1.School of Mechanical and Electrical Engineering and Information Engineering,China University of Mining & Technology (Beijing)，Beijing ，China;2. Beijing Tiandi-Marco Electro-Hydraulic Control System Co., Ltd.,Beijing , China;3. School of Civil Engineering and Surveying, Beijing Polytechinc College, Beijing , China

Aiming at the technical problems in lateral and plane deviation adjustment of fully-mechanized mining hydraulic support, the technology of self-adjusting deviation of hydraulic support′s position and posture is deeply studied. For various coal seam geological conditions, especially the working face with large change of inclination angle of roof and floor and development of geological structure, it is easy to cause support inclination, dislocation, squeezing and even overturning accidents because of the lack of timely adjusting. Combining with the actual situation of existing hydraulic support, theoretical analysis and judgment are made, and theoretical model of adjusting inclination and deflection is established, and the model calculation is carried out. By comparison, the shortcomings and problems of the existing deviation adjustment technology and device for hydraulic support are found out. A new technology suitable for self-adjusting deviation and centralized control of fully-mechanized mining hydraulic support is put forward, and a new deviation adjusting mechanism is designed and manufactured. After the verification of the No.805 fully-mechanized mining face in Yunjialing Coal Mine, the improved technology has good effect in the attitude adjustment of the hydraulic support in the vertical tilt direction and the attitude adjustment in the horizontal twist direction. The technology relies on the hydraulic support mechanism to adjust the attitude of the bracket, and it is easy to realize data acquisition and automatic centralized control. It can improve the current situation that the hydraulic support system of the hydraulic support lacks the attitude adjustment means for the inclined bracket in the poor geological conditions.

国家重点研发计划资助项目（2017YFC0804300）