固体智能充填机械自主夯实过程机构干涉判别与调控研究

Mechanism of interference discrimination and adjustment in the mechanical independent compaction process of intelligent solid backfilling method

智能充填是充填技术升级、行业发展及矿山智能建设3类需求必然趋势。固体充填开采方法以机械自主夯实工艺保障充填效果,其实现智能化的前提是机构干涉的自主判别与调控。给出了机构干涉的定义与产生原因,分析了机构干涉对实现智能充填工艺的影响,基于机械自主夯实工艺特点与固体充填液压支架的结构特征,建立了固体智能充填机械关键机构的骨架模型及静态特征与动态轨迹方程,给出了干涉位态判别准则,界定了4类典型干涉位态,分别建立了各干涉位态调控路径。工程实践表明:通过运用判别准则与调控路径,成功调控了多种工况的干涉位态,促进了智能自动充填工艺的实施。

Intelligent backfilling is the inevitable trend of backfilling technology upgrading,industry development and intelligent mine construction.The mechanical self-tamping technology is used to guarantee the backfilling effect of solid backfilling mining method,and the premise of realizing intellectualization is the autonomous discrimination and regulation and adjustment of mechanism interference.In this paper,the definition and causes of mechanism interference are presented and the influence of mechanism interference on the realization of intelligent backfilling technology is analyzed.Based on the characteristics of mechanical self-tamping process and the structural characteristics of solid filling hydraulic support,the solid skeleton model of independent intelligent backfilling machinery compaction mechanism and the static dynamic trajectory equation are set up.Furthermore,the criterion of interference configuration is obtained,four typical interference configuration are defined,and the control path of each interference configuration is established.The engineering practice shows that the interference states of various working conditions are successfully controlled by using the discriminant criterion and adjustment path,which promotes the implementation of intelligent automatic backfilling technology.