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浙江大学学报(工学版)
浙江大学学报(工学版)  2026, Vol. 60 Issue (1): 117-126    DOI: 10.3785/j.issn.1008-973X.2026.01.011
机械工程     
巷道液压支架仿生袋鼠腿智能抗冲击机构
王成龙1(),刘润升1,耿聪杰2
1. 山东科技大学 机械电子工程学院，山东 青岛 266590
2. 山东东山王楼煤矿有限公司，山东 济宁 272000
Kangaroo leg-like intelligent anti-impact mechanism applied to hydraulic supports of roadways
Chenglong WANG1(),Runsheng LIU1,Congjie GENG2
1. School of Mechatronic Engineering, Shandong University of Science and Technology, Qingdao 266590, China
2. Shandong Dongshan Wanglou Coal Mine Co. Ltd, Jining 272000, China
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摘要：

为了实现冲击工况下支护装备吸能状态的实时调整，参考袋鼠腿的生物结构特性，结合磁流变控制技术，提出应用于巷道液压支架的仿生袋鼠腿智能抗冲击机构. 在应用与不应用仿生机构2种情况下对ZQ4000/16/31型巷道超前液压支架的抗冲击性能进行仿真分析. 结果表明，在安装仿生机构的支架中，当磁流变阻尼器的等效阻尼系数从150 N·s/mm递增至450 N·s/mm时，相对于未安装仿生机构的支架，立柱下腔压力降由7.14%增至9.79%，支架顶梁位移降低量由18.55%增至31.97%，立柱的吸能降低量由27.56%增至29.31%. 仿生机构能够显著提高巷道液压支架在冲击载荷工况下的支护性能.
关键词： 仿生袋鼠腿;  防冲液压支架;  磁流变阻尼器;  智能抗冲击机构;  响应面优化    
Abstract:

A bionic kangaroo leg-like intelligent anti-impact mechanism applied to roadway hydraulic supports was proposed to achieve the real-time adjustment of the energy absorption state of support equipment under impact loading conditions. The bionic mechanism was constructed by referring to the biological structural characteristics of the kangaroo’s leg and the magnetorheological control technology. The anti-impact performance of the ZQ4000/16/31 type roadway advanced hydraulic support was simulated and analyzed under two situations: with or without the bionic mechanism. The results showed that in the support installed with the bionic mechanism, when the equivalent damping coefficient of the magnetorheological damper increased from 150 N·s/mm to 450 N·s/mm, compared with the support without the bionic mechanism, the pressure drop in the lower chamber of the hydraulic column increased from 7.14% to 9.79%, the displacement reduction of the top beam of the support increased from 18.55% to 31.97%, and the energy absorption reduction of the hydraulic column increased from 27.56% to 29.31%, which demonstrated that the bionic mechanism could significantly improve the support performance of the roadway hydraulic supports under impact loading conditions.
Key words: kangaroo leg    anti-impact hydraulic support    magnetorheological damper    intelligent impact resistant mechanism    response surface optimization
收稿日期: 2024-11-25 出版日期: 2025-12-15
:  TP 232  
基金资助: 国家自然科学基金资助项目(52274132, 52474176)；山东省重大科技创新工程资助项目(2020CXGC011502).
作者简介: 王成龙（1976—），男，教授，博士，从事智能化抗冲击技术与装备、流体传动与控制、智能化采掘技术与装备、数字孪生技术及其工程应用研究.orcid.org/0000-0003-1648-9640. E-mail：wcllym@163.com
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引用本文:

王成龙,刘润升,耿聪杰. 巷道液压支架仿生袋鼠腿智能抗冲击机构[J]. 浙江大学学报(工学版), 2026, 60(1): 117-126.

Chenglong WANG,Runsheng LIU,Congjie GENG. Kangaroo leg-like intelligent anti-impact mechanism applied to hydraulic supports of roadways. Journal of ZheJiang University (Engineering Science), 2026, 60(1): 117-126.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2026.01.011    或    https://www.zjujournals.com/eng/CN/Y2026/V60/I1/117

图 1  肌肉功能-等效元件功能映射
图 2  仿生机构的机构简图与构件铰链点示意图
参数数值
初撑力3 092 kN
工作阻力4 000 kN
支架立柱一级/二级缸径250/180 mm
支架立柱一级/二级柱径230/160 mm
额定工作压力40.74 MPa
行程1.6~3.1 m
表 1  ZQ4000/16/31型巷道超前液压支架立柱主要参数
图 3  仿生机构在液压支架中的安装位置
图 4  封闭矢量图及运动量标注
图 5  关于质心运动量的非封闭矢量图
图 6  仿生机构的构件1与构件2受力分析
图 7  仿生机构的构件3与构件4受力分析
I/ACeq/ (N·s·mm?1)I/ACeq/ (N·s·mm?1)
0.0152.251.0354.32
0.5252.031.5452.12
表 2  不同电流对应的磁流变阻尼器等效阻尼系数
图 8  细化后铰链点D、G的可行域
图 9  数据点(α, β, LJG)对应的仿生机构位姿
αβLJG/mmLLI/mmLJL/mmLFN/mmLHN/mmLEO/mmLDO/mmLBQ/mmLAQ/mm
初值1.830.64960150300955050350150240
可行域1.80~1.850.62~0.68940~980120~180280~32580~12010~7035~65310~390100~150190~290
步长0.010.01107.510510510510
表 3  仿生机构的不同优化变量的可行域
图 10  机构支护力Fsup关于参数LJG与α的响应面
图 11  冲击速度Vimp关于参数LJG与α的响应面
图 12  响应面优化过程中的冲击位移响应
图 13  响应面优化过程中的冲击速度响应
图 14  支架动力学模型和磁流变阻尼器力学模型
图 15  应用仿生机构的ZQ4000/16/31型巷道超前液压支架联合仿真模型
图 16  不同等效阻尼系数下的冲击位移对比
图 17  不同等效阻尼系数下冲击后立柱下腔最大压力对比
图 18  不同等效阻尼系数下液压支架立柱吸能量
图 19  不同等效阻尼系数下磁流变阻尼器的吸能量
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