CN102392664B - Hydraulic support with inclination sensors and height measurement method thereof - Google Patents

Hydraulic support with inclination sensors and height measurement method thereof Download PDF

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Publication number
CN102392664B
CN102392664B CN201110209300.7A CN201110209300A CN102392664B CN 102392664 B CN102392664 B CN 102392664B CN 201110209300 A CN201110209300 A CN 201110209300A CN 102392664 B CN102392664 B CN 102392664B
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China
Prior art keywords
hydraulic support
height
obliquity sensor
support
hydraulic
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CN201110209300.7A
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Chinese (zh)
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CN102392664A (en
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牛剑峰
朱小林
师勇
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北京天地玛珂电液控制系统有限公司
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Publication of CN102392664A publication Critical patent/CN102392664A/en
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Abstract

The invention relates to a hydraulic support with inclination sensors and a height measurement method thereof. The hydraulic support for underground mining comprises a plurality of members at least including a base, a connecting rod, a shield beam and a top beam, which are sequentially connected, double-axis acceleration inclination sensors are respectively mounted on the base, the connecting rod, the shield beam and the top beam of the hydraulic support, and the mounting direction of each double-axis acceleration inclination sensor is nearly perpendicular to the swinging direction of the corresponding member; the hydraulic support also comprises a support controller, each double-axis acceleration inclination sensor can report inclination data to the controller, and the support controller works out the height of the hydraulic support according to the inclination data.

Description

A kind of hydraulic support of sensor with angle and height measurement method thereof
Technical field
The present invention relates to a kind of method that hydraulic support for underground mining is used obliquity sensor to carry out support height measurement, by the fixing obliquity sensor of level on the moving component forming support, with the obliquity sensor on bracket base fixture (relative displacement can not occur with support), determine the elevation-depression angle of support, calculate hydraulic support height measurement method.
Background technology
In underground mining, such hydraulic support is used for carrying out top plate supporting and prevents the task that this top of top braces subsides too early.At hydraulic support, in motion process, need to fall the migration that frame could be realized hydraulic support, it is larger that frame height falls in hydraulic support, the time of hydraulic support top board disengaging holding state is just longer, and the chance that causes top board to subside is just more, and it is also just longer that the required time of frame falls in hydraulic support simultaneously.That reduces to greatest extent hydraulic support falls frame height, not only can realize the effective management of hydraulic support to supporting roof, and can improve advancing velocity of hydraulic powered support.Therefore the accurate measurement of hydraulic support height is just seemed to particularly important.
In the prior art, the measurement of hydraulic support height generally adopts the method for range estimation or mechanical measurement, because subsurface environment is more severe, the precision of above-mentioned measuring method is not high, and said method all needs artificial participation, increased personnel in the pit's burden, be difficult to meet the requirement of hydraulic support operation.
Because hydraulic support is general, adopt hinged bar linkage structure, if can measure the inclination angle of bar linkage structure part, by the length of bar linkage structure part, just can draw accurately the height of hydraulic support.
CN101358532A discloses a kind of hydraulic support of sensor with angle, but its objective is the relative position relation of determining between each structural member of support, carry out the attitude measurement of hydraulic support, rather than the height of definite hydraulic support, simultaneously, because its object is different, obliquity sensor is not set on its base plate yet, cannot in the work plane of the tunnel of inclined floor, use.
Summary of the invention
In order to realize the measurement of hydraulic support bearing height, the present invention proposes a kind of hydraulic support of sensor with angle, described hydraulic support can be realized hydraulic support and in moving the process of establishing, fall the control of post height, can be convenient for measuring hydraulic support height simultaneously, and control and guarantee that the ideal of top board supports by hydraulic moving being established in process, concrete technical scheme is:
A kind of hydraulic support for underground mining of sensor with angle, by a plurality of members that at least comprise base, connecting rod, caving shield and back timber, connected to form successively, on base, connecting rod, caving shield and the back timber of hydraulic support, be separately installed with a twin shaft acceleration obliquity sensor, the swaying direction of the member that the installation direction of each twin shaft acceleration obliquity sensor is corresponding with it is substantially vertical; Described hydraulic support also comprises support control device, and each twin shaft acceleration obliquity sensor can be reported and submitted obliquity sensor data to described control device, and described support control device calculates hydraulic support height according to described obliquity sensor data.
Described obliquity sensor at least comprises two interfaces, one is signal input interface, another is signal output interface, described support control device is connected by connector with the signal input interface of obliquity sensor on back timber or base, the signal output interface of the described obliquity sensor being connected with support control device is connected by connector with the signal input interface of the obliquity sensor of installing on adjacent members, four obliquity sensors of connecting successively, the signal output interface of last obliquity sensor connects described support control device by connector, the data of whole obliquity sensors all can be delivered in support control device like this.
The variation of measuring relative angle according to the obliquity sensor of installing on the length of each member of hydraulic support and each member, calculates respectively each member of hydraulic support inclined height with respect to the horizontal plane, calculates the height of hydraulic support.
Be arranged on obliquity sensor on hydraulic support foundation for detection of the whole elevation-depression angle of hydraulic support.
Described support control device is embedded computer system.
Measure a method for the hydraulic support height of sensor with angle, when hydraulic support is during in level, directly according to its each member length and tilt meter, calculate the inclined height of each member, each inclined height is added the height that obtains hydraulic support; When hydraulic support is not during in level, first according to the elevation-depression angle that is arranged on the obliquity sensor judgement hydraulic support on hydraulic support foundation member, then measure the inclination angle of each member of hydraulic support, by described luffing angle, described inclination angle is revised, according to its each member length and revised tilt meter, calculate the inclined height of each member, each inclined height is added the height that obtains hydraulic support.
The hydraulic support height value calculating falls post maximum height for what limit hydraulic support in hydraulic moving stand process.
A method of measuring the hydraulic support height of sensor with angle, comprises the following steps:
In control device, input the length of back timber, caving shield, connecting rod and base;
By back timber obliquity sensor, caving shield obliquity sensor, connecting rod obliquity sensor and base obliquity sensor, measure respectively the inclination angle of back timber, caving shield, connecting rod and base relative level face, and described inclination angle is transferred to support control device; Support control device, by inclination angle and the length numerical value of each parts, calculates the vertical height of each parts, and each is vertically highly added to the whole height that obtains hydraulic support.
Accompanying drawing explanation
The schematic diagram of the hydraulic support that accompanying drawing 1 is sensor with angle of the present invention.
Reference numeral is as follows:
A-base obliquity sensor; B-connecting rod obliquity sensor; C-caving shield obliquity sensor; D-back timber obliquity sensor.
The specific embodiment
Referring to accompanying drawing 1, it has been described according to hydraulic support of the present invention preferred embodiment, comprises hinged in turn back timber, caving shield, connecting rod, base.
On described back timber, be provided with back timber obliquity sensor, on described base, be provided with base obliquity sensor, on described caving shield, be provided with caving shield obliquity sensor, on described connecting rod, be provided with connecting rod obliquity sensor, be wherein understandable that, in some hydraulic support, it can have element structure different and above-mentioned hydraulic support, as there is more hinged member in turn, in this case, on each member, need to arrange respectively obliquity sensor.Four members are in this embodiment only example, and it is not that it is limited.Described each obliquity sensor preferably adopts twin shaft acceleration obliquity sensor, and its quality is less, and the inertia force producing when large impact or high overload is also very little, so have stronger anti-vibration or impact capacity, is very suitable for using in subsurface environment.
In setting up procedure, the measurement axle that guarantees each obliquity sensor is substantially parallel with the length direction of each parts that this obliquity sensor is set, be that each obliquity sensor is substantially vertical with the swaying direction of its installation component, that is to say, the measurement axle of back timber obliquity sensor is substantially vertical with the swaying direction of back timber, the measurement axle of base obliquity sensor is substantially vertical with the swaying direction of base, caving shield obliquity sensor is substantially vertical with the swaying direction of caving shield, connecting rod obliquity sensor is substantially vertical with the swaying direction of connecting rod, in this way, guarantee that each obliquity sensor can accurately measure the inclination angle of each part length direction and horizontal plane.
Hydraulic support also comprises control device, and control device can be bracket controller, or other any unit with computing function, preferably adopts embedded computer system.Each obliquity sensor adopts the mode of serial or parallel connection to connect respectively described control device, inclination data to control device transmission measurement, control device according to certain algorithm, as trigonometric function, draws the height h of hydraulic support according to inclination data in conjunction with the length computation of each parts.
The method of measuring above-mentioned support height is, when hydraulic support is during in level, directly according to its each member length and tilt meter, calculates the inclined height of each member, and each inclined height is added the height that obtains hydraulic support; When hydraulic support is not during in level, first according to the elevation-depression angle that is arranged on the obliquity sensor judgement hydraulic support on hydraulic support foundation member, then measure the inclination angle of each member of hydraulic support, by described luffing angle, described inclination angle is revised, according to hydraulic support high computational model, revise, according to its each member length and revised tilt meter, calculate the inclined height of each member, each inclined height is added the height that obtains hydraulic support.
The hydraulic support height value calculating falls post maximum height for what limit hydraulic support in hydraulic moving stand process.
The concrete steps of measuring are preferably:
In support control device, input the length of back timber, caving shield, connecting rod and base;
By back timber obliquity sensor, caving shield obliquity sensor, connecting rod obliquity sensor and base obliquity sensor, measure respectively the inclination angle of back timber, caving shield, connecting rod and base relative level face, and described inclination angle is transferred to support control device;
Support control device, by inclination angle and the length numerical value of each parts, calculates the vertical height of each parts, and each is vertically highly added to the whole height that obtains hydraulic support.
It should be noted that because each parts are not generally mostly to be hinged from intermediate member from one end, there is certain error in the height therefore so calculating.As need obtain more accurate altitude information, can use several different methods, as the length that makes each parts of input is not its original length, if top board length should be top board front end to the length of caving shield pin joint, pin joint that caving shield length should be caving shield and top board and the length between caving shield and the pin joint of tail boom, or coefficient of balance etc. is set in control device.These error cancelling methods are common practise of this area, at this, will not tire out and state.
The above; it is only the preferably specific embodiment of patent of the present invention; but the protection domain of patent of the present invention is not limited to this; anyly be familiar with in technical scope that those skilled in the art disclose in patent of the present invention; the variation that can expect easily or replacement, within all should being encompassed in the protection domain of patent of the present invention.

Claims (2)

1. the height measurement method of the hydraulic support for underground mining of a sensor with angle, described hydraulic support is connected to form successively by a plurality of members that at least comprise base, connecting rod, caving shield and back timber, it is characterized in that: on base, connecting rod, caving shield and the back timber of hydraulic support, be separately installed with a twin shaft acceleration obliquity sensor, the swaying direction of the member that the installation direction of each twin shaft acceleration obliquity sensor is corresponding with it is substantially vertical; Described hydraulic support also comprises support control device, and described support control device is bracket controller; Each twin shaft acceleration obliquity sensor can be reported and submitted inclination data to described control device, and described support control device calculates hydraulic support height according to described inclination data;
Described obliquity sensor at least comprises two interfaces, one is signal input interface, another is signal output interface, described support control device is connected by connector with the signal input interface of obliquity sensor on back timber or base, the signal output interface of the described obliquity sensor being connected with support control device is connected by connector with the signal input interface of the obliquity sensor of installing on adjacent members, four obliquity sensors of connecting successively, the signal output interface of last obliquity sensor connects described support control device by connector, the data of all obliquity sensors all can be delivered in described support control device like this,
The variation of measuring relative angle according to the obliquity sensor of installing on the length of each member of hydraulic support and each member, calculates respectively each member of hydraulic support inclined height with respect to the horizontal plane, calculates the height of hydraulic support;
The height measurement method of described hydraulic support comprises:
When hydraulic support is during in level, directly according to the length of its each member except base and the tilt meter that only uses described obliquity sensor to draw, calculate the inclined height of each member, each inclined height addition obtains the height of hydraulic support;
When hydraulic support is not during in level, first according to the elevation-depression angle that is arranged on the obliquity sensor measurement hydraulic support on hydraulic support foundation member, then only use respectively described obliquity sensor to measure the inclination angle of hydraulic support each member except base, by described luffing angle, described inclination angle is revised, according to each member length and revised tilt meter, calculate the inclined height of each member, each inclined height is added the height that obtains hydraulic support;
The hydraulic support height value calculating falls post maximum height for what limit hydraulic support in hydraulic moving stand process.
2. the height measurement method of the hydraulic support for underground mining of a sensor with angle, described hydraulic support is connected to form successively by a plurality of members that at least comprise base, connecting rod, caving shield and back timber, it is characterized in that: on base, connecting rod, caving shield and the back timber of hydraulic support, be separately installed with a twin shaft acceleration obliquity sensor, the swaying direction of the member that the installation direction of each twin shaft acceleration obliquity sensor is corresponding with it is substantially vertical; Described hydraulic support also comprises support control device, described support control device is bracket controller, each twin shaft acceleration obliquity sensor can be reported and submitted inclination data to described control device, and described support control device calculates hydraulic support height according to described inclination data;
Described obliquity sensor at least comprises two interfaces, one is signal input interface, another is signal output interface, described support control device is connected by connector with the signal input interface of obliquity sensor on back timber or base, the signal output interface of the described obliquity sensor being connected with support control device is connected by connector with the signal input interface of the obliquity sensor of installing on adjacent members, four obliquity sensors of connecting successively, the signal output interface of last obliquity sensor connects described support control device by connector, the data of all obliquity sensors all can be delivered in described support control device like this,
The variation of measuring relative angle according to the obliquity sensor of installing on the length of each member of hydraulic support and each member, calculates respectively each member of hydraulic support inclined height with respect to the horizontal plane, calculates the height of hydraulic support; The height measurement method of described hydraulic support comprises the following steps:
In support control device, input the length of back timber, caving shield, connecting rod and base;
Only by back timber obliquity sensor, caving shield obliquity sensor, connecting rod obliquity sensor and base obliquity sensor, measure respectively the inclination angle of back timber, caving shield, connecting rod and base relative level face, and described inclination angle is transferred to support control device;
Support control device, by inclination angle and the length numerical value of each parts, calculates the vertical height of each parts, and each is vertically highly added to the whole height that obtains hydraulic support;
The hydraulic support height value calculating falls post maximum height for what limit hydraulic support in hydraulic moving stand process.
CN201110209300.7A 2011-07-26 2011-07-26 Hydraulic support with inclination sensors and height measurement method thereof CN102392664B (en)

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CN103161488B (en) * 2013-03-18 2015-11-25 广州日滨科技发展有限公司 Hydraulic support protective side control device and control method thereof
CN103968856B (en) * 2014-04-04 2015-06-24 中国矿业大学 Real-time detection method of hydraulic support poses
CN106705910A (en) * 2015-08-06 2017-05-24 佳木斯大学 Apparatus for detecting thickness of solid ice and snow
CN105221178B (en) * 2015-08-28 2018-03-23 冀中能源股份有限公司邢东矿 Electrichydraulic control waste filling mining hydraulic bracket and its Research on Automatic Filling
CN106908000B (en) * 2017-01-20 2019-05-17 中国矿业大学 A kind of measuring system and method for hydraulic support top beam bearing height and posture
CN109211184A (en) * 2017-06-29 2019-01-15 齐亚军 A kind of platform dividing measurement method
CN107907078B (en) * 2017-10-24 2020-12-11 北京天地玛珂电液控制系统有限公司 Fully-mechanized coal mining face integrated sensor
CN108481330A (en) * 2018-06-11 2018-09-04 浙江国自机器人技术有限公司 A kind of system and method for control machinery arm
CN109737905B (en) * 2018-12-25 2021-04-13 武汉船舶通信研究所(中国船舶重工集团公司第七二二研究所) Safety valve core displacement monitoring system of large pressure container

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