王伸，李松，李东印，等. 液压支架放煤机构防干涉准则及放煤口开口度控制研究[J].河南理工大学学报(自然科学版), doi: 10.16186/j.cnki.1673-9787.2024110035.

WANG S, LI S, LI D Y, et al. Study of anti interference mechanism and intelligent control of top-coal drawing mechanism of four-leg hydraulic support [J]. Journal of Henan Polytechnic University (Natural Science), doi: 10.16186/j.cnki.1673-9787.2024110035.

液压支架放煤机构防干涉准则及放煤口开口度
控制研究(网络首发)

王伸^1,2,3，李松¹，李东印^1,2,3，李振华^1,2,3，张学亮⁴，李东辉⁵，王祖洸¹，

李红斌^1,2,3，王文^1,2,3，李瑞祥¹

（1．河南理工大学 能源科学与工程学院，河南 焦作 454000；2．煤炭安全生产与清洁高效利用省部共建协同创新中心，河南 焦作 454000；3．河南理工大学-焦煤集团智能安全高效开采省级示范研发中心，河南 焦作 454000；4．煤炭工业规划设计研究院有限公司，北京 100120；5．东北大学 深部金属矿山安全开采教育部重点实验室，辽宁 沈阳 110819）

摘要：目的 为了探明放煤机构的空间运动规律，以实现放煤口开口度精准控制和确保稳定连续自动化放煤。方法 采用ABAQUS软件构建四柱式放顶煤液压支架三维多体动力学模型，进行多因素数值模拟试验，分析液压支架支撑高度和顶梁倾角对放煤机构运动轨迹的影响规律；采用Levenberg-Marquardt算法拟合支架顶梁不同角度防干涉临界准则及放煤口开口度方程。结果 结果表明：（1）将掩护梁-尾梁铰接点作为调控放煤机构的关键节点，厘清在支架升降、顶梁俯仰等多种支架姿态下的放煤机构运动规律，建立放煤机构位置及其运动轨迹的描述方法；（2）揭示放煤机构干涉机制，明确放煤机构定位所需的支架状态参数及传感器优化配置原则；（3）构建支架状态参数与放煤口开口度、插板末端坐标的关联数据库，建立煤口开口度控制方法，研发智能放煤决策软件。现场测试表明，放煤口开口度平均误差1.26%，成功实现“远程自动放煤、人工巡检干预”的自动放煤方式，有效解决自动放煤过程中常发生的机械干涉问题，自动放煤可靠性和连续性显著提高。结论 研究成果可为实现连续可靠的自动放煤技术提供理论参考。

关键词: 液压支架；放煤机构；机械干涉；自动放煤；放煤口开口度

中图分类号：TD 823

doi: 10.16186/j.cnki.1673-9787.2024110035

基金项目: 国家自然科学基金青年项目（52204090）；河南理工大学安全学科“双一流”创建国家级重点项目培育资助项目（AQ20240306）；河南省科技攻关项目（242102320210）；河南省重点研发专项（241111320800）；河南省高校科技创新人才支持计划项目（25HASTIT019）

收稿日期：2025-1-06

修回日期：2025-6-10

网络首发日期：2025-12-04

Study of anti interference mechanism and intelligent control of top-coal drawing mechanism of four-leg hydraulic support (Online)

Wang Shen^1,2,3,Li Song¹,Li Dongyin^1,2,3,Li Zhenhua^1,2,3,Zhang Xueliang⁴,Li Donghui⁵,Wang Zuguang¹,Li Hongbin^1,2,3,Wang Wen^1,2,3,Li Ruixiang¹

(1. School of Energy Science and Engineering, Henan Polytechnic University, Jiaozuo 454000, Henan, China; 2. Collaborative Innovation Center for Coal Safety Production and Clean and Efficient Utilization, Jiaozuo 454000, Henan, China; 3. Provincial Demonstration R & D Center of Intelligent, Safe and Efficient Mining, Henan Polytechnic University-Coking Coal Group, Jiaozuo 454000, Henan, China; 4. CCTEG Coal Industry Planning Institute, Beijing 100120, China; 5. Key Laboratory of Safe Mining of Deep Metal Mines, Ministry of Education, Northeastern University, Shenyang 110819, China)

Abstract: Objectives To clarify the spatial motion law of coal releasing mechanism is the key scientific problem to realize the precise control of coal opening degree and ensure the stable and continuous automatic coal releasing. Methods ABAQUS software was used to construct a three-dimensional multi-body dynamic model of four-pillar roof coal discharge hydraulic support, and multi-factor numerical simulation tests were carried out to analyze the influences of the support height of the hydraulic support and the inclination angle of the roof beam on the movement trajectory of the coal discharge mechanism; the Levenberg-Marquardt algorithm was used to fit the critical criterion of the anti-interference of the roof beam of the support at different angles and the equations of the degree of the opening of the coal discharge opening. Results The results show that: (1) the articulation point of cover beam-tail beam is taken as the key node to regulate the coal releasing mechanism, the motion law of the coal releasing mechanism is clarified under various bracket attitudes such as bracket lifting and lowering, roof beam pitching, etc., and a description method of the position of the coal releasing mechanism and its motion trajectory is established; (2) the interference mechanism of the coal releasing mechanism is revealed, and the bracket state parameter and the optimal configuration of sensors necessary for the positioning of the coal releasing mechanism are clarified; (3) the relationship between bracket state parameter and sensor is constructed, Constructed the correlation database between the bracket state parameters and the opening degree of the coal discharge opening and the coordinates of the end of the insert plate, established the control method of the opening degree of the coal discharge opening, and developed the intelligent coal discharge decision-making software. The field test shows that the average error of the opening degree of coal discharge port is 1.26%, and the automatic coal discharge method of “remote automatic coal discharge and manual inspection intervention” is successfully realized, which effectively solves the mechanical interference problem that often occurs in the process of automatic coal discharge, and significantly improves the reliability and continuity of automatic coal discharge. Conclusions The research results can provide theoretical reference for the realization of continuous and reliable automatic coal release technology.

Key words: hydraulic support; coal discharge mechanism; mechanical interference; automatic coal discharge; coal discharge opening degree

CLC: TD 823