Kangaroo leg-like intelligent anti-impact mechanism applied to hydraulic supports of roadways

doi:10.3785/j.issn.1008-973X.2026.01.011

Journal of ZheJiang University (Engineering Science)

2026, Vol. 60

Issue (1): 117-126 DOI: 10.3785/j.issn.1008-973X.2026.01.011

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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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

Received: 25 November 2024 Published: 15 December 2025

CLC:

TP 232

Fund: 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).

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	Chenglong WANG
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Cite this article:

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.

URL:

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

巷道液压支架仿生袋鼠腿智能抗冲击机构

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

Fig.1 Muscle function to equivalent component function mapping

Fig.2 Schematic diagram of bionic mechanism and illustration of component hinge points

Tab.1 Main parameters of ZQ4000/16/31 roadway advanced support column

Fig.3 Installation position of bionic mechanism in hydraulic support

Fig.4 Closed vector diagrams with motion annotations

Fig.5 Non-closed vector diagrams of centroid motion quantities

Fig.6 Force analysis of component 1 and component 2 in bionic mechanism

Fig.7 Force analysis of component 3 and component 4 in bionic mechanism

Tab.2 Equivalent damping coefficients of magnetorheological damper at different currents

Fig.8 Refined feasible region of hinge points D and G

Fig.9 Poses of bionic mechanism corresponding to data point (α, β, L_JG)

Tab.3 Feasible regions of different optimization variables of bionic mechanism

Fig.10 Response surface of mechanical support force F_sup to parameters L_JG and α

Fig.11 Response surface of impact velocity V_imp to parameters L_JG and α

Fig.12 Impact displacement response during process of response surface optimization

Fig.13 Impact velocity response during response surface optimization process

Fig.14 Dynamic model of support and mechanical model of magnetorheological damper

Fig.15 Co-simulation model of ZQ4000/16/31 roadway advance support with bionic mechanism

Fig.16 Comparison of impact displacements under different equivalent damping equivalent coefficients

Fig.17 Comparison of maximum pressures in lower chamber of column after impact under different equivalent damping coefficients

Fig.18 Energy absorption of hydraulic support column under different equivalent damping coefficients

Fig.19 Energy absorption of magnetorheological damper under different equivalent damping coefficients


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