1.State Key Lab of Mechanical System and Vibration,Shanghai Jiaotong University,Shanghai ,China;2.Department of Mining and Design,Tiandi Science and Technology Company Limited,Beijing ,China

为了掌握液压支架的机-液耦合刚度特性,先通过液压支架的机构运动学分析,得到表征其驱动系统输入刚度与输出刚度映射关系的雅克比矩阵,据此给出液压支架机-液耦合刚度与液压缸液力参数、支架构型参数和位姿参数之间的联系;再选取顶梁上不同的位置点,对支架的水平、垂直和旋转3个方向刚度随各参数的变化规律进行了变参数计算。结果表明:支架的垂直刚度主要由立柱刚度决定,而支架的旋转刚度主要取决于平衡液压缸刚度及其作用位置;相对于支架的位姿参数,液压缸的液力参数和支架的构型参数对支架刚度的影响较大。这些结果可为液压支护设备单元稳定性评价建模提供依据,可改善工作面液压支架的受力状况。

In order to have the mechanical-hydraulic coupling rigidity characteristics of the hydraulic powered support,an analysis was firstly conducted on the structure dynamics of the hydraulic powered support and the Jacobian matrix to represent a mapping relationship of the driving system between the input rigidity and output rigidity was obtained.Thus the relationship between the mechanical-hydraulic coupling rigidity and the hydraulic parameters of the hydraulic cylinder,the powered support structure type parameter sand attitude parameters of the hydraulic powered support were provided.With the different location point on the canopy selected,the variable parameter calculation was conducted on the horizontal,vertical and rotary directional rigidities of the powered support with the variation law of each parameter.The result showed that the vertical rigidity of the powered support was determined by the leg rigidity mainly and the rotary rigidity of the powered support was depended on the rigidity and the action location of the balance hydraulic cylinder.Relative to the attitude parameters of the powered support,the hydraulic parameters of the hydraulic cylinder and the structure type parameters of the powered support has a high influences to the rigidity of the powered support.Those results could provide the basis to the modeling on single element stability evaluation of the hydraulic powered support and could improve the stress state of the hydraulic powered support applied in the coal mining face.

国家重点基础研究发展计划(973计划)资助项目(2014CB046302)；