近年来，众多学者在急倾斜煤层的矿压显现规律、支架围岩关系、覆岩运移规律等方面取得了显著成果，但急倾斜煤层开采仍亟需解决生产效率低、设备适应性差等问题。本文以贵州省中渝煤矿11807工作面为工程背景，综合运用现场调研、理论分析、数值模拟、物理实验等方法，提出急倾斜薄及中厚煤层柔性掩护支架采煤法“双机”配套机械化开采设备及技术，并对“双机”配套设备可行性进行分析。主要研究结果如下：

（1）研发急倾斜薄及中厚煤层柔性掩护支架采煤法“双机”配套机械化设备。采煤机主要由截割部、箱体、行走部、辅助行走部、电控系统和其他辅助部件构成，行走部由传统的链牵引改为齿轮-齿轨行走方式；支护设备为异形柔性掩护支架，相邻三个异形柔性掩护支架为一组，每组支架安装有采煤机行走销轨和辅助导向机构，采用全封闭顶板支护。采煤机和异形柔性掩护支架共同构成“双机”配套系统，形成机械化开采成套装备、技术和工艺。

（2）不同条件下柔掩工作面“双机”配套设备的力学稳定性分析表明，采煤机外部的牵引力与煤壁对截割滚筒的截割阻力之间的相互作用有利于采煤机的稳定性，且牵引力越大，采煤机越稳定；当防滑装置对辅助导向机构的拉力一定时，煤层倾角增大会导致安全稳定系数降低。通过增大防滑千斤顶的拉力，可有效防止辅助导向机构下滑；在异形柔性掩护支架研制中，适当增大支架宽高比、增加支架阻力、减小支架的自重等方法可提高支架稳定性。

（3）采煤机齿轨轮与销轨在标准或较大的中心距啮合，有利于延长采煤机齿轨轮与销轨的寿命。当采煤机在工作面运行时，若行走机构被抬高，齿轨轮与销轨啮合位置被抬高，增大了齿轨轮啮合的中心距，反之，齿轨轮啮合中心距减小，采煤机在异形柔性掩护支架上行走中会导致行走机构销轨过渡处发生最大、最小中心距。在最小中心距啮合状态时，齿根的弯曲应力以及齿面接触应力的峰值，均大于标准值中心距及最大啮合中心距的应力峰值，进而可能发生卡齿现象而导致齿轨轮损坏。

（4）利用3D打印技术制造了异形柔性掩护支架和采煤机，不考虑其他因素影响下（煤壁片帮、顶底板凹凸不平等影响），验证了急倾斜薄及中厚煤层工作面采煤机运行的可行性，证明“双机”配套设备的可行性。

研究结果为急倾斜薄及中厚煤层“双机”配套机械化开采提供了一定的理论技术支撑，对急倾斜薄及中厚煤层安全、高效及智能化开采具有借鉴意义。

In recent years, many scholars have made remarkable achievements in the law of mine pressure behavior, the relationship between support and surrounding rock, and the law of overburden migration in steeply inclined coal seams. However, the mining of steeply inclined coal seams still needs to solve the problems of low production efficiency and poor equipment adaptability. Based on the engineering background of 11807 working face of Zhongyu Coal Mine in Guizhou Province, this paper comprehensively uses the methods of field investigation, theoretical analysis, numerical simulation and physical experiment to put forward the ' double machine ' supporting mechanized mining equipment and technology of flexible shield support mining method in steeply inclined thin and medium thick coal seam, and analyzes the feasibility of ' double machine ' supporting equipment. The main results are as follows :

( 1 ) Research and development of steeply inclined thin and medium thick coal seam flexible shield mining method ' double machine ' supporting mechanized equipment. The shearer is mainly composed of cutting part, box body, walking part, auxiliary walking part, electric control system and other auxiliary parts. The walking part is changed from the traditional chain traction to the gear-tooth rail walking mode. The supporting equipment is a special-shaped flexible shield support, and three adjacent special-shaped flexible shield supports are a group. Each group of supports is equipped with a shearer walking pin rail and an auxiliary guiding mechanism, and is supported by a fully enclosed roof. The shearer and the special-shaped flexible shield support together constitute the ' double machine ' supporting system, forming a complete set of equipment, technology and process for mechanized mining.

( 2 ) The mechanical stability analysis of the ' double machine ' supporting equipment of the flexible cover working face under different conditions shows that the interaction between the external traction force of the shearer and the cutting resistance of the coal wall to the cutting drum is beneficial to the stability of the shearer, and the greater the traction force, the more stable the shearer is. When the tension of the anti-skid device to the auxiliary guiding mechanism is constant, the increase of the dip angle of the coal seam will lead to the decrease of the safety and stability coefficient. By increasing the pulling force of the anti-skid jack, the sliding of the auxiliary guiding mechanism can be effectively prevented. In the development of special-shaped flexible shield support, the stability of the support can be improved by appropriately increasing the width-height ratio of the support, increasing the resistance of the support and reducing the weight of the support.

( 3 ) Shearer gear and pin rail in the standard or larger center distance meshing, is conducive to extending the life of the shearer gear and pin rail. When the shearer is running on the working face, if the walking mechanism is raised, the meshing position of the gear rail wheel and the pin rail is raised, which increases the center distance of the gear rail wheel meshing. On the contrary, the center distance of the gear rail wheel meshing decreases. When the shearer walks on the special-shaped flexible shield support, the maximum and minimum center distances will occur at the pin rail transition of the walking mechanism. In the minimum center distance meshing state, the peak values of the bending stress of the tooth root and the contact stress of the tooth surface are greater than the peak values of the standard center distance and the maximum meshing center distance, which may lead to the damage of the tooth rail wheel.

( 4 ) The special-shaped flexible shield support and shearer were manufactured by 3D printing technology. Without considering the influence of other factors ( coal wall spalling, roof and floor unevenness ), the feasibility of shearer operation in steeply inclined thin and medium-thick coal seam working face was verified, and the feasibility of ' double machine ' supporting equipment was proved.

The research results provide a certain theoretical and technical support for the ' double machine ' supporting mechanized mining of steeply inclined thin and medium thick coal seams, and have reference significance for the safe, efficient and intelligent mining of steeply inclined thin and medium thick coal seams.