CN-122014313-A - Hydraulic support frame moving operation method for steeply inclined fully mechanized mining face

CN122014313ACN 122014313 ACN122014313 ACN 122014313ACN-122014313-A

Abstract

The invention provides a hydraulic support frame moving operation method for a steeply inclined fully mechanized mining face, which comprises the steps of constructing an intelligent control system comprising a sensor network, edge computing nodes and an execution module, collecting parameters such as a coal seam inclination angle, a pseudo-inclination angle and the like in real time, and monitoring the number of empty roof supports. The method comprises the steps of adopting a grouping staggered frame moving strategy, reserving continuous top-connecting supports, locking the frame moving when the number of empty tops reaches the standard, planning an arc-shaped top-wiping track to ensure that the top-connecting area reaches the standard, dynamically resolving critical working resistance based on a sliding and toppling unstability mechanical model, dynamically adjusting hydraulic supporting force, and switching a reinforced supporting mode when a top plate is pressed. The method effectively solves the problems of low sliding, dumping and frame moving efficiency of the bracket of the steeply inclined working face, and improves the stability and the mining efficiency of the bracket.

Inventors

LI HANG
LIU KAI
Zhang Ruidie
Zong Tingcheng
ZHANG QIANG
CUI PENGFEI
JIN ZISHAN
WANG JUNYU
LI GUOHUI
SONG JINHONG
Ning Xianken

Assignees

中国矿业大学

Dates

Publication Date: 20260512
Application Date: 20251230

Claims (9)

1. The hydraulic support frame moving operation method for the steeply inclined fully mechanized mining face is characterized by comprising the following steps of: S1, an intelligent control system is built, wherein the intelligent control system comprises a sensor network, an edge computing node and an execution module, and the sensor network is integrated with an MEMS inclination sensor, a pressure sensor, a laser range finder and an acoustic emission sensor; S2, acquiring the coal seam inclination angle theta, the pseudo-inclination angle phi, the mining height h, the friction coefficient mu and the roof load F d in real time through the sensor network, and synchronously monitoring the number n of adjacent empty roof supports; s3, adopting a grouping staggered frame moving strategy, and forcedly reserving at least 3 groups of continuous top brackets in the frame moving process; s4, planning an arc-shaped roof wiping frame moving track, and calibrating the contact pressure distribution of the base in real time through a laser range finder to ensure that the roof contact area is more than or equal to 85%; s5, dynamically calculating critical working resistance by the edge calculation node based on the sliding and dumping instability mechanical model, dynamically adjusting hydraulic supporting force by combining acquisition parameters, and switching to the reinforced supporting mode when the roof is detected to be pressed.
2. The method for moving the hydraulic support of the steeply inclined fully-mechanized mining face according to claim 1, wherein in the step S5, the calculation of the critical working resistance comprises the following sub-steps: s51, based on the slip and dumping instability mechanical model, establishing a mechanical balance equation of multi-parameter coupling: (1); (2); (3); (4); Wherein G 1 is a component force of the self weight G of the support along the working surface, G 3 is a component force of the self weight G along the trend direction, G 2 is a component force of the self weight of the gangue dispersion along the direction perpendicular to the bottom plate of the working surface, Q 1 is a component force of the self weight of the gangue dispersion, Q 2 is a component force perpendicular to the shield beam, Q 3 is a component force of the self weight along the depression slope working surface, mu is a friction coefficient, h is the height, b is the center distance of the support, W is the length of the shield beam, eta is the included angle between the shield beam and the normal line of the top beam, Y is the distance from the shield beam to the bottom plate, L is the length of the support base, S is the distance from the center of the support to the tail beam, Z is the length of the top beam, X is the distance from the stand column to the front end of the top beam, and D is the distance from the top beam to the tail beam of the support; S52, inputting the collected coal seam inclination angle theta, the pseudo-oblique angle phi, the collection height h, the friction coefficient mu and the top plate load F d collected in the step S2 into a mechanical balance equation, and dynamically solving the minimum critical working resistance T 1 under the stoping/upward working condition.
3. The method for moving the hydraulic support of the steeply inclined fully-mechanized mining face according to claim 2, wherein in the step S2, a maximum allowable empty top number threshold value n is less than or equal to 3, and when the step S2 detects that n exceeds the limit, the system automatically increases the hydraulic support force or adjusts the pseudo-oblique angle phi to meet the stability boundary condition tan theta cos phi less than or equal to mu in the step S5.
4. The method for moving the hydraulic support of the steeply inclined fully-mechanized mining face according to claim 2, wherein in the step S5, when the system is switched to the reinforced supporting mode, the critical working resistance after the roof breaking load is superimposed is calculated: (5); (6); Wherein F 1 is the friction force of the top plate to the bracket.
5. The method for moving the hydraulic support of the steeply inclined fully-mechanized mining face according to claim 1, wherein in the step S4, a relation between a curvature radius R of the arc-shaped top-wiping moving track and a support gravity center offset Δx is satisfied: R=Δx2sin(θ/2)R=2sin(θ/2)Δx; 。
6. The method for hydraulic bracket shifting operation of steeply inclined fully-mechanized mining face according to claim 4, wherein in step S5, the pseudo-oblique angle Φ is optimized in real time by a dynamic correlation formula with the critical slip angle θ: (7); The adjustment of the pseudo bevel angle phi is realized by driving the base through a hydraulic cylinder, the adjustment time of a single bracket is less than or equal to 10s, and the synchronization error of group adjustment is less than or equal to 2 degrees.
7. The method for moving the hydraulic support of the steeply inclined fully-mechanized mining face according to claim 6, wherein in the step S5, the detection of the roof pressure is realized by a combination criterion of an acoustic emission sensor and a pressure surge, and the strengthening support mode is triggered when the energy release amount is more than or equal to 200J and the pressure increase is more than or equal to 30%.
8. The method for moving hydraulic supports on a steeply inclined fully-mechanized mining face according to claim 4, wherein in step S51, a mechanical balance equation is introduced into the number n of adjacent empty top supports, a nonlinear mapping relationship between n and T 1 is established, and an output threshold of critical working resistance T 1 is dynamically corrected: (8)。
9. The method for moving the hydraulic support of the steeply inclined fully-mechanized mining face according to claim 3, wherein in the step S5, when the pseudo-oblique angle phi is adjusted, the trend arrangement angle of the face is synchronously corrected, so that the group support is ensured to cooperatively maintain stable posture according to the optimized pseudo-oblique angle.

Description

Hydraulic support frame moving operation method for steeply inclined fully mechanized mining face Technical Field The invention relates to the technical field of hydraulic support control of a fully mechanized coal mining face, in particular to a method for moving a hydraulic support of a steeply inclined fully mechanized coal mining face. Background The steep coal seam is used as an important component of coal resources, and the fully mechanized coal face has high requirements on stable control of the hydraulic support due to the characteristic of large inclination angle. The hydraulic support is core equipment of a fully-mechanized mining face, plays a key role in supporting a top plate and guaranteeing safety of an operation space, but can be comprehensively influenced by gravity component force, top plate load and complex geological conditions under a steep inclination working condition, and has extremely complex stress state. The support tends to generate a sliding trend along the working face, and meanwhile, the phenomenon of toppling instability is easy to occur in the direction perpendicular to the working face, so that the underground operation safety is seriously threatened, and the continuous pushing of the exploitation operation is restrained. The existing hydraulic support frame moving technology for the steeply inclined fully mechanized mining face has a plurality of defects, and the requirements of efficient and stable mining are difficult to meet. The traditional frame moving method adopts a static working resistance design, does not consider dynamic changes of parameters such as a coal seam inclination angle, a pseudo-inclination angle, a mining height and the like, and causes mismatching of supporting force and actual working conditions, or causes instability risks due to insufficient supporting, or causes energy waste due to supporting redundancy. The frame moving operation lacks a scientific grouping cooperative strategy, and the monitoring and the management of the number of the overhead brackets are insufficient, so that the linkage instability is easily caused by the constraint unbalance of the adjacent brackets. Meanwhile, the existing system is low in intelligent level, the pressure distribution of the top plate and the posture change of the support cannot be analyzed in real time, the moving track and the supporting force are difficult to adjust in a self-adaptive mode, and in addition, targeted strengthening supporting measures are lacked under extreme working conditions such as top plate pressure, so that the risk of instability of the support is further increased, and the moving efficiency and the safety of exploitation operation are seriously affected. Disclosure of Invention Aiming at the technical defects, the invention aims to provide a method for moving the hydraulic support of the steeply inclined fully-mechanized mining face, which realizes the efficient and stable control of the hydraulic support of the steeply inclined working face. In order to achieve the above purpose, the invention adopts the following technical scheme: A hydraulic support frame moving operation method for a steeply inclined fully mechanized mining face comprises the following steps: S1, an intelligent control system is built, wherein the intelligent control system comprises a sensor network, an edge computing node and an execution module, and the sensor network is integrated with an MEMS inclination sensor, a pressure sensor, a laser range finder and an acoustic emission sensor; S2, acquiring the coal seam inclination angle theta, the pseudo-inclination angle phi, the mining height h, the friction coefficient mu and the roof load F d in real time through the sensor network, and synchronously monitoring the number n of adjacent empty roof supports; s3, adopting a grouping staggered frame moving strategy, and forcedly reserving at least 3 groups of continuous top brackets in the frame moving process; s4, planning an arc-shaped roof wiping frame moving track, and calibrating the contact pressure distribution of the base in real time through a laser range finder to ensure that the roof contact area is more than or equal to 85%; s5, dynamically calculating critical working resistance by the edge calculation node based on the sliding and dumping instability mechanical model, dynamically adjusting hydraulic supporting force by combining acquisition parameters, and switching to the reinforced supporting mode when the roof is detected to be pressed. Preferably, in step S5, the calculation of the critical operating resistance comprises the following sub-steps: s51, based on the slip and dumping instability mechanical model, establishing a mechanical balance equation of multi-parameter coupling: (1); (2); (3); (4); Wherein G 1 is a component force of the self weight G of the support along the working surface, G 3 is a component force of the self weight G along the trend direction, G 2 is a component force of t