a motion track function of a bottom discharge type scraper conveyor, and determining critical conditions of interference conditions; judging whether a key mechanism interferes with any position of the filling hydraulic support according to critical conditions, and adjusting the tamping angle and the tamping elongation of the tamping mechanism to perform interference demodulation; finally, the advantages and disadvantages of the method for representing the state of the working condition of the support are verified through the control effect on the state stability representation and the structural interference of the filling hydraulic support.
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 then entering the step B;
step B, representing the position state of the skeleton model according to the skeleton model filled with the hydraulic support, selecting an origin position, establishing a rectangular coordinate system, and entering the step C;
step C, selecting the elongation of a front upright post, the included angle between the front upright post and a base, the elongation of a rear upright post and the included angle between the rear upright post and the base as a group of characterization parameters according to a framework model of the filling hydraulic support, and then entering the step D;
step D, according to the selected characterization parameters and 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 through checking that the height of the selected scheme points is consistent, 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 track equation of the key mechanism, wherein the key mechanism is a tamping mechanism and a bottom discharge type scraper conveyor; then enter step F;
step F, analyzing the corresponding procedure function models of the two key mechanisms as interference criterion equations under three interference states of blanking interference in the blanking procedure, collision interference in the blanking procedure and collision interference in the tamping procedure according to the motion track equations of the tamping mechanism and the scraper conveyor, and entering the step G;
and G, verifying whether the key mechanism is interfered in any position according to the interference criterion equation of different interference positions in the step F, performing interference demodulation by adjusting the tamping angle and the tamping elongation of the tamping mechanism, and verifying the advantages and disadvantages of the working condition position representation method.
In step B, the origin position selection principle: the first principle is beneficial to the integral characterization precision of the bracket; the second principle is beneficial to interference discrimination and demodulation.
The original point position selection scheme specifically comprises the following steps:
when the hinge point O of the rear upright post and the rear top beam is selected C When the point is the origin position; establishing a rectangular coordinate system along the direction opposite to the mining direction as an X-axis direction and along the direction vertical to the X-axis direction to the earth as a Y-axis positive direction;
when selecting the hinge point O of the front upright post and the base A When the position is the origin position; establishing a rectangular coordinate system along the direction opposite to the mining direction as the X-axis direction and along the direction perpendicular to the X-axis top beam as the Y-axis positive direction;
when the hinge point O of the rear upright post and the base is selected B When the position is the origin position;establishing a rectangular coordinate system along the direction opposite to the mining direction as the X-axis direction and along the direction perpendicular to the X-axis top beam as the Y-axis positive direction;
in the step D, the characterization selection principle is as follows: the first principle is to ensure the characterization accuracy; the second principle is that the environmental impact is minimal.
In the step D, scheme points of different characterization methods are selected to characterize the working conditions of the bracket, and the method is specifically as follows:
(1) When the points A, B and C on the cross beam are selected as datum points, the characterization method comprises the following steps: selecting a front upright post and front top beam hinging point on a top plate of the support as a point A, a front top beam and rear top beam hinging point as a point B and a rear upright post and rear top beam hinging point as a point C, characterizing three points of the point A, the point B and the point C, measuring characterization constants of the three points, giving out a height characterization function of the point A and the point C, measuring the height of the front top beam and the rear top beam hinging point B by using a height measurement sensor, and determining that the filling hydraulic support is in a stable and positioning state by verifying that the three points are consistent in height;
(2) When the points A, B and F on the cross beam are selected as datum points, the characterization method comprises the following steps: selecting a front upright post and a front top beam hinging point on a top plate of the support as a point A, and a front top beam and a rear top beam hinging point as a point B and a rear top beam tail point F, characterizing the point A, the point B and the point F, measuring the characterization constants of the three points, providing a height characterization function of the point A, using a height measurement sensor to measure the height of the point B of the front top beam and the rear top beam hinging point B, and determining that the filling hydraulic support is in a stable position state through verifying that the three points are consistent in height;
(3) When the points A, E and C on the cross beam are selected as datum points, the characterization method comprises the following steps: selecting a hinge point of a front upright post and a front top beam on a top plate of the support as a point A, a hinge point of the front upright post and the front top beam as a point E and a hinge point of the rear upright post and the rear top beam as a point C at any position between the front upright post and the front top beam, and between the rear upright post and the rear top beam, characterizing three points of the point A, the point E and the point C, measuring 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 support is in a stable position state by verifying that the heights of the three points are consistent;
(4) When the points D, B and C on the cross beam are selected as datum points, the characterization method comprises the following steps: and selecting a point D at the left side top beam position of the front upright post and the front top beam hinge point on the top plate of the support, a point B at the front top beam and the back top beam hinge point and a point C at the back top beam and the back upright post hinge point, characterizing the three points D, B and C, measuring the characterization constants of the three points, providing a height characterization function of the point C, measuring the point D at the top beam position by using a height measurement sensor, and determining that the filling hydraulic support is in a stable position state by verifying the consistency of the heights of the three points.
In the step E, the motion trail equation of the key mechanism is as follows:
(1) Selecting the hinge point O between the rear upright and the base B In a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is specifically as follows:
the motion trail equation of the bottom discharge type scraper conveyor is as follows:
x＝L 1 +L h cosh(H 1 -H 2 ≤y≤H 1 )
y＝H 1 -H 2 (L 1 +L h cosh≤x≤L 1 +L 2 +L h cosh)
x＝L 1 +L 2 +L h cosh(H 1 -H 2 ≤y≤H 1 ) (1)
the motion trail equation of the tamping mechanism is as follows:
y＝tanαx (L min cosα≤x≤L 0 cosα) (2)
the motion trail of the tamping head of the tamping mechanism is as follows:
Figure BDA0003414665930000071
(2) Selecting the hinge point O between the rear upright and the base A In a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is specifically as follows:
the motion trail equation of the bottom discharge type scraper conveyor is as follows:
x＝L 1 +L 4 +L h cosh(H 1 -H 2 ≤y≤H 1 )
y＝H 1 -H 2 (L 1 +L 4 +L h cosh≤x≤L 1 +L 2 +L 4 +L h cosh)
x＝L 1 +L 2 +L 4 +L h cosh(H 1 -H 2 ≤y≤H 1 ) (1)
the motion trail equation of the tamping mechanism is as follows:
y＝tanα(x+L 4 ) (L min cosα≤x≤L 0 cosα) (2)
the motion trail equation of the tamping head of the tamping mechanism is as follows:
Figure BDA0003414665930000072
(3) Selecting the hinge point O between the rear upright and the base C In a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is specifically as follows:
the motion trail equation of the bottom discharge type scraper conveyor is as follows:
x＝L 1 (0≤y≤H 2 )
y＝H 2 (L 1 ≤x≤L 1 +L 2 )
x＝L 1 +L 2 (H 1 -H 2 ≤y≤H 1 ) (1)
the motion trail equation of the tamping mechanism is as follows:
y＝tanαx+H 1 -H 0 -L h coshtanα (L min cosα≤x≤L 0 cosα) (2)
the motion trail equation of the tamping head of the tamping mechanism is as follows:
Figure BDA0003414665930000073
in the formula:
L 0 -the tamping mechanisms are of different lengthsStatus value of the etching;
L q ，L h -the lengths of the front upright post and the rear upright post which respectively correspond to the length of mm after the front upright post and the rear upright post extend out;
H 0 -the height difference between the hinge point of the rear upright post and the vertical direction of the bracket base is mm;
H 1 -the vertical direction of the support top beam to the height of the base, mm;
H 2 -height of the porous bottom discharge conveyor, mm;
L min -the tamping mechanism does not extend for a length of mm;
L 1 -the horizontal distance from the hinge point of the rear upright post and the rear top beam to the bottom discharge type scraper conveyor is mm;
L 2 -width of the porous bottom discharge conveyor, mm; l (L) 3 The length of the tamping head is mm for the tamping mechanism;
q and h are respectively corresponding to the inclination angles of the front upright post and the rear upright post;
alpha-state value of the included angle between the tamping mechanism and the horizontal direction at different moments.
In step F, at the hinge point O of the rear upright post and the base B In a rectangular coordinate system established for the origin position, the method for analyzing three interference states is as follows:
(1) In the blanking process, 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 type scraper conveyor 4, namely
Figure BDA0003414665930000081
A blanking interference judgment equation in the blanking process;
(2) The collision interference in the blanking process, the collision between the tamping mechanism 11 and the tamping head and the bottom discharge type scraper conveyor 4 is that the simultaneous equations of the formula (1), the formula (2) and the formula (3) in the step E are solved, and the collision interference judgment equation in the blanking process is solved;
(3) And (3) collision interference in the tamping procedure, namely, the collision of the tamping mechanism 11 and the tamping head with the bottom discharge type scraper conveyor 4 is that the simultaneous equations of the formula (1), the formula (2) and the formula (3) in the step E are solved, and the collision interference judgment equation in the tamping procedure is solved.
The following is a further detailed description of specific embodiments of the invention, taken in conjunction with the accompanying drawings of the specification:
as shown in fig. 1, the invention aims at the method for representing the working condition position of the intelligent solid filling hydraulic support, and solves the problems of support damage and engineering efficiency influence caused by interference of related mechanisms when the intelligent support is in operation. According to the invention, the framework model is constructed by extracting the structural characteristics of the filling hydraulic support, a rectangular coordinate system is preferably established at the optimal origin position, a bit state representation model is formed by adopting a function modeling thought, a hydraulic support related mechanism is abstracted, and functions in the rectangular coordinate system are used for describing support related components.
According to the method, a rectangular coordinate system is established by taking the origin of an articulating point of a tamping mechanism and a base of a filling hydraulic support as an X-axis direction along the horizontal direction of the tamping mechanism and taking a Y-axis positive direction along the top beam direction perpendicular to the X-axis, and the interference condition is judged by determining static structural parameters and dynamic track parameters of the filling hydraulic support.
The filling hydraulic support bit state representation and interference discrimination demodulation method specifically comprises the following steps:
step A, analyzing structural parameters of a front top beam 2, a rear top beam 3, a front upright post 6, a rear upright post 8 and a tamping mechanism 11 of the filling hydraulic support according to structural characteristics of the four-column filling hydraulic support, and marking a hinge point O of the front upright post and a base A Hinge point O of tamping mechanism, rear upright post and base B And the hinge point O of the rear upright post and the top plate C As shown in fig. 2, a skeleton model of the filling hydraulic support is established, and then the step B is carried out;
step B, selecting an origin position according to a framework model of the filling hydraulic support;
origin position selection principle: the integral characterization precision of the bracket is a first principle, which is favorable for interference discrimination and demodulation to be a second principle. Accordingly, the original point position of the four-column filling hydraulic support in fig. 1 can be selected from the front upright columnHinge point O with base A Or the hinge point O of the rear upright post and the base B Or the hinge point O of the rear upright post and the top plate C The point at which the current is to be measured,
as shown in fig. 3,4,5, analytical comparisons:
scheme one, with O A The number of the point-related and similar connecting mechanisms is small, a large number of relative position lengths are required to be measured, and the characterization precision of the whole bracket is smaller than that of the other bracket;
scheme II, origin is arranged at O C The points can move frequently, so that the characterization function under the coordinate system is affected, and the points are not suitable for being used as the origin;
scheme III.O B The points are connected with a plurality of possible interference mechanisms, and conform to two principles of selecting an origin. Thus, at the hinge point O of the rear pillar and the base B C, establishing a rectangular coordinate system along the X-axis direction of the horizontal direction of the tamping mechanism and the Y-axis positive direction of the vertical X-axis top beam direction, and entering into the step C;
step C, selecting the elongation L of the front upright post according to a framework model of the filling hydraulic support q Included angle q between front upright and base, elongation L of rear upright h D, forming an included angle h between the rear upright post and the base as a group of characterization parameters, and then entering a step D;
step D, according to the selected characterization parameters, the height characterization equations of the front upright post and front top beam hinge point A and the rear upright post and rear top beam hinge point C are respectively represented as L q sinq+H 0 And L is equal to h sinh+H 0 The hinge point A of the front upright post and the front top beam on the top plate of the bracket, the hinge point B of the front top beam and the back top beam, the hinge point C of the back upright post and the back top beam, D, E and F are selected, the three points are respectively positioned at the left side of the point A, between the point A and the point C, at the right side of the point C,
as shown in fig. 6. Thereby distinguishing four characterization methods of steady-state division of the top plate of the bracket,
(A, B, C), (A, B, F), (A, E, C), (D, B, C), respectively.
The selection principle of the characterization method is as follows: the characterization precision is guaranteed to be a first principle, and the minimum influence by the environment is guaranteed to be a second principle. Comparison shows that: the characterization method (A, B, G), (D, B, C) requires the installation of two altimetric sensors, subject toThe environmental impact is the greatest; the E point of the method (A, E and C) can not completely reflect the position state of the bracket, and the characterization precision is low; the (A, B, C) method has the highest precision and is least affected by the environment. The height of a hinge point D of the front top beam and the back top beam is measured to be H by a height measuring sensor 1 +H 0 Verify L q sinq+H 0 ＝L h sinh+H 0 ＝H 1 +H 0 The height of the A, B, C three points is consistent, the filling hydraulic support is determined to be in a stable position state, and then the step E is carried out;
step E, according to a bit 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 track equation of the key mechanism, wherein the key mechanism is a tamping mechanism and a bottom discharge type scraper conveyor; f, representing a motion trail equation of the key mechanism, and then entering a step F;
the motion trail equation of the key mechanism is as follows:
the motion trail equation of the bottom discharge type scraper conveyor is as follows:
Figure BDA0003414665930000091
the motion trail equation of the tamping mechanism is as follows:
y＝tanαx(0≤L 0 cosα≤x≤L 0 cosα≤L 0 cosα) (2)
the motion trail of the tamping head of the tamping mechanism is as follows:
Figure BDA0003414665930000101
step F, analyzing the corresponding procedure function models of the two key mechanisms as interference criterion equations under three interference states of blanking interference, collision interference in the blanking procedure and collision interference in the tamping procedure according to the function models of the tamping mechanism of the filling hydraulic support and the scraper conveyor;
the method of analyzing the three interference states is as follows:
(1) In the blanking process, 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 type scraper conveyor 4, namely
Figure BDA0003414665930000102
A blanking interference judgment equation in the blanking process;
(2) The collision interference in the blanking process, the collision between the tamping mechanism 11 and the tamping head and the bottom discharge type scraper conveyor 4 is that the simultaneous equations of the formula (1), the formula (2) and the formula (3) in the step E are solved, and the collision interference judgment equation in the blanking process is solved;
(3) The collision interference in the tamping procedure, the collision of the tamping mechanism 11 and the tamping head with the bottom discharge type scraper conveyor 4, namely, the simultaneous equations of the formula (1), the formula (2) and the formula (3) in the step E are solved, and the collision interference judgment equation in the tamping procedure is solved;
compared with the prior art, the technical scheme has the following technical effects: the invention designs an intelligent solid filling hydraulic support working condition position representation method, adopts a brand new method, aims at scientific problems of qualitative representation and quantitative expression of filling hydraulic support position representation and structural interference control, and establishes a framework model according to structural characteristics and static parameters of the filling hydraulic support; based on the skeleton model, an optimal origin and an abscissa are selected to establish a rectangular coordinate system, so as to form a bit state representation model; and introducing characterization parameters of key hinge points, determining stable bit state positioning characterization, analyzing a dynamic trajectory equation of interference bit states of key mechanisms in the stable bit state characterization, and determining critical conditions of interference conditions.

Claims (4)

1. An intelligent solid filling hydraulic support working condition state representation method is characterized by comprising the following steps of:
building a framework model according to the structural characteristics of the filling hydraulic support; based on a framework model of the bracket, selecting an origin and an abscissa axis to establish a rectangular coordinate system to form a bit state representation model; screening a bracket bit state stability characterization scheme and determining a bit state stability function equation; analyzing and establishing a tamping mechanism of a hydraulic support under stable state and a motion track function of a bottom discharge type scraper conveyor, and determining critical conditions of interference conditions; judging whether a key mechanism interferes with any position of the filling hydraulic support according to critical conditions, and adjusting the tamping angle and the tamping elongation of the tamping mechanism to perform interference demodulation; finally, verifying the advantages and disadvantages of the method for representing the state of the working condition of the support through the control effect of the state stability representation and the structural interference of the filling hydraulic support;
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 then entering the step B;
step B, representing the position state of the skeleton model according to the skeleton model filled with the hydraulic support, selecting an origin position, establishing a rectangular coordinate system, and entering the step C;
step C, selecting the elongation of a front upright post, the included angle between the front upright post and a base, the elongation of a rear upright post and the included angle between the rear upright post and the base as a group of characterization parameters according to a framework model of the filling hydraulic support, and then entering the step D;
step D, according to the selected characterization parameters and 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 through checking that the height of the selected scheme points is consistent, 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 track equation of the key mechanism, wherein the key mechanism is a tamping mechanism and a bottom discharge type scraper conveyor; then enter step F;
step F, analyzing the interference states of blanking interference in the blanking process, collision interference in the blanking process and collision interference in the tamping process according to the motion track equation of the tamping mechanism and the scraper conveyor, and using the corresponding process function models of the two key mechanisms as interference criterion equations to enter the step G;
step G, verifying whether the key mechanism is interfered in any position according to interference criterion equations of different interference positions in the step F, performing interference demodulation by adjusting the tamping angle and the tamping elongation of the tamping mechanism, and verifying the advantages and disadvantages of the working condition position representation method;
the original point position selection scheme specifically comprises the following steps:
when the hinge point O of the rear upright post and the rear top beam is selected C When the point is the origin position; establishing a rectangular coordinate system along the direction opposite to the mining direction as an X-axis direction and along the direction vertical to the X-axis direction to the earth as a Y-axis positive direction;
when selecting the hinge point O of the front upright post and the base A When the position is the origin position; establishing a rectangular coordinate system along the direction opposite to the mining direction as the X-axis direction and along the direction perpendicular to the X-axis top beam as the Y-axis positive direction;
when the hinge point O of the rear upright post and the base is selected B When the position is the origin position; establishing a rectangular coordinate system along the direction opposite to the mining direction as the X-axis direction and along the direction perpendicular to the X-axis top beam as the Y-axis positive direction;
in the step D, scheme points of different characterization methods are selected to characterize the working conditions of the bracket, and the method is specifically as follows:
(1) When the points A, B and C on the cross beam are selected as datum points, the characterization method comprises the following steps: selecting a front upright post and front top beam hinging point on a top plate of the support as a point A, a front top beam and rear top beam hinging point as a point B and a rear upright post and rear top beam hinging point as a point C, characterizing three points of the point A, the point B and the point C, measuring characterization constants of the three points, giving out a height characterization function of the point A and the point C, measuring the height of the front top beam and the rear top beam hinging point B by using a height measurement sensor, and determining that the filling hydraulic support is in a stable and positioning state by verifying that the three points are consistent in height;
(2) When the points A, B and F on the cross beam are selected as datum points, the characterization method comprises the following steps: selecting a front upright post and a front top beam hinging point on a top plate of the support as a point A, and a front top beam and a rear top beam hinging point as a point B and a rear top beam tail point F, characterizing the point A, the point B and the point F, measuring the characterization constants of the three points, providing a height characterization function of the point A, using a height measurement sensor to measure the height of the point B of the front top beam and the rear top beam hinging point B, and determining that the filling hydraulic support is in a stable position state through verifying that the three points are consistent in height;
(3) When the points A, E and C on the cross beam are selected as datum points, the characterization method comprises the following steps: selecting a hinge point of a front upright post and a front top beam on a top plate of the support as a point A, a hinge point of the front upright post and the front top beam as a point E and a hinge point of the rear upright post and the rear top beam as a point C at any position between the front upright post and the front top beam, and between the rear upright post and the rear top beam, characterizing three points of the point A, the point E and the point C, measuring 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 support is in a stable position state by verifying that the heights of the three points are consistent;
(4) When the points D, B and C on the cross beam are selected as datum points, the characterization method comprises the following steps: selecting a point D at the left side top beam position of a front upright post and a front top beam hinging point on a top plate of the support, a point B at the front top beam and a point C at the rear top beam hinging point, characterizing three points D, B and C, measuring the characterization constants of the three points, providing a height characterization function of the point C, measuring the point D at the top beam position by using a height measurement sensor, and determining that the filling hydraulic support is in a stable position state by verifying that the heights of the three points are consistent;
in the step E, the motion trail equation of the key mechanism is as follows:
(1) Selecting the hinge point O between the rear upright and the base B In a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is specifically as follows:
(1) Selecting the hinge point O between the rear upright and the base B In a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is specifically as follows:
the motion trail equation of the point on the left upper of the bottom discharge type scraper conveyor is as follows:
x＝L 1 +L h cosh，H 1 -H 2 ≤y≤H 1 ； (1)
the motion trail equation of the point on the right side of the bottom discharge type scraper conveyor is as follows:
x＝L 1 +L 2 +L h cosh，H 1 -H 2 ≤y≤H 1 ； (2)
the motion trail equation of the pushing rod of the tamping mechanism is as follows:
y＝tanα·x，L min cosα≤x≤L 0 cosα； (3)
the motion trail equation of the tamping head of the tamping mechanism is as follows:
Figure FDA0004121048870000031
(2) Selecting the hinge point O between the front upright and the base A In a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is specifically as follows:
the motion trail equation of the point on the left upper of the bottom discharge type scraper conveyor is as follows:
x＝L 1 +L 4 +L h cosh，H 1 -H 2 ≤y≤H 1 ； (1)
the motion trail equation of the point on the right side of the bottom discharge type scraper conveyor is as follows:
x＝L 1 +L 2 +L 4 +L h cosh，H 1 -H 2 ≤y≤H 1 ； (2)
the motion trail equation of the pushing rod of the tamping mechanism is as follows:
y＝tanα·(x+L 4 )，L min cosα≤x≤L 0 cosα； (3)
the motion trail equation of the tamping head of the tamping mechanism is as follows:
Figure FDA0004121048870000032
(3) Selecting the hinge point O between the rear upright and the rear top beam C In a rectangular coordinate system established for the origin position, the motion trail equation of the key mechanism is specifically as follows:
equation of motion trajectory of point on left upper of bottom discharge type scraper conveyor:
x＝L 1 ；0≤y≤H 2 ； (1)
equation of motion trajectory of points on right side of bottom discharge type scraper conveyor:
x＝L 1 +L 2 ，H 1 -H 2 ≤y≤H 1 ； (2)
motion trail equation of the tamping mechanism pushing rod:
y＝tanαx+H 1 -H 0 -L h coshtanα，L min cosα≤x≤L 0 cosα； (3)
equation of motion trajectory of tamper head of tamper mechanism:
Figure FDA0004121048870000033
in the formula:
L 0 -status values of the tamping mechanism length at different moments;
L q ，L h -the lengths of the front upright post and the rear upright post which respectively correspond to the length of mm after the front upright post and the rear upright post extend out;
H 0 -the height difference between the hinge point of the rear upright post and the vertical direction of the bracket base is mm;
H 1 -the vertical direction of the support top beam to the height of the base, mm;
H 2 -height of the porous bottom discharge conveyor, mm;
L min -the tamping mechanism does not extend for a length of mm;
L 1 -the horizontal distance from the hinge point of the rear upright post and the rear top beam to the bottom discharge type scraper conveyor is mm;
L 2 -width of the porous bottom discharge conveyor, mm;
L 3 -the tamping mechanism tamps the length of the head, mm;
L 4 -distance between hinge points of front and rear columns and base, mm;
q and h are respectively corresponding to the inclination angles of the front upright post and the rear upright post;
alpha-state value of the included angle between the tamping mechanism and the horizontal direction at different moments.
2. The intelligent solid filling hydraulic support working condition state characterization method according to claim 1 is characterized by comprising the following steps: in step B, the origin position selection principle: the first principle is beneficial to the integral characterization precision of the bracket; the second principle is beneficial to interference discrimination and demodulation.
3. The intelligent solid filling hydraulic support working condition state characterization method according to claim 1 is characterized by comprising the following steps: in the step D, the characterization selection principle is as follows: the first principle is to ensure the characterization accuracy; the second principle is that the environmental impact is minimal.
4. The intelligent solid filling hydraulic support working condition state characterization method according to claim 1 is characterized by comprising the following steps: in step F, at the hinge point O of the rear upright post and the base B In a rectangular coordinate system established for the origin position, the method for analyzing three interference states is as follows:
(1) In the blanking process, 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 type scraper conveyor, namely
Figure FDA0004121048870000041
The method is characterized in that the method is a blanking interference judgment equation in a blanking process, and P is the extension width of the porous bottom discharge conveyor;
(2) The collision interference in the blanking process, the collision of the tamping mechanism (11) and the tamping head with the bottom discharge type scraper conveyor, namely, the simultaneous equations of the formula (1), the formula (2) and the formula (3) in the step E are solved, and the collision interference judgment equation in the blanking process is solved;
(3) And (3) collision interference in the tamping procedure, wherein the collision of the tamping mechanism (11) and the tamping head with the bottom discharge type scraper conveyor is that the simultaneous equations of the formula (1), the formula (2) and the formula (3) in the step E are solved, and the collision interference judgment equation in the tamping procedure is solved.
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