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先进支护设备空间姿态运动学模型的构建与实验验证。

Construction and experimental verification of the spatial attitude kinematic model of advanced support equipment.

机构信息

University of York, Heslington, York, YO10 5DD, UK.

Shandong Provincial Key Laboratory of Robotics and Intelligent Technology, Shandong University of Science and Technology, Qianwangang Road 579, Qingdao, 266590, Shandong, China.

出版信息

Sci Rep. 2022 Oct 26;12(1):17959. doi: 10.1038/s41598-022-22869-8.

DOI:10.1038/s41598-022-22869-8
PMID:36289358
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9606355/
Abstract

The roadway in coal mine is prone to deformation of the surrounding rock under the influence of complex disturbance, which induces the imbalance of support attitude matching between roadway surrounding rock and advanced coupling support equipment, breaks the mechanical balance of the original coupling support system, and causes safety accidents. The postures and offsets of the various working spaces of the advanced hydraulic supports under the influence of complex disturbances are systematically analyzed. The D-H parameter matrix transformation method is used to establish the spatial posture kinematic model of a single/group of advanced hydraulic supports. The posture parameters of each key node are obtained through global coordinate transformation. Based on the comparison of the working attitude parameters of the support obtained through simulation analysis and model calculation, the average absolute error of the support height calculation results of the single group of advanced hydraulic support attitude model is 3.92 mm, and that of the coordinate calculation results of the advanced hydraulic support group is (3.26 mm, 1.99 mm), which meet the accuracy requirements of the advanced hydraulic support attitude monitoring. Finally, the spatial attitude kinematic model of a single/group of advanced hydraulic supports is verified and analyzed by using the advanced hydraulic support attitude monitoring test bench. The maximum error value of the experimental results is 4.9 mm, which verifies the accuracy of the established spatial attitude kinematic model of the advanced hydraulic support. The research results can provide theoretical and technical support for the intelligentization of the advanced coupling support system and the safe and efficient mining of coal mine.

摘要

煤矿巷道在复杂扰动的影响下容易发生围岩变形，导致巷道围岩与超前耦合支护设备的支护姿态匹配失衡，破坏了原耦合支护系统的力学平衡，引发安全事故。系统分析了复杂扰动下超前液压支架各工作空间的姿态和偏移量。采用 D-H 参数矩阵变换法建立了单组/多组超前液压支架的空间姿态运动学模型。通过全局坐标变换得到各关键节点的姿态参数。通过对模拟分析和模型计算得到的支架工作姿态参数进行对比，单组超前液压支架姿态模型的支架高度计算结果平均绝对误差为 3.92mm，超前液压支架组的坐标计算结果为（3.26mm，1.99mm），满足超前液压支架姿态监测的精度要求。最后，利用超前液压支架姿态监测试验台对单组/多组超前液压支架的空间姿态运动学模型进行了验证和分析。实验结果的最大误差值为 4.9mm，验证了所建立的超前液压支架空间姿态运动学模型的准确性。研究结果可为超前耦合支护系统的智能化和煤矿的安全高效开采提供理论和技术支持。

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