CN102392664B - Hydraulic support with inclination sensors and height measurement method thereof - Google Patents
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Abstract
一种带倾角传感器的用于地下开采的液压支架及其高度测量方法，由至少包括底座、连杆、掩护梁和顶梁在内的多个构件依次连接组成，在液压支架的底座、连杆、掩护梁和顶梁上分别安装有一个双轴加速度倾角传感器，各双轴加速度倾角传感器的安装方向与其对应的构件的摆动方向基本垂直；所述液压支架还包括支架控制装置，各双轴加速度倾角传感器可以向所述控制装置报送倾角数据，所述支架控制装置根据所述倾角数据计算得出液压支架高度。
A hydraulic support with an inclination sensor for underground mining and its height measurement method, which is composed of a plurality of components including at least a base, a connecting rod, a shield beam and a top beam connected in sequence, and the base, connecting rod of the hydraulic support 1. A biaxial acceleration inclination sensor is respectively installed on the cover beam and the top beam, and the installation direction of each biaxial acceleration inclination sensor is basically perpendicular to the swing direction of the corresponding member; the hydraulic support also includes a support control device, and each biaxial acceleration inclination sensor The inclination sensor can report inclination data to the control device, and the support control device calculates the height of the hydraulic support according to the inclination data.
Description
技术领域 technical field
本发明涉及一种用于地下开采的液压支架使用倾角传感器进行支架高度测量的方法，通过在构成支架的运动部件上水平固定的倾角传感器，和在支架底座固定件(即与支架不会发生相对位移)上的倾角传感器，确定支架的仰俯角度，计算液压支架高度测量方法。The invention relates to a method for measuring the height of a hydraulic support using an inclination sensor for a hydraulic support used in underground mining. The inclination sensor is fixed horizontally on the moving parts constituting the support, and the fixed part at the support base (that is, it will not be opposed to the support) The inclination sensor on the displacement) determines the pitch angle of the support, and calculates the height measurement method of the hydraulic support.
背景技术 Background technique
在地下开采中，这种类型的液压支架用来进行顶板支撑和防止顶部支撑的该顶部过早塌陷的任务。在液压支架在运动过程中需要降架才能实现液压支架的迁移，液压支架降架高度越大，液压支架顶板脱离支撑状态的时间就越长，造成顶板塌陷的机会就越多，同时液压支架降架所需的时间也就越长。最大限度的降低液压支架的降架高度，不但可以实现液压支架对支护顶板的有效管理，而且可以提高液压支架移架速度。因此对液压支架高度的精确测量就显得尤为重要。In underground mining, hydraulic supports of this type are used for the task of roof support and preventing premature collapse of this top of the roof support. During the movement of the hydraulic support, it is necessary to lower the frame to realize the migration of the hydraulic support. The greater the height of the hydraulic support, the longer the time for the top plate of the hydraulic support to break away from the support state, and the more chances of causing the roof to collapse. The rack takes longer. Minimizing the lowering height of the hydraulic support can not only realize the effective management of the hydraulic support on the support roof, but also increase the moving speed of the hydraulic support. Therefore, it is particularly important to accurately measure the height of the hydraulic support.
在现有技术中，液压支架高度的测量一般采用目测或机械测量的方法，由于井下环境比较恶劣，上述测量方法的精度不高，且上述方法都需要人工参与，增加了井下人员负担，很难满足液压支架运行的要求。In the prior art, the measurement of the height of the hydraulic support generally adopts the method of visual inspection or mechanical measurement. Due to the harsh underground environment, the accuracy of the above measurement methods is not high, and the above methods require manual participation, which increases the burden on underground personnel and is difficult. Meet the requirements of hydraulic support operation.
由于液压支架一般采用铰接的连杆结构，如果能测量连杆结构件的倾角，通过连杆结构件的长度，就可以精确的得出液压支架的高度。Since the hydraulic support generally adopts a hinged connecting rod structure, if the inclination angle of the connecting rod structural member can be measured, the height of the hydraulic support can be accurately obtained through the length of the connecting rod structural member.
CN101358532A公开了一种带倾角传感器的液压支架，但其目的是确定支架各结构件之间的相对位置关系，进行液压支架的姿态测量，而不是确定液压支架的高度，同时，因其目的不同，其底板上也没有设置倾角传感器，无法在倾斜底板的巷道工作面内使用。CN101358532A discloses a hydraulic support with an inclination sensor, but its purpose is to determine the relative positional relationship between the structural parts of the support, and to measure the attitude of the hydraulic support, rather than to determine the height of the hydraulic support. At the same time, because of its different purposes, There is no inclination sensor arranged on its base plate, so it cannot be used in the roadway working face of the inclined base plate.
发明内容 Contents of the invention
为了实现液压支架支撑高度的测量，本发明提出一种带倾角传感器的液压支架，所述液压支架可以实现液压支架在移设过程中降柱高度控制，同时可以方便测量液压支架高度，并通过对液压支架移设过程中控制确保顶板的理想支撑，具体技术方案为：In order to realize the measurement of the support height of the hydraulic support, the present invention proposes a hydraulic support with an inclination sensor. During the process of moving the hydraulic support, it is controlled to ensure the ideal support of the roof. The specific technical scheme is as follows:
一种带倾角传感器的用于地下开采的液压支架，由至少包括底座、连杆、掩护梁和顶梁在内的多个构件依次连接组成，在液压支架的底座、连杆、掩护梁和顶梁上分别安装有一个双轴加速度倾角传感器，各双轴加速度倾角传感器的安装方向与其对应的构件的摆动方向基本垂直；所述液压支架还包括支架控制装置，各双轴加速度倾角传感器可以向所述控制装置报送倾角传感器数据，所述支架控制装置根据所述倾角传感器数据计算得出液压支架高度。A hydraulic support for underground mining with an inclination sensor, which is composed of a plurality of components including at least a base, a connecting rod, a cover beam and a top beam, connected in sequence, and the base, connecting rod, cover beam and top beam of the hydraulic support are connected in sequence. A biaxial acceleration inclination sensor is respectively installed on the beam, and the installation direction of each biaxial acceleration inclination sensor is basically perpendicular to the swing direction of the corresponding component; the hydraulic support also includes a support control device, and each biaxial acceleration inclination sensor can The control device reports the data of the inclination sensor, and the support control device calculates the height of the hydraulic support according to the data of the inclination sensor.
所述倾角传感器至少包括两个接口，一个为信号输入接口，另一个为信号输出接口，所述支架控制装置与顶梁或底座上的倾角传感器的信号输入接口通过连接器连接，所述与支架控制装置连接的倾角传感器的信号输出接口与相邻构件上安装的倾角传感器的信号输入接口通过连接器相连接，依次串联四个倾角传感器，最后一个倾角传感器的信号输出接口通过连接器连接所述支架控制装置，这样可将全部倾角传感器的数据全部送到支架控制装置中。The inclination sensor includes at least two interfaces, one is a signal input interface, and the other is a signal output interface, the support control device is connected with the signal input interface of the inclination sensor on the top beam or the base through a connector, and the support The signal output interface of the inclination sensor connected to the control device is connected with the signal input interface of the inclination sensor installed on the adjacent component through a connector, and four inclination sensors are connected in series in sequence, and the signal output interface of the last inclination sensor is connected to the The support control device, so that the data of all inclination sensors can be sent to the support control device.
根据液压支架各构件的长度和各构件上安装的倾角传感器测量相对角度的变化，分别计算出液压支架各构件相对于水平面的倾斜高度，计算出液压支架的高度。According to the length of each component of the hydraulic support and the change of the relative angle measured by the inclination sensor installed on each component, the inclination height of each component of the hydraulic support relative to the horizontal plane is calculated respectively, and the height of the hydraulic support is calculated.
安装在液压支架底座上的倾角传感器用于检测液压支架的整体仰俯角度。The inclination sensor installed on the base of the hydraulic support is used to detect the overall pitch angle of the hydraulic support.
所述支架控制装置为嵌入式计算机系统。The support control device is an embedded computer system.
一种测量带倾角传感器的液压支架高度的方法，当液压支架处于水平状态时，直接根据其各构件长度和倾角计算出各构件的倾斜高度，各倾斜高度相加得到液压支架的高度；当液压支架不处于水平状态时，首先根据安装在液压支架底座构件上的倾角传感器判断液压支架的仰俯角度，然后测量液压支架各构件的倾角，通过所述俯仰角度对所述倾角进行修订，根据其各构件长度和修订后的倾角计算出各构件的倾斜高度，各倾斜高度相加得到液压支架的高度。A method for measuring the height of a hydraulic support with an inclination sensor. When the hydraulic support is in a horizontal state, the inclination height of each component is directly calculated according to the length and inclination angle of each component, and the height of the hydraulic support is obtained by adding the inclination heights; when the hydraulic support When the support is not in a horizontal state, first judge the pitch angle of the hydraulic support according to the inclination sensor installed on the base member of the hydraulic support, then measure the inclination angle of each component of the hydraulic support, and revise the inclination angle according to the pitch angle. The length of each component and the revised inclination angle are used to calculate the inclination height of each component, and the inclination heights are added to obtain the height of the hydraulic support.
计算的液压支架高度值用于在液压支架移架过程中限制液压支架的降柱最大高度。The calculated height of the hydraulic support is used to limit the maximum height of the lowering column of the hydraulic support during the moving process of the hydraulic support.
一种测量带倾角传感器的液压支架高度的方法，包括以下步骤：A method for measuring the height of a hydraulic support with an inclination sensor, comprising the following steps:
在控制装置中输入顶梁、掩护梁、连杆和底座的长度；Enter the length of the top beam, cover beam, connecting rod and base in the control device;
通过顶梁倾角传感器、掩护梁倾角传感器、连杆倾角传感器和底座倾角传感器分别测量顶梁、掩护梁、连杆和底座相对水平面的倾角，并将所述倾角传输至支架控制装置；支架控制装置通过各部件的倾角和长度数值，计算各部件的竖直高度，将各竖直高度相加得到液压支架的整体高度。Measure the inclination angles of the top beam, cover beam, connecting rod and base relative to the horizontal plane respectively through the top beam inclination sensor, cover beam inclination sensor, connecting rod inclination sensor and base inclination sensor, and transmit the inclination angle to the support control device; support control device Calculate the vertical height of each component through the inclination angle and length value of each component, and add the vertical heights to obtain the overall height of the hydraulic support.
附图说明 Description of drawings
附图1为本发明所述带倾角传感器的液压支架的示意图。Accompanying drawing 1 is the schematic diagram of the hydraulic support with inclination sensor of the present invention.
附图标记如下：The reference signs are as follows:
A-底座倾角传感器；B-连杆倾角传感器；C-掩护梁倾角传感器；D-顶梁倾角传感器。A- base inclination sensor; B- connecting rod inclination sensor; C- cover beam inclination sensor; D- roof beam inclination sensor.
具体实施方式 Detailed ways
参见附图1，其描述了根据本发明所述的液压支架的一个优选实施例，包括顺次铰接的顶梁、掩护梁、连杆、底座。Referring to accompanying drawing 1, it has described a preferred embodiment of the hydraulic support according to the present invention, comprises sequentially hinged top beam, cover beam, connecting rod, base.
所述顶梁上设置有顶梁倾角传感器，所述底座上设置有底座倾角传感器，所述掩护梁上设置有掩护梁倾角传感器，所述连杆上设置有连杆倾角传感器，其中可以理解的是，在某些液压支架中，其可以具有不同与上述液压支架的构件结构，如具有更多的顺次铰接的构件，在这种情况下，在每个构件上都需分别设置倾角传感器。在此实施例中的四个构件仅仅为示例，其并不是对其进行限定。所述各倾角传感器优选采用双轴加速度倾角传感器，其质量较小，在大冲击或高过载时产生的惯性力也很小，所以具有较强的抗振动或冲击能力，非常适于井下环境中使用。The top beam is provided with a top beam inclination sensor, the base is provided with a base inclination sensor, the cover beam is provided with a cover beam inclination sensor, and the connecting rod is provided with a connecting rod inclination sensor, wherein it can be understood Yes, in some hydraulic supports, it may have a component structure different from the above-mentioned hydraulic supports, such as having more sequentially articulated components, in this case, an inclination sensor needs to be provided on each component. The four components in this embodiment are just examples, which are not limiting. The inclination sensors are preferably dual-axis acceleration inclination sensors, which have a small mass and produce very little inertial force when subjected to a large impact or high overload, so they have strong anti-vibration or impact capabilities, and are very suitable for use in underground environments .
在设置过程中，保证各倾角传感器的测量轴与设置该倾角传感器的各部件的长度方向基本平行，即各倾角传感器与其安装构件的摆动方向基本垂直，也就是说，顶梁倾角传感器的测量轴与顶梁的摆动方向基本垂直、底座倾角传感器的测量轴与底座的摆动方向基本垂直、掩护梁倾角传感器与掩护梁的摆动方向基本垂直、连杆倾角传感器与连杆的摆动方向基本垂直，通过这种方式，保证各倾角传感器能准确测量出各部件长度方向与水平面的倾角。During the setting process, ensure that the measurement axis of each inclination sensor is basically parallel to the length direction of each component on which the inclination sensor is installed, that is, the swing direction of each inclination sensor and its mounting member is basically perpendicular, that is to say, the measurement axis of the top beam inclination sensor It is basically perpendicular to the swing direction of the top beam, the measuring axis of the base inclination sensor is basically perpendicular to the swing direction of the base, the cover beam inclination sensor is basically perpendicular to the swing direction of the cover beam, and the connecting rod inclination sensor is basically perpendicular to the swing direction of the connecting rod. In this manner, it is ensured that each inclination sensor can accurately measure the inclination angle between the length direction of each component and the horizontal plane.
液压支架还包括控制装置，控制装置可以是支架控制器，或者是其它任何具有计算功能的单元，优选采用嵌入式计算机系统。各倾角传感器采用串联或并联的方式分别连接所述控制装置，向控制装置传输测量的倾角数据，控制装置根据倾角数据依照一定算法，如三角函数，结合各部件的长度计算得出液压支架的高度h。The hydraulic support also includes a control device, which may be a support controller, or any other unit with computing functions, preferably an embedded computer system. Each inclination sensor is connected to the control device in series or in parallel, and transmits the measured inclination data to the control device. The control device calculates the height of the hydraulic support based on the inclination data according to a certain algorithm, such as a trigonometric function, combined with the length of each component h.
测量上述支架高度的方法为，当液压支架处于水平状态时，直接根据其各构件长度和倾角计算出各构件的倾斜高度，各倾斜高度相加得到液压支架的高度；当液压支架不处于水平状态时，首先根据安装在液压支架底座构件上的倾角传感器判断液压支架的仰俯角度，然后测量液压支架各构件的倾角，通过所述俯仰角度对所述倾角进行修订，根据液压支架高度计算模型进行修订，根据其各构件长度和修订后的倾角计算出各构件的倾斜高度，各倾斜高度相加得到液压支架的高度。The method of measuring the height of the above support is: when the hydraulic support is in a horizontal state, directly calculate the inclination height of each component according to the length and inclination angle of each component, and add the inclination heights to obtain the height of the hydraulic support; when the hydraulic support is not in a horizontal state , first judge the pitch angle of the hydraulic support according to the inclination sensor installed on the base component of the hydraulic support, then measure the inclination angle of each component of the hydraulic support, and revise the inclination angle according to the pitch angle, and carry out the calculation according to the height calculation model of the hydraulic support For revision, the inclination height of each component is calculated according to the length of each component and the revised inclination angle, and the height of the hydraulic support is obtained by adding the inclination heights.
计算的液压支架高度值用于在液压支架移架过程中限制液压支架的降柱最大高度。The calculated height of the hydraulic support is used to limit the maximum height of the lowering column of the hydraulic support during the moving process of the hydraulic support.
测量的具体步骤优选为：The specific steps of measurement are preferably:
在支架控制装置中输入顶梁、掩护梁、连杆和底座的长度；Enter the length of the top beam, cover beam, connecting rod and base in the support control device;
通过顶梁倾角传感器、掩护梁倾角传感器、连杆倾角传感器和底座倾角传感器分别测量顶梁、掩护梁、连杆和底座相对水平面的倾角，并将所述倾角传输至支架控制装置；Measure the inclination angles of the top beam, the cover beam, the connecting rod and the base relative to the horizontal plane respectively by the top beam inclination sensor, the cover beam inclination sensor, the connecting rod inclination sensor and the base inclination sensor, and transmit the inclination angle to the support control device;
支架控制装置通过各部件的倾角和长度数值，计算各部件的竖直高度，将各竖直高度相加得到液压支架的整体高度。The support control device calculates the vertical height of each component through the inclination angle and length value of each component, and adds up the vertical heights to obtain the overall height of the hydraulic support.
值得注意的是，由于各部件一般都不是从一端而多是从中间部件铰接，因此如此计算得到的高度存在一定的误差。如需得到更为精确的高度数据，则可以使用多种方法，如使输入的各部件的长度不为其原始长度，如顶板长度应是顶板前端到掩护梁铰接点的长度、掩护梁长度应是掩护梁与顶板的铰接点与掩护梁与尾梁的铰接点之间的长度，或者在控制装置中设置平衡系数等等。这些误差消除方法是本领域的公知常识，在此不予累述。It is worth noting that since the components are generally not hinged from one end but mostly from the middle component, there is a certain error in the height calculated in this way. If you need to get more accurate height data, you can use a variety of methods, such as making the length of each input part not its original length, for example, the length of the top plate should be the length from the front end of the top plate to the hinge point of the cover beam, and the length of the cover beam should be Is the length between the hinge point of the cover beam and the top plate and the hinge point of the cover beam and the tail beam, or set the balance coefficient in the control device, etc. These error elimination methods are common knowledge in the field and will not be repeated here.
以上所述，仅为本发明专利较佳的具体实施方式，但本发明专利的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明专利揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明专利的保护范围之内。The above is only a preferred embodiment of the patent of the present invention, but the scope of protection of the patent of the present invention is not limited thereto. Anyone familiar with the technical field can easily think of All changes or replacements should be covered within the protection scope of the patent for the present invention.
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| CN103968856B (en) * | 2014-04-04 | 2015-06-24 | 中国矿业大学 | Real-time detection method of hydraulic support poses |
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Address after: 100013, Beijing, Chaoyang District, Hepingli Youth ditch East Road, building 5, one floor Patentee after: CCTEG Beijing Tianma Intelligent Control Technology Co.,Ltd. Address before: 100013, Beijing, Chaoyang District, Hepingli Youth ditch East Road, building 5, one floor Patentee before: BEIJING TIANDI-MARCO ELECTRO-HYDRAULIC CONTROL SYSTEM Co.,Ltd. |