Formation mechanism of non-ideal posture of hydraulic support at setting stage in the soft rock condition
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摘要: 针对软弱围岩条件下初撑阶段液压支架非理想位态形成机理不明的问题，基于平面杆系构建了四柱支架运动学模型和承载力学模型，得到了初撑阶段顶梁以固定姿态运动的前后柱速度关系式，分析了顶梁和底座合力及其作用点的变化特征。理论分析和数值计算结果表明：只有初撑阶段才是调整支架位态的最佳时机；相较于底座，顶梁呈水平和仰头姿态上升时前后柱速度之比呈3次函数关系，顶梁呈低头姿态上升时前后柱速度之比呈5次函数关系；顶梁和底座合力作用点的变化依赖于顶梁的接顶姿态，并呈现先快后缓的变化特征；顶梁和底座合力的增大呈先缓后急的变化特征。研究结果可为支架结构和位姿控制器的设计及现场操作提供指导。Abstract: This paper proposed the kinematic model and load-bearing mechanics model of the four-leg support based on the plane bar system to tackle the unclear formation mechanism of the non-ideal posture of the hydraulic support in the setting stage under the condition of soft surrounding rock.Then, this study obtained the velocity relationship between the front and rear leg when the canopy moving in a fixed posture at the setting stage, as well as the variation characteristics of the resultant force and resultant force positions of the canopy and the base.The results of theoretical analysis and numerical calculation show that only the setting stage is the best time to adjust the posture of the support.When the canopy rises in a horizontal or head-up posture compared with the base, the velocity ratio of the front and rear leg is a cubic function.When the canopy rises in a head-down posture compared with the base, the velocity ratio of the front and the rear leg shows a five-order function relationship.The change of the resultant force positions of the canopy and the base depends on the posture of the canopy contact to the roof, which tends to change fast at first and then slow.The increase of the resultant force of the canopy and the base is slow at first and then rapid.The research results can offer reference for the design of support structure and posture controller, as well as field operation.
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Key words:
- soft rock /
- hydraulic support /
- non-ideal posture /
- setting stage
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图 1 支架与围岩系统的维度和时间关系
Figure 1. Dimensional and temporal relationship between support and surrounding rock system
图 4 顶梁以固定姿态运动的前后柱速度之比
Figure 4. The velocity ratio between the front and rear leg when the canopy moving in a fixed posture
图 6 完全接触时的顶梁和底座合力作用点
Figure 6. The resultant force position of the canopy and base in full contact
图 7 仰头接触时的顶梁和底座合力作用点
Figure 7. The resultant force position of the canopy and base in upward posture contact
图 8 低头接触时的顶梁和底座合力作用点
Figure 8. The resultant force position of the canopy and base in downward posture contact
图 9 顶梁和底座合力作用点沿顶梁和底座的走势
Figure 9. The trend of the resultant force position of the canopy and the base along the canopy and the base
图 10 3种情形的顶梁和底座合力
Figure 10. The resultant force of the canopy and base in three cases
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