Influencing factors and control method of mechanism interference in autonomous compaction process of intelligent solid backfilling technology

Self-regulation of mechanism interference in autonomous compaction process is the prerequisite of intelligent solid backfilling technology. Based on the basic concept of mechanism interference, the influence of geological conditions, frame structure, backfilling system layout and process parameters and other factors on mechanism interference was analyzed. The three-dimensional model of the solid backfilling hydraulic support was established by Pro/E 5.0, and the typical position of the mechanism interference was determined by the motion simulation. Through the two-dimensional skeleton model, the trajectory equation of the movement of the compaction mechanism under different working conditions was established. The critical range and the probability of interference were used to quantify the influence of different factors such as the thickness and dip angle of coal seam in the interference state. The results show that for the same frametype of solid backfilling hydraulic support, the smaller the dip angle of the coal seam, the larger the critical range of interference and the smaller the probability of interference. Under the same working conditions, the critical range and the probability of interference of different frame types are significantly different, which means the change of the inclination angle of the coal seam and the frame type will greatly affect the probability of the mechanism interference, and they are the main influencing factors of the mechanism interference. Factors such as backfilling system layout and process parameters have relatively little influence on mechanism interference. Based on the above rules, a mechanism intervention control method was proposed from six aspects: adapting to changes in geological conditions, optimizing the design of key filling equipment, rationally selecting the layout of the filling system and process parameters before the process and the equipment intelligently perception of interference position, intelligent control decision-making scheme, and intelligently controls the cylinder action during the process execution. A mechanism intervention control mechanism is established. The engineering practice of intelligent backfilling working face shows that before self-regulation, the intelligent solid backfilling hydraulic support frequently gets stuck during the parallel operation of backfilling mining and the process of independent compaction, and the automatic start-up rate is only about 30%. After adopting the method proposed, it increases to 72%, which is a significant reduction of lag during the independent compaction process and promotes the improvement of the intelligent solid backfilling technology.