AU2015383067B2 - Apparatus and method for automatically straightening conveyor body of scraper conveyor of fully mechanized coal mining face - Google Patents
Apparatus and method for automatically straightening conveyor body of scraper conveyor of fully mechanized coal mining face Download PDFInfo
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- AU2015383067B2 AU2015383067B2 AU2015383067A AU2015383067A AU2015383067B2 AU 2015383067 B2 AU2015383067 B2 AU 2015383067B2 AU 2015383067 A AU2015383067 A AU 2015383067A AU 2015383067 A AU2015383067 A AU 2015383067A AU 2015383067 B2 AU2015383067 B2 AU 2015383067B2
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- 239000003245 coal Substances 0.000 title claims abstract description 35
- 238000005065 mining Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000012545 processing Methods 0.000 claims abstract description 12
- 238000005259 measurement Methods 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims abstract description 4
- 230000009471 action Effects 0.000 claims description 10
- GNFTZDOKVXKIBK-UHFFFAOYSA-N 3-(2-methoxyethoxy)benzohydrazide Chemical compound COCCOC1=CC=CC(C(=O)NN)=C1 GNFTZDOKVXKIBK-UHFFFAOYSA-N 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims 2
- 230000011664 signaling Effects 0.000 claims 2
- 230000000875 corresponding effect Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G19/00—Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors
- B65G19/18—Details
- B65G19/28—Troughs, channels, or conduits
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/08—Shifting conveyors or other transport devices from one location at the working face to another
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
- Wire Processing (AREA)
Abstract
Disclosed are an apparatus and method for automatically straightening a conveyor body of a scraper conveyor of a fully mechanized coal mining face. The apparatus comprises elastic rods and a relative pose measurement apparatus, each elastic rod being 5 disposed between any two adjacent hydraulic supports, angle sensors being disposed between the elastic rods and the hydraulic supports, the relative pose measurement apparatus comprising elastic connectors, each elastic connector being disposed between any two adjacent middle troughs, the elastic connectors being provided with strain sensors having a temperature compensation function, the angle sensors and the strain sensors being 10 connected to a signal processing system via communication lines, the signal processing system communicating with an electro-hydraulic control system via a data transmission module, the electro-hydraulic control system being connected to the hydraulic supports. The method takes a voltage signal received by an electro-hydraulic control system as a judgment reference, implements corresponding actions on hydraulic supports and a scraper 15 conveyor according to actual working conditions, achieves positioning of the hydraulic supports and straightening control over middle troughs of the scraper conveyor, greatly shortens the straightening period, and improves the production efficiency.
Description
APPARATUS AND METHOD FOR AUTOMATICALLY STRAIGHTENING CONVEYOR BODY OF SCRAPER CONVEYOR OF FULLY MECHANIZED COAL MINING FACE
BACKGROUND
Technical Field
The present invention relates to an apparatus and method for automatically straightening a conveyor body of a scraper conveyor of a fully mechanized coal mining face.
Related Art A working environment of a scraper conveyor is complicated and changeable. In a propulsion process of a fully mechanized coal mining face device, the straightness of a conveyor body of the scraper conveyor cannot meet a production requirement due to a huge impact load effect as well as factors such as improper manual site operations, thereby causing severe consequences such as abrasion and breakage of a scraper chain and a dumbbell pin, abrasion of middle troughs and deformation of the conveyor body, further triggering a chain reaction, causing that the whole device or even the whole coal mining process cannot be normally operated or even broken down, and making a huge security threat. The scraper conveyor serves as one of main transportation devices for a coal mine working face, plays a role in coal transportation, and is an operating track of a shearer and a movement fulcrum of a hydraulic support, thereby ensuring that the straightness of the conveyor body of the scraper conveyor can match the production capacity of the shearer, and ensuring that three-machine linkage is carried out orderly.
At present, a manual mode is still adopted for coal working faces of most of mines in China. Attitude control over the scraper conveyor is completed by push sliding or pull sliding of the hydraulic support, push-to-shift control depends on a travel sensor, completion of the whole push-to-shift action will cause high error accumulation, manual adjustment is also needed subsequently, and the accuracy is low. A novel straightening method such as a wireless ranging technology is not strong in practicality due to limits to the smoothness of a coal wall although mechanical errors of cooperation between the hydraulic support and the scraper conveyor are eliminated to a certain extent. Adjusting the straightness using an optical fiber sensor achieves convenient transformation and low cost, but is easily affected by a working environment in a mine, and is poor in implementation feasibility.
SUMMARY
The present invention is intended to provide an apparatus and method for automatically straightening a conveyor body of a scraper conveyor based on relative positions of hydraulic supports of a coal mine working face. An elastic rod between a fixed hydraulic support and a target hydraulic support serves as a reference line, thereby ensuring the straightness of a conveyor body of a scraper conveyor, achieving support positioning and scraper straightening, and overcoming the defects of an existing scraper conveyor straightening technology. The apparatus is high in response speed, simple and easy to operate, convenient and reliable.
To this end, the present invention adopts the technical solution as follows. An apparatus for automatically straightening a conveyor body of a scraper conveyor of a fully mechanized coal mining face is provided. The scraper conveyor comprises a row of middle troughs and a row of hydraulic supports provided in parallel along a fully mechanized coal mining face, the middle troughs being as many as the hydraulic supports and having a one-to-one correspondence relationship with the hydraulic supports, the hydraulic supports being connected to the middle troughs via push-pull rods, and dumbbell pins being disposed at the end parts of the middle troughs. The apparatus for automatically straightening a conveyor body comprises elastic rods, a relative pose measurement apparatus, a signal processing system, a data transmission module and an electro-hydraulic control system, each elastic rod being disposed between any two adjacent hydraulic supports, angle sensors being disposed between the elastic rods and the hydraulic supports, the relative pose measurement apparatus comprising elastic connectors, each elastic connector being disposed between any two adjacent middle troughs, the elastic connectors being provided with strain sensors having a temperature compensation function, the angle sensors and the strain sensors being connected to the signal processing system via communication lines, the signal processing system communicating with the electro-hydraulic control system via the data transmission module, and the electro-hydraulic control system being connected to the hydraulic supports.
Furthermore, each elastic rod comprises fixed bases, a retractable straightening rod and fixed bolts, two ends of the retractable straightening rod being connected to the fixed bases, and the fixed bases being connected to the hydraulic supports via the fixed bolts.
Furthermore, each elastic connector comprises a connecting rod, a sensor fixing seat and positioning bolts, two ends of the connecting rod being connected to the middle troughs via the positioning bolts, the sensor fixing seat being disposed on the connecting rod, the strain sensor being disposed on the sensor fixing seat.
Furthermore, the elastic connectors are close to the dumbbell pins. A method for automatically straightening a conveyor body of a scraper conveyor of a fully mechanized coal mining face using the automatic straightening apparatus comprises the following steps: a) , uniformly number middle troughs and hydraulic supports provided in parallel along a fully mechanized coal mining face, the number of each middle trough being the same as that of the corresponding hydraulic support; b) , select one of the hydraulic supports as a fixed hydraulic support, arrange the fixed hydraulic support to make it vertical to the fully mechanized coal mining face, and select a hydraulic support adjacent to the fixed hydraulic support as a target hydraulic support; c) , monitor relative positions of the hydraulic supports: acquire, with reference to the fixed hydraulic support, a relative angle a between an elastic rod and the target hydraulic support via an angle sensor; d) , perform positioning control over the hydraulic supports: if a is greater than 90°, the angle sensor generates a positive voltage signal, and an electro-hydraulic control system controls the target hydraulic support to be pulled to shift; and if a is smaller than 90°, the angle sensor generates a negative voltage signal, and the electro-hydraulic control system controls the target hydraulic support to be propelled until a is equal to 90°; and the angle sensor generates a zero voltage signal to make the elastic rod parallel to the fully mechanized coal mining face, and a positioning action on the target hydraulic support is completed; e) , monitor relative positions of the middle troughs: select a middle trough, of which the number is the same as that of the fixed hydraulic support, as a fixed middle trough, select a middle trough, of which the number is the same as that of the target hydraulic support, as a target middle trough, and acquire, by taking the elastic rod as a reference line, a voltage signal generated by a strain sensor of an elastic connector between the fixed middle trough and the target middle trough; f) , perform straightening control over the middle troughs: if the voltage signal generated by the strain sensor is positive, the electro-hydraulic control system controls the target hydraulic support to be pulled by a push-pull rod to slide through the target middle trough; and if the voltage signal generated by the strain sensor is negative, the electro-hydraulic control system controls the target hydraulic support to be pulled by the push-pull rod to slide through the target middle trough until the voltage signal generated by the strain sensor is zero, such that the fixed middle trough and the target middle trough are located in a straight line, and a straightening action on the target middle trough is completed; g) , take the target hydraulic support, on which the positioning action is completed, as a fixed hydraulic support, and select a hydraulic support adjacent to the fixed hydraulic support as a target hydraulic support; and h) , repeat step c) to step g) until all the middle troughs are located in a straight line, so as to complete automatic straightening of the conveyor body of the scraper conveyor.
The beneficial effects are as follows. The present invention takes an elastic rod between a fixed hydraulic support and a target hydraulic support as a reference line, takes a voltage signal received by an electro-hydraulic control system as a judgment reference, and implements corresponding actions on the hydraulic supports and a scraper conveyor respectively according to actual working conditions until voltage signals corresponding to angle sensors and all strain sensors are zero, such that positioning of the hydraulic supports and straightening control over middle troughs of the scraper conveyor can be achieved, support positioning and scraper straightening are achieved, the straightening period is greatly shortened, and the production efficiency is improved.
BRIEF DESCRIPTION OF THE DRAWINGS
Fig. lisa flowchart of an automatic straightening method of the present invention;
Fig. 2 is a mounting diagram of an elastic rod of an automatic straightening apparatus of the present invention;
Fig. 3 is a mounting diagram of a relative pose measurement apparatus of an automatic straightening apparatus of the present invention; and
Fig. 4 is a state diagram of a hydraulic support and a middle trough in an automatic straightening process according to an embodiment of the present invention.
In the drawings: 1, hydraulic support, 2, elastic rod, 21, fixed base, 22, straightening rod, 23, fixed bolt, 3, middle trough, 4, elastic connector, 41, connecting rod, 42, sensor fixing seat, 43, positioning bolt, 5, dumbbell pin, 6, push-pull rod, and 7, fully mechanized coal mining face.
DETAILED DESCRIPTION
The present invention is further explained below in conjunction with the drawings.
As shown in Fig. 4, a scraper conveyor comprises a row of middle troughs 3 and a row of hydraulic supports 1 provided in parallel along a fully mechanized coal mining face 7, the middle troughs 3 being as many as the hydraulic supports 1 and having a one-to-one correspondence relationship with the hydraulic supports 1, the hydraulic supports 1 being connected to the middle troughs 3 via push-pull rods 6, dumbbell pins 5 being disposed at the end parts of the middle troughs 3.
As shown in Fig. 2 and Fig. 3, an apparatus for automatically straightening a conveyor body of a scraper conveyor of a fully mechanized coal mining face of the present invention comprises elastic rods 2, a relative pose measurement apparatus, a signal processing system, a data transmission module and an electro-dynamic control system. Each elastic rod 2 is disposed between any two adjacent hydraulic supports 1. Each elastic rod 2 comprises fixed bases 21, a retractable straightening rod 22 and fixed bolts 23, two ends of the retractable straightening rod 22 being connected to the fixed bases 21, and the fixed bases 21 being connected to the hydraulic supports 1 via the fixed bolts 23. Angle sensors are disposed between the elastic rods 2 and the hydraulic supports 1. The angle sensors are configured to detect included angles between the elastic rods 2 and the hydraulic supports 1, and generate corresponding voltage signals according to magnitudes of the detected included angles. The relative pose measurement apparatus comprises elastic connectors 4, each elastic connector 4 being disposed between any two adjacent middle troughs 3. Each elastic connector 4 comprises a connecting rod 41, a sensor fixing seat 42 and positioning bolts 43, two ends of the connecting rod 41 being connected to the middle troughs 3 via the positioning bolts 43, the sensor fixing seat 42 being disposed on the connecting rod 41, and a strain sensor being disposed on the sensor fixing seat 42. When two adjacent middle troughs 3 are not located in the same straight line, the connecting rod 41 will be bent, and the strain sensor will generate a corresponding voltage signal according to a bending stress. In order not to affect normal operation of the middle troughs 3, the elastic connectors 4 are close to the dumbbell pins 5. The angle sensors and the strain sensors are connected to the signal processing system via communication lines, the signal processing system communicates with the electro-hydraulic control system via the data transmission module, the electro-hydraulic control system is connected to the hydraulic supports, a CPU or a DSP serves as the core of the signal processing system, data signals of the angle sensors and all the strain sensors can be collected and processed, the data signals are converted into voltage signals via a data conversion module, and the voltage signals are transmitted to the electro-hydraulic control system via the data transmission module.
As shown in Fig. 1 and Fig. 4, the automatic straightening apparatus is adopted for a method for automatically straightening a conveyor body of a scraper conveyor of a fully mechanized coal mining face of the present invention. The automatic straightening method comprises the following steps: a) , uniformly number middle troughs 3 and hydraulic supports 1 provided in parallel along a fully mechanized coal mining face 7 as 1, 2, ..., N-l and N, the number of each middle trough 3 being the same as that of the corresponding hydraulic support 1; b) , select the Kth hydraulic support 1 as a fixed hydraulic support, arrange the fixed hydraulic support to make it vertical to the fully mechanized coal mining face 7, and select the K+l**1 hydraulic support 1 and the K- 1th hydraulic support 1 adjacent to the fixed hydraulic support as target hydraulic supports; c) , monitor relative positions of the hydraulic supports: acquire, with reference to the fixed hydraulic support, relative angles a between an elastic rod 2 and the target hydraulic supports via angle sensors; d) , perform positioning control over the hydraulic supports: if a is greater than 90°, the angle sensors generate positive voltage signals, and an electro-hydraulic control system controls the target hydraulic supports to be pulled to shift; if a is smaller than 90°, the angle sensors generate negative voltage signals, and the electro-hydraulic control system controls the target hydraulic supports to be propelled; in this case, because the relative angles a between the K+ lth hydraulic support 1 and the elastic rod 2 and between the K- 1th hydraulic support 1 and the elastic rod 2 are each greater than 90°, the angle sensors generate the positive voltage signals, the electro-hydraulic control system controls the K+lth hydraulic support 1 and the K- lth hydraulic support 1 to be pulled to shift until a is equal to 90°; the angle sensors generate zero voltage signals to make the elastic rod 2 parallel to the fully mechanized coal mining face 7, and positioning actions on the target hydraulic supports are completed; and in this case, the K+1th hydraulic support 1 and the K-l*11 hydraulic support 1 are vertical to the fully mechanized coal mining face 7 separately; e) , monitor relative positions of the middle troughs: select the K*11 middle trough 3, of which the number is the same as that of the fixed hydraulic support, as a fixed middle trough, select the K+l*11 middle trough 3 and the K-lth middle trough 3, of which the numbers are the same as those of the target hydraulic supports, as target middle troughs, and acquire, by taking the elastic rod 2 as a reference line, voltage signals generated by strain sensors of elastic connectors 4 between the fixed middle trough and the target middle troughs; f) , perform straightening control over the middle troughs: if the voltage signals generated by the strain sensors are positive, the electro-hydraulic control system controls the target hydraulic supports to be pulled by a push-pull rod 6 to slide through the target middle troughs, and if the voltage signals generated by the strain sensors are negative, the electro-hydraulic control system controls the target hydraulic supports to be pulled by the push-pull rod 6 to slide through the target middle troughs; in this case, because a voltage signal generated by a strain sensor between the Kth middle trough 3 and the K+1th middle trough 3 is negative, the electro-hydraulic control system controls the K+lth middle trough 3 to be pushed to slide, and if a voltage signal generated by a strain sensor between the Kth middle trough 3 and the K- 1th middle trough 3 is positive, the electro-hydraulic control system controls the K- 1th middle trough to be pulled to slide until the voltage signals generated by the strain sensors are zero, such that the Kth middle trough 3, the K+1th middle trough 3 and the K- 1th middle trough 3 are located in a straight line, and straightening actions on the target middle troughs are completed; g) , select the K+lth hydraulic support 1 and the K-lth hydraulic support 1, on which the positioning actions are completed, as fixed hydraulic supports, and select the K+2th hydraulic support 1 and the K-2th hydraulic support 1 adjacent to the fixed hydraulic supports as target hydraulic supports; and h) , repeat step c) to step g), make the K+2th hydraulic support 1 and the K-2th hydraulic support 1 vertical to the fully mechanized coal mining face 7 separately, make the K+lth middle trough 3, the K+2th middle trough 3, the K-lth middle trough 3 and the K-2th middle trough 3 located in a straight line, and analogize in sequence until all the middle troughs 3 are located in a straight line, so as to complete automatic straightening of the conveyor body of the scraper conveyor.
The above is only preferred embodiments of the present invention. It should be noted that those skilled in the art can also make some improvements and modifications without departing from the principle of the present invention. These improvements and modifications shall fall within the protective scope of the present invention.
Throughout this specification and the claims that follow unless the context requires otherwise, the words 'comprise' and 'include' and variations such as 'comprising' and 'including' will be understood to imply the inclusion of a stated integer or group of integers but not the exclusion of any other integer or group of integers.
The reference to any prior art in this specification is not, and should not be taken as, an acknowledgment or any form of suggestion that such prior art forms part of the common general knowledge of the technical field.
Claims (5)
1. An apparatus for automatically straightening a conveyor body of a scraper conveyor of a fully mechanized coal mining face, the scraper conveyor comprising a row of middle troughs (3) and a row of hydraulic supports (1) provided in parallel along a fully mechanized coal mining face (7), the middle troughs (3) being as many as the hydraulic supports (1) and having a one-to-one correspondence relationship with the hydraulic supports (1), the hydraulic supports (1) being connected to the middle troughs (3) via push-pull rods (6), and dumbbell pins (5) being disposed at the end parts of the middle troughs (3), wherein the apparatus for automatically straightening a conveyor body comprises elastic rods (2), a relative pose measurement apparatus, a signal processing system, a data transmission module and an electro-hydraulic control system; each elastic rod (2) is disposed between any two adjacent hydraulic supports (1); angle sensors are disposed between the elastic rods (2) and the hydraulic supports (1); the relative pose measurement apparatus comprising elastic connectors (4), and each elastic connector (4) being disposed between any two adjacent middle troughs (3); the elastic connectors (4) are provided with strain sensors having a temperature compensation function; the angle sensors and the strain sensors are connected to the signal processing system via communication lines; the signal processing system communicates with the electro-hydraulic control system via the data transmission module; and the electro-hydraulic control system is connected to the hydraulic supports (1).
2. The apparatus for automatically straightening a conveyor body of a scraper conveyor of a fully mechanized coal mining face according to claim 1, wherein each elastic rod (2) comprises fixed bases (21), a retractable straightening rod (22) and fixed bolts (23), two ends of the retractable straightening rod (22) being connected to the fixed bases (21), and the fixed bases (21) being connected to the hydraulic supports (1) via the fixed bolts (23).
3. The apparatus for automatically straightening a conveyor body of a scraper conveyor of a fully mechanized coal mining face according to claim 1, wherein each elastic connector (4) comprises a connecting rod (41), a sensor fixing seat (42) and positioning bolts (43), two ends of the connecting rod (41) being connected to the middle troughs (3) via the positioning bolts (43), the sensor fixing seat (42) being disposed on the connecting rod (41), and the strain sensor being disposed on the sensor fixing seat (42).
4. The apparatus for automatically straightening a conveyor body of a scraper conveyor of a fully mechanized coal mining face according to claim 1, wherein the elastic connectors (4) are close to the dumbbell pins (5).
5. A method for automatically straightening a conveyor body of a scraper conveyor of a fully mechanized coal mining face using the automatic straightening apparatus according to any one of claims 1 to 4, comprising the following steps: a) , uniformly numbering middle troughs (3) and hydraulic supports (1) provided in parallel along a fully mechanized coal mining face (7), the number of each middle trough (3) being the same as that of the corresponding hydraulic support (1); b) , selecting one of the hydraulic supports (1) as a fixed hydraulic support, arranging the fixed hydraulic support to make it vertical to the fully mechanized coal mining face (7), and selecting a hydraulic support (1) adjacent to the fixed hydraulic support as a target hydraulic support; c) , monitoring relative positions of the hydraulic supports: acquiring, with reference to the fixed hydraulic support, a relative angle a between an elastic rod (2) and the target hydraulic support via an angle sensor; d) , performing positioning control over the hydraulic supports: if a is greater than 90°, generating, by the angle sensor, a positive voltage signal, and controlling, by an electro-hydraulic control system, the target hydraulic support to be pulled to shift; and if a is smaller than 90°, generating, by the angle sensor, a negative voltage signal, and controlling, by the electro-hydraulic control system, the target hydraulic support to be propelled until a is equal to 90°; and generating, by the angle sensor, a zero voltage signal to make the elastic rod (2) parallel to the fully mechanized coal mining face (7), and completing a positioning action on the target hydraulic support; e) , monitoring relative positions of the middle troughs: selecting a middle trough (3), of which the number is the same as that of the fixed hydraulic support, as a fixed middle trough, selecting a middle trough (3), of which the number is the same as that of the target hydraulic support, as a target middle trough, and acquiring, by taking the elastic rod (2) as a reference line, a voltage signal generated by a strain sensor of an elastic connector (4) between the fixed middle trough and the target middle trough; f) , performing straightening control over the middle troughs: if the voltage signal generated by the strain sensor is positive, controlling, by the electro-hydraulic control system, the target hydraulic support to be pulled by a push-pull rod (6) to slide through the target middle trough; and if the voltage signal generated by the strain sensor is negative, controlling, by the electro-hydraulic control system, the target hydraulic support to be pulled by the push-pull rod (6) to slide through the target middle trough until the voltage signal generated by the strain sensor is zero, such that the fixed middle trough and the target middle trough are located in a straight line, and a straightening action on the target middle trough is completed; g) , taking the target hydraulic support, on which the positioning action is completed, as a fixed hydraulic support, and selecting a hydraulic support (1) adjacent to the fixed hydraulic support as a target hydraulic support; and h) , repeating step c) to step g) until all the middle troughs (3) are located in a straight line, so as to complete automatic straightening of the conveyor body of the scraper conveyor.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510379025.1A CN105000328B (en) | 2015-07-01 | 2015-07-01 | Fully-mechanized mining working surface conveyer fuselage automatic alignment device and method |
| CN201510379025.1 | 2015-07-01 | ||
| PCT/CN2015/089225 WO2017000383A1 (en) | 2015-07-01 | 2015-09-09 | Device and method for automatically straightening scraper conveyor body at fully mechanized coal mining face |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| AU2015383067A1 AU2015383067A1 (en) | 2017-01-12 |
| AU2015383067B2 true AU2015383067B2 (en) | 2017-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| AU2015383067A Ceased AU2015383067B2 (en) | 2015-07-01 | 2015-09-09 | Apparatus and method for automatically straightening conveyor body of scraper conveyor of fully mechanized coal mining face |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN105000328B (en) |
| AU (1) | AU2015383067B2 (en) |
| RU (1) | RU2657889C1 (en) |
| WO (1) | WO2017000383A1 (en) |
Cited By (1)
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| AU2019390996B2 (en) * | 2018-12-11 | 2021-11-11 | China University Of Mining And Technology | Location and attitude sensing device of propelling rod of hydraulic support of fully mechanized face, propelling rod mechanism of hydraulic support of fully mechanized face and method thereof |
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| CN106595557B (en) * | 2016-10-31 | 2019-03-19 | 中国矿业大学 | A kind of detection device and detection method of drag conveyor straightness |
| CN106986142B (en) * | 2017-01-23 | 2018-10-19 | 中国矿业大学 | Based on pull pressure sensor fully mechanized coal face drag conveyor automatic alignment device and method |
| CN107701216A (en) * | 2017-08-30 | 2018-02-16 | 中国矿业大学 | A kind of control device and control method of coal-face linearity |
| CN109341593B (en) * | 2018-08-17 | 2020-08-07 | 中国矿业大学 | Straightness optical fiber monitoring method for scraper conveyor of fully mechanized coal mining face |
| CN110007309A (en) * | 2019-04-23 | 2019-07-12 | 中国矿业大学 | A kind of hydraulic shield support attitude intelligent monitoring system and its measurement method |
| CN111232557B (en) * | 2020-01-09 | 2020-11-24 | 中国矿业大学 | Distributed scraper conveyor working surface straightness detection device and method based on optical fiber sensing |
| CN111674838B (en) | 2020-05-20 | 2021-04-02 | 山东科技大学 | Automatic straightening device and method for scraper conveyor body based on spatial position information capture |
| CN111878078A (en) * | 2020-06-10 | 2020-11-03 | 常州联力自动化科技有限公司 | Automatic control method for coal mining machine and hydraulic support based on two-roadway data |
| CN112196593B (en) * | 2020-10-09 | 2022-10-04 | 山东科技大学 | Hydraulic support straightness detection device and working method thereof |
| CN114506626B (en) * | 2022-03-09 | 2024-02-23 | 焦作神华重型机械制造有限公司 | Scraper conveyor for coal mining and control method |
| CN115853594B (en) * | 2023-01-20 | 2023-04-28 | 太原理工大学 | Fully-mechanized three-machine state monitoring system based on FBG sensor |
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| CN104058215A (en) * | 2014-06-05 | 2014-09-24 | 中国矿业大学 | Scrapping plate conveyor dynamic straightening method based on absolute motion trajectory of coal cutter |
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- 2015-09-09 WO PCT/CN2015/089225 patent/WO2017000383A1/en active Application Filing
- 2015-09-09 RU RU2016143562A patent/RU2657889C1/en active
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105000328A (en) | 2015-10-28 |
| WO2017000383A1 (en) | 2017-01-05 |
| RU2657889C1 (en) | 2018-06-18 |
| CN105000328B (en) | 2017-03-08 |
| AU2015383067A1 (en) | 2017-01-12 |
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