CN103017705B - Pressure type hydraulic support height detection system and method - Google Patents
Pressure type hydraulic support height detection system and method Download PDFInfo
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- CN103017705B CN103017705B CN201210366865.0A CN201210366865A CN103017705B CN 103017705 B CN103017705 B CN 103017705B CN 201210366865 A CN201210366865 A CN 201210366865A CN 103017705 B CN103017705 B CN 103017705B
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Abstract
Measure hydraulic support height have that cost is higher, calculation of complex, degree of accuracy are lower to solve existing underground coal mine, install, the problem of maintenance inconvenience, a kind of pressure type hydraulic support height detection system and method are provided.Pressure type hydraulic support height detection system, comprises pressure transducer, control module, wireless sending module, power module and hydraulic hose, the airtight Bonding pressure sensor in hydraulic hose one end, other end opening, carrying liquid in hydraulic hose; The collection of control module Bonding pressure sensor, wireless sending module and power module.The present invention has with low cost, measures accurately simple, is convenient to the feature of installing, can coordinates the co-ordination of underground coal mine fully-mechanized mining working better, improve the work efficiency of fully-mechanized mining working.
Description
Technical field
The present invention relates to coal mine underground hydraulic support frame control system, be specially a kind of pressure type hydraulic support height detection system and method.
Background technology
Along with coal digging automatization level is more and more higher, in underground coal mine fully-mechanized mining working, status monitoring and the control of coal excavation apparatus are become to the active demand in modern domestic colliery.Hydraulic support One's name is legion, acts frequently, and needs the frequent height gathering hydraulic support top beam head, has carried out the coordinative operation adopting conveying coal equipment with other fully-mechanized mining working such as coalcutter.
In underground mining, various types of hydraulic support has been used for top plate supporting and task of preventing this top braces from subsiding too early.Need to fall the movement that frame could realize hydraulic support in the motion process of hydraulic support, it is larger that frame height falls in hydraulic support, hydraulic support top board departs from that time of holding state is longer, and the probability causing top board to subside is higher, while hydraulic support time of falling needed for frame also longer.To greatest extent hydraulic control support frame height falls, not only can realize the effective management of hydraulic support to supporting roof, and can advancing velocity of hydraulic powered support be improved.Therefore the accurate measurement of hydraulic support height is just seemed particularly important.
Hydraulic support height gathers conventional method to be had: on the back timber of hydraulic support, caving shield and base, install double-shaft tilt angle sensor respectively, measure the inclination angle in back timber, caving shield and base and horizontal direction by obliquity sensor, the height on hydraulic support top beam top can be calculated according to known back timber, caving shield, base and linkage assembly and the relevant physical dimension of oil cylinder etc.In actual use procedure, this mode measuring method exists that cost is higher, calculation of complex, degree of accuracy are lower, installs, problem that maintenance is inconvenient.
Summary of the invention
The present invention measures hydraulic support height have that cost is higher, calculation of complex, degree of accuracy are lower to solve existing underground coal mine, installs, the problem of maintenance inconvenience, provides a kind of pressure type hydraulic support height detection system and method.
The present invention specifically adopts following technical scheme to realize:
Pressure type hydraulic support height detection system, for measuring the height of hydraulic support top beam, is characterized in that: comprise pressure transducer, control module, wireless sending module, power module and hydraulic hose; The airtight Bonding pressure sensor in hydraulic hose one end, other end opening, and be fixed on hydraulic support top beam top; Splendid attire certain capacity liquid in hydraulic hose, the hydraulic hose collar and fixed block are fixed on hydraulic support, follow hydraulic support and move; Control module is connected with power module with pressure transducer, wireless sending module.
According to an aspect of the present invention, the liquid in hydraulic hose can select the common nontoxic liquid that is easy to carry, and can select water, mercury.
According to an aspect of the present invention, the pressure P of the liquid be subject to bottom hydraulic hose measured by pressure transducer, and send the force value measured to control module, specific base is sent to through wireless sending module after control module process data, user reads hydraulic hose base pressure Value Data from base station, calculates the vertical height h of pressure measurement point to liquid level according to formula Pressure P=ρ gh; Wherein, ρ is fluid density, and g is acceleration of gravity, and value gets 9.80N/kg, and h is the vertical height of pressure transducer measurement point to liquid level, unit rice.
According to an aspect of the present invention, described hydraulic support, comprises wall supporting 1, extensible canopy 2, back timber 3, column 4, lifting jack 5, upper connecting rod 6, base 14, back bar 9, front rod 13, back link 12 and interrupter 16.
According to an aspect of the present invention, hydraulic support by side arm and after be configured to, side arm comprises one-level wall supporting 3, secondary protecting side 1, back timber 5, front column 6, rear column 9, upper connecting rod 7, front rod 8, back link 10 and base 23.
Present invention also offers a kind of pressure type hydraulic support height detection method, the height of hydraulic support top beam measured by hydraulic support altitude measurement system for consisting of pressure transducer, control module, wireless sending module, power module and hydraulic hose, described control module is connected with power module with pressure transducer, wireless sending module, it is characterized in that:
Hydraulic support installs hydraulic hose;
By airtight for hydraulic hose one end Bonding pressure sensor, the pressure transducer one end connected is fixed on hydraulic support foundation or other is fixing relative to position base local, other end opening, and be fixed on hydraulic support top beam top, the hydraulic hose collar and fixed block are fixed on hydraulic support, follow hydraulic support and move;
Certain capacity liquid is loaded in hydraulic hose;
The fluid pressure measured by pressure transducer calculates the height of hydraulic support top beam.
According to an aspect of the present invention, the liquid in hydraulic hose can select the common nontoxic liquid that is easy to carry, and can select water, mercury.
According to an aspect of the present invention, the pressure P of the liquid be subject to bottom hydraulic hose measured by pressure transducer, and send the force value measured to control module, specific base is sent to through wireless sending module after control module process data, user reads hydraulic hose base pressure Value Data from base station, calculates the vertical height h of pressure measurement point to liquid level according to formula Pressure P=ρ gh; Wherein, ρ is fluid density, and g is acceleration of gravity, and value gets 9.80N/kg, and h is the vertical height of pressure transducer measurement point to liquid level, unit rice.
According to an aspect of the present invention, hydraulic support wherein comprises wall supporting 1, extensible canopy 2, back timber 3, column 4, lifting jack 5, upper connecting rod 6, base 14, back bar 9, front rod 13, back link 12 and interrupter 16.
According to an aspect of the present invention, hydraulic support wherein by side arm and after be configured to, side arm comprises one-level wall supporting 3, secondary protecting side 1, back timber 5, front column 6, rear column 9, upper connecting rod 7, front rod 8, back link 10 and base 23.
According to one embodiment of present invention, pressure type hydraulic support height detection sensor, comprises pressure transducer, control module, wireless sending module, power module and hydraulic hose, the airtight Bonding pressure sensor in hydraulic hose one end, other end opening, carrying liquid in hydraulic hose; The collection of control module Bonding pressure sensor, wireless sending module and power module.
Hydraulic hose can airtight carrying liquid, and during use, hydraulic hose open at one end is hung on hydraulic support top beam top, pressure transducer one end of connection is fixed on fine strain of millet at the bottom of hydraulic support.
Liquid in hydraulic hose can select the common nontoxic liquid that is easy to carry, and often selects water.The height injecting liquid should be identical with the height at hydraulic support top beam top, is convenient to accurate measurement.
Control module chooses the MSP430 series monolithic that TI company produces, and this series monolithic has efficiently, the feature of low-power consumption.The ccps32 model pressure transducer of Shenzhen Rui Delong Company chosen by pressure transducer.Wireless sending module chooses CC1101 wireless module, and CC1101 wireless module is operated in 433M channel and carries out radio communication.
Compared with prior art, the present invention has with low cost, measures accurately simple, is convenient to the feature of installing, can coordinates the co-ordination of underground coal mine fully-mechanized mining working better, improve the work efficiency of fully-mechanized mining working.
Accompanying drawing explanation
Below in conjunction with drawings and the specific embodiments, the present invention is further described in more detail.
Fig. 1 is the theory diagram of pressure type hydraulic support height detection sensor of the present invention.
Fig. 2 is installation and the operating diagram of pressure type hydraulic support height detection sensor of the present invention.
Fig. 3 shows a kind of schematic front view of hydraulic support.
Fig. 4 shows a kind of schematic front view of hydraulic support.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
According to one embodiment of present invention, Fig. 3 shows a kind of hydraulic support, comprise wall supporting 1, extensible canopy 2, back timber 3, column 4, lifting jack 5, upper connecting rod 6, base 14, back bar 9, front rod 13, back link 12 and interrupter 16, wherein, described front rod 13 and described back link 12 have two groups and are arranged on the both sides of described hydraulic support symmetrically, described wall supporting 1 is hingedly mounted on the front end of described extensible canopy 2, described extensible canopy 2 is arranged on the front end of described back timber 3, the lower end of described front rod 13 and described back link 12 is hingedly mounted on described base 14, upper end and the described upper connecting rod 6 of described front rod 13 and described back link 12 are hinged, described upper connecting rod 6, described front rod 13, described back link 12 and described base 14 form four-bar mechanism, upper end and the described back timber 3 of described upper connecting rod 6 are hinged, described hydraulic support comprises two described columns 4, two described columns 4 are arranged at the both sides of described base 14 respectively, the upper and lower side of two described columns 4 respectively with described back timber 3 and described base 14 hinged, described back bar 9 is hinged with the rear end of described back timber 3, visit in the rear on the downside of beam 9 and described interrupter 16 is installed, it is anterior that described interrupter 16 can prevent lotion from flowing into this interrupter 16.In the present embodiment, described interrupter can be arranged on described back bar bottom, also can be arranged on described base top, as long as can realize stopping that lotion enters described interrupter front.In this technical scheme, adopt two root post supporting constructions, structure is simple, compact, and the anterior and posterior height of described back timber can be made consistent, thus make the support of described back timber more stable, solve the problem of back timber instability, eliminate potential safety hazard, improve safety coefficient, and, described base, described upper connecting rod, described front rod and described back link form four-bar linkage structure, described column can be coordinated to realize rising frame and falling frame, be applicable to the user demand of differing heights, and, to carry out when not working falling frame, thus the space shared by reducing, facilitate the movement of support, visit in the rear on the downside of beam and described interrupter is installed, can prevent fill paste from flowing into support front portion and causing obstruction to moving frame, make to move frame easier.
When described hydraulic support falls frame from state shown in Fig. 3, wall supporting 1 rotates and folds, extensible canopy 2 bounces back in back timber 3, tail boom regulates lifting jack 8 to pull interrupter 16 forward rocking motion to fold, back bar regulates lifting jack 7 to pull back bar 9 to fold to lower swing, column 4 retraction declines, and goes up lever regulated lifting jack 5 simultaneously and promotes upper connecting rod 6 and then drive four-bar mechanism 19 to fold downwards, finally make whole described hydraulic support fold and fall frame.When rising frame, first column 4 extends, by back timber 3 jack-up, back timber 3 drives the wall supporting 1 of mounted thereto, extensible canopy 2, back bar 9, back bar regulates lifting jack 7 and tail boom to regulate lifting jack 8 to rise, back timber 3 also pulls connecting rod 6 to rise, pull four-bar mechanism 19 upwards to launch simultaneously, when column 4 is elongated to appropriate length, the angle of back timber 3 and surface level is regulated again by upper lever regulated lifting jack 5, back timber 3 is made to be close to tunnel roof, and then complete the expansion of wall supporting 1 and back bar 9, stretching out and the expansion of interrupter 16 of extensible canopy 2, finally return to state shown in Fig. 3.
Setting height(from bottom) detection system on above-mentioned hydraulic support, comprises pressure transducer, control module, wireless sending module, power module and hydraulic hose, the airtight Bonding pressure sensor in hydraulic hose one end, other end opening, fluid injection body in hydraulic hose; The collection of control module Bonding pressure sensor, wireless sending module and power module.
Hydraulic hose can airtight carrying liquid, and during installation, hydraulic hose open at one end is fixed on hydraulic support top beam top, hydraulic support foundation or other place fixing relative to position base are fixed in pressure transducer one end of connection.The hydraulic hose collar and fixed block are fixed on hydraulic support, follow hydraulic support and move.
Liquid in hydraulic hose can select the common nontoxic liquid that is easy to carry, and often selects water.The height injecting liquid should be identical with the height at hydraulic support top beam top, is convenient to accurate measurement.
Concrete, (density of water is 1000kg/m to the density detecting at liquid working environment temperature T=5-15 DEG C
3), the pressure P of the water be subject to bottom hydraulic hose measured by pressure transducer, and send the force value measured to control module, specific base is sent to through wireless sending module after control module process data, user can read hydraulic hose base pressure Value Data, according to formula from base station: pressure P=ρ gh can calculate the vertical height h of pressure measurement point to liquid level.ρ is that (density of water is 1000kg/m to fluid density
3), g is acceleration of gravity, and value gets 9.80N/kg, and h is the vertical height of pressure transducer measurement point to liquid level, unit rice.
According to one embodiment of present invention, Fig. 4 shows a kind of integrated hydraulic support.This integrated hydraulic support by side arm and after be configured to, side arm comprises one-level wall supporting 3, secondary protecting side 1, back timber 5, front column 6, rear column 9, upper connecting rod 7, front rod 8, back link 10 and base 23, upper connecting rod 7, front rod 8, back link 10 and base 23 be hinged formation four-bar mechanism between two, hinged in the middle part of upper connecting rod 7 upper end and back timber 5, front column 6 and rear column 9 upper and lower side respectively with back timber 5 and base 23 hinged, be hinged with one-level between one-level wall supporting 3 and back timber 5 and protect hydraulic cylinder 4, secondary protecting side hydraulic cylinder 2 is hinged with between secondary protecting side 1 and one-level wall supporting 3, after-frame comprises after-frame back timber 13, connecting rod 17 on after-frame, after-frame front rod 15, after-frame back link 16, after-frame base 21 and after-frame column 18, connecting rod 17 on after-frame, after-frame front rod 15, after-frame back link 16 and after-frame base 21 be hinged formation four-bar mechanism between two, on after-frame connecting rod 17 upper end and after-frame back timber 13 rear portion hinged, after-frame column 18 upper and lower side respectively with after-frame back timber 13 and after-frame base 21 hinged, this side arm comprises two front columns 6 and a rear column 9, two front columns 6 are positioned at both sides, base 23 front end, rear column 9 is positioned in the middle of base rear end, upper connecting rod 7 is in H type, rear column 9 is arranged between the branch of connecting rod 7 bottom two, after-frame comprises two after-frame columns 18, on after-frame, connecting rod 17 is in yi word pattern, in H type inside connecting rod 7 liang of branches between distance be greater than the width of connecting rod 17 on yi word pattern after-frame, when frame falls in support, on after-frame, connecting rod 17 can to enter in H type between connecting rod two branch, form alternating expression structure, avoid front and back frame four-bar mechanism movement interference, after-frame is hinged with balance hydraulic cylinder 14 in the middle part of connecting rod 17 and between after-frame back timber 13 middle front part, this hydraulic cylinder 14 is for supporting top beam, and the horizontal level of adjustable back timber, after-frame back timber 13 rear end is hinged with the back bar 19 extended back, after-frame base 21 is also provided with cage plate 27, telescopic baffle 20 and telescopic baffle hydraulic cylinder, cage plate 27 is fixed in after-frame base 21 rear portion, cage plate 27 is slightly to base back sweep, cage plate 27 upwards extends, telescopic baffle hydraulic cylinder is located in cage plate, telescopic baffle 20 is sheathed in cage plate 27, sliding pair is along its length provided with between flexible 20 baffle plates and cover 27 plates, telescopic baffle hydraulic cylinder two ends respectively with cage plate and telescopic baffle hinged, telescopic baffle upper end offers Grouting Pipe connecting hole, under the effect of telescopic baffle hydraulic cylinder, make telescopic baffle move up and down, guarantee that telescopic baffle upper end is formed to seal with rear exploration beam to contact, form baffle plate during paste body filling, seal cavity is formed again with the side shield of other support, paste body filling is carried out to goaf.Be provided with front stretching beam 11 and front stretching beam hydraulic cylinder in side arm back timber 5 rear end internal sleeve, after-frame back timber 13 front end sleeve is provided with rear extensible canopy 12 and rear extensible canopy hydraulic cylinder, and forward and backward stretching out contacts, and carries out supporting, prevent spoil from falling to region between the frame of front and back.
Tail end filling structure 28 is provided with in the middle part of after-frame base, this tail end filling structural front view in having the taper of round end, side view is ramped shaped, this tail end filling structure 28 one end contacts with the cage plate 27 of after-frame, the other end is positioned at the rear end of after-frame base, and tail end filling structure is skewed from telescopic baffle end to after-frame base rear end, after fill paste solidifies, after-frame moves forward, form an arch area, strengthen the intensity of filling structure, prevent stuff to be caving.Downside, after-frame base 21 front end is provided with transition face, and be provided with scaffold hydraulic cylinder 24 between the anterior crotch of side arm base, scaffold hydraulic cylinder is fixed on side arm base, is convenient to move frame.Back bar 19 is by bearing pin and after-frame back timber 13 rear end pin joint, below this bearing pin axis, back bar left side contacts with after-frame back timber right side, above this bearing pin axis, between back bar left side and after-frame back timber right side, be provided with the distance of 20mm, like this, when to reach frame, back bar can upwards swing (generally within 5 °) by low-angle, reduces the friction force between back bar and lotion, is convenient to move frame.
Setting height(from bottom) detection system on above-mentioned hydraulic support, comprises pressure transducer, control module, wireless sending module, power module and hydraulic hose, the airtight Bonding pressure sensor in hydraulic hose one end, other end opening, fluid injection body in hydraulic hose; The collection of control module Bonding pressure sensor, wireless sending module and power module.
Hydraulic hose can airtight carrying liquid, and during installation, hydraulic hose open at one end is fixed on hydraulic support top beam top, hydraulic support foundation or other place fixing relative to position base are fixed in pressure transducer one end of connection.The hydraulic hose collar and fixed block are fixed on hydraulic support, follow hydraulic support and move.
Liquid in hydraulic hose can select the common nontoxic liquid that is easy to carry, and often selects water.The height injecting liquid should be identical with the height at hydraulic support top beam top, is convenient to accurate measurement.
Concrete, (density of water is 1000kg/m to the density detecting at liquid working environment temperature T=5-15 DEG C
3), the pressure P of the water be subject to bottom hydraulic hose measured by pressure transducer, and send the force value measured to control module, specific base is sent to through wireless sending module after control module process data, user can read hydraulic hose base pressure Value Data, according to formula from base station: pressure P=ρ gh can calculate the vertical height h of pressure measurement point to liquid level.ρ is that (density of water is 1000kg/m to fluid density
3), g is acceleration of gravity, and value gets 9.80N/kg, and h is the vertical height of pressure transducer measurement point to liquid level, unit rice.
According to one embodiment of present invention, pressure transducer detects the changing value of hydraulic support pressure in real time, comprises front standing pillar pressure, back prop pressure and front beam pressure; Displacement transducer detects the bearing height of hydraulic support in real time, passes stroke; Obliquity sensor is arranged on bracket base and back timber position respectively, detects the angle of pitch, the roll angle of the angle of pitch of the base of hydraulic support, roll angle and direct back timber in real time, and relevant information is merged, judge the state of support; The information of support gesture detector real-time reception pressure, displacement and obliquity sensor, overall treatment is carried out to the multi-source information received, obtain support attitude information accurately, according to current support attitude information, support gesture detector is adjusted support attitude by solenoid valve, maintains support steady; Meanwhile, show support attitude information in real time by liquid crystal display, carry out sound and light alarm when attitude offsets transfinites, and stop support action; In crossheading main control computer, carry out the calculating of appropriate algorithm, expansion realizes fault diagnosis functions.
Realize the device of hydraulic bracket posture detecting method: comprise pressure transducer, displacement transducer, obliquity sensor, support gesture detector, solenoid valve, liquid crystal display, acoustic-optic alarm, crossheading main control computer, pressure transducer, displacement transducer and obliquity sensor are all connected by the input end of signal condition transmitter with support gesture detector, the output terminal of support gesture detector is connected with liquid crystal display and acoustic-optic alarm respectively, and the output terminal of support gesture detector is connected with hydraulic support by solenoid valve; Crossheading main control computer is connected with support gesture detector by coupling mechanism, and crossheading main control computer is connected with ground main control computer by down-hole switch; AC power is double loop power supply, and double loop power supply is connected by the input end of isolating coupler with the intrinsic safety electric source of support gesture detector; Connected by CAN between multiple stage support gesture detector.
Pressure transducer, displacement transducer, obliquity sensor is for gathering the pressure of hydraulic support each several part, displacement, obliquity information, the signal collected converts standard signal to through signal condition transmitter, be input to support gesture detector, support gesture detector carries out aggregation of data, analyze, the attitude of support is detected, when support attitude offsets, support gesture detector sends adjustment order to solenoid valve, the action of solenoid control hydraulic support, correct support attitude, support gesture detector is by real-time for support attitude information input liquid crystal display simultaneously, liquid crystal display shows support attitude information in real time, when attitude parameter exceedes warning critical value, to be given a warning information by acoustic-optic alarm,
Down-hole electricity hydraulic control crossheading main control computer is set up by CAN network and all support gesture detector and is contacted, the attitude information of support is undertaken gathering, store and showing by CAN Internet Transmission to downhole crossheading main control computer, also can enter down-hole looped network through down-hole switch, transfer data to the ground main control computer of ground maneuvers indoor.
In accordance with a preferred embodiment of the present invention, described hydraulic support comprises back timber hinged in turn, caving shield, connecting rod, base.
Described back timber is provided with back timber obliquity sensor, described base is provided with base obliquity sensor, described caving shield is provided with caving shield obliquity sensor, described connecting rod is provided with connecting rod obliquity sensor, is wherein understandable that, in some hydraulic support, it can have element structure that is different and above-mentioned hydraulic support, as having more component hinged in turn, in this case, each component needs arrange obliquity sensor respectively.Four components are in this embodiment only example, and it is not limit it.Described each obliquity sensor preferably adopts two-axis acceleration obliquity sensor, and its quality is less, and the inertial force produced 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 the provisioning process, the measurement axle ensureing each obliquity sensor is substantially parallel with the length direction of each parts arranging this obliquity sensor, namely each obliquity sensor is substantially vertical with the swaying direction of its installation component, that is, 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, ensure that each obliquity sensor can accurately measure the inclination angle of each part length direction and surface level.
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 described control device respectively, to the inclination data of control device transmission measurement, control device is according to inclination data according to certain algorithm, and as trigonometric function, the length computation in conjunction with each parts draws the height h of hydraulic support.
The method measuring above-mentioned support height is, when hydraulic support is in horizontality, directly calculates the inclined height of each component according to its each component length and inclinometer, and each inclined height is added the height obtaining hydraulic support; When hydraulic support is not in horizontality, first the elevation-depression angle of hydraulic support is judged according to the obliquity sensor be arranged on hydraulic support foundation component, then the inclination angle of each component of hydraulic support is measured, by described luffing angle, described inclination angle is revised, revise according to hydraulic support high computational model, calculate the inclined height of each component according to its each component length and revised inclinometer, each inclined height is added the height obtaining hydraulic support.
What the hydraulic support height value calculated was used in hydraulic moving stand process, limit hydraulic support falls post maximum height.
The concrete steps measured are preferably:
The length of back timber, caving shield, connecting rod and base is inputted in support control device;
Measured the inclination angle in back timber, caving shield, connecting rod and base relative level face by back timber obliquity sensor, caving shield obliquity sensor, connecting rod obliquity sensor and base obliquity sensor respectively, and described inclination angle is transferred to support control device;
Support control device passes through inclination angle and the length value of each parts, calculates the vertical height of each parts, and each vertical height is added the whole height obtaining hydraulic support.It should be noted that the height therefore so calculated exists certain error because each parts are not generally mostly be hinged from intermediate member from one end.As more accurate altitude information need be obtained, then can use multiple method, length as made each parts of input is not its original length, should be the pin joint of caving shield and top board and the length between caving shield and the pin joint of tail boom if top board length should be top board front end to the length of caving shield pin joint, caving shield length, or coefficient of balance etc. is set in control device.These error cancelling methods are common practise of this area, will not tire out state at this.
According to one embodiment of present invention, aforesaid hydraulic support can be applied to, provide a kind of pressure type hydraulic support height detection sensor, comprise pressure transducer, control module, wireless sending module, power module and hydraulic hose, the airtight Bonding pressure sensor in hydraulic hose one end, other end opening, fluid injection body in hydraulic hose; The collection of control module Bonding pressure sensor, wireless sending module and power module.
Hydraulic hose can airtight carrying liquid, and during installation, hydraulic hose open at one end is fixed on hydraulic support top beam top, hydraulic support foundation or other place fixing relative to position base are fixed in pressure transducer one end of connection.The hydraulic hose collar and fixed block are fixed on hydraulic support, follow hydraulic support and move.
Liquid in hydraulic hose can select the common nontoxic liquid that is easy to carry, and often selects water, mercury, wet goods liquid.The height injecting liquid should be identical with the height at hydraulic support top beam top, is convenient to accurate measurement.Control module chooses the MSP430 series monolithic that TI company produces, and this series monolithic has efficiently, the feature of low-power consumption.The ccps32 model pressure transducer of Shenzhen Rui Delong Company chosen by pressure transducer.Wireless sending module chooses CC1101 wireless module, and CC1101 wireless module is operated in 433M channel and carries out radio communication.
Concrete, (density of water is 1000kg/m to the density detecting at liquid working environment temperature T=5-15 DEG C
3), the pressure P of the water be subject to bottom hydraulic hose measured by pressure transducer, and send the force value measured to control module, specific base is sent to through wireless sending module after control module process data, user can read hydraulic hose base pressure Value Data, according to formula from base station: pressure P=ρ gh can calculate the vertical height h of pressure measurement point to liquid level.ρ is that (density of water is 1000kg/m to fluid density
3), g is acceleration of gravity, and value gets 9.80N/kg, and h is the vertical height of pressure transducer measurement point to liquid level, unit rice.
Although describe embodiment of the present invention and various functional module thereof in a particular embodiment, but be to be understood that, can realize embodiment of the present invention with hardware, software, firmware, middleware or their combination, and embodiment of the present invention can be used in multiple systems, subsystem, assembly or its sub-component.Each embodiment of the present invention can combine mutually with the device in other embodiment, instead of isolated, single embodiment, can mutually merge and form new embodiment or different solutions between all embodiments.
Although the present invention detailed illustrate and describe one relevant and specifically implement exemplary reference, those skilled in the art should be understood that, not deviating from the spirit and scope of the present invention and can make various change in the form and details.These changes all will fall into claim of the present invention scope required for protection.
Claims (4)
1. pressure type hydraulic support height detection system, for measuring the height of hydraulic support top beam, is characterized in that:
Comprise pressure transducer, control module, wireless sending module, power module and hydraulic hose;
The airtight Bonding pressure sensor in hydraulic hose one end, other end opening, and be fixed on hydraulic support top beam top;
Splendid attire certain capacity liquid in hydraulic hose, the hydraulic hose collar and fixed block are fixed on hydraulic support, follow hydraulic support and move;
Control module is connected with power module with pressure transducer, wireless sending module;
The pressure P of the liquid be subject to bottom hydraulic hose measured by pressure transducer, and send the force value measured to control module, specific base is sent to through wireless sending module after control module process data, user reads hydraulic hose base pressure Value Data from base station, calculates the vertical height h of pressure measurement point to liquid level according to formula Pressure P=ρ gh; Wherein, ρ is fluid density, and g is acceleration of gravity, and value gets 9.80N/kg, and h is the vertical height of pressure transducer measurement point to liquid level, unit rice;
Described hydraulic support, comprises wall supporting 1, extensible canopy 2, back timber 3, column 4, lifting jack 5, upper connecting rod 6, base 14, back bar 9, front rod 13, back link 12 and interrupter 16;
Hydraulic support by side arm and after be configured to, side arm comprises one-level wall supporting 3, secondary protecting side 1, back timber 5, front column 6, rear column 9, upper connecting rod 7, front rod 8, back link 10 and base 23;
Pressure transducer detects the changing value of hydraulic support pressure in real time, comprises front standing pillar pressure, back prop pressure and front beam pressure; Displacement transducer detects the bearing height of hydraulic support in real time, passes stroke; Obliquity sensor is arranged on bracket base and back timber position respectively, detects the angle of pitch, the roll angle of the angle of pitch of the base of hydraulic support, roll angle and direct back timber in real time, and relevant information is merged, judge the state of support; The information of support gesture detector real-time reception pressure, displacement and obliquity sensor, overall treatment is carried out to the multi-source information received, obtain support attitude information accurately, according to current support attitude information, support gesture detector is adjusted support attitude by solenoid valve, maintains support steady;
When support attitude offsets, support gesture detector sends adjustment order to solenoid valve, and the action of solenoid control hydraulic support, corrects support attitude, support gesture detector is by real-time for support attitude information input liquid crystal display simultaneously, and liquid crystal display shows support attitude information in real time; When attitude parameter exceedes warning critical value, to be given a warning information by acoustic-optic alarm.
2. pressure type hydraulic support height detection system as claimed in claim 1, is characterized in that: the liquid in hydraulic hose can select water, mercury.
3. pressure type hydraulic support height detection method, the height of hydraulic support top beam measured by hydraulic support altitude measurement system for consisting of pressure transducer, control module, wireless sending module, power module and hydraulic hose, described control module is connected with power module with pressure transducer, wireless sending module, it is characterized in that:
Hydraulic support installs hydraulic hose;
By airtight for hydraulic hose one end Bonding pressure sensor, the pressure transducer one end connected is fixed on hydraulic support foundation or other is fixing relative to position base local, other end opening, and be fixed on hydraulic support top beam top, the hydraulic hose collar and fixed block are fixed on hydraulic support, follow hydraulic support and move;
Certain capacity liquid is loaded in hydraulic hose;
The fluid pressure measured by pressure transducer calculates the height of hydraulic support top beam;
The pressure P of the liquid be subject to bottom hydraulic hose measured by pressure transducer, and send the force value measured to control module, specific base is sent to through wireless sending module after control module process data, user reads hydraulic hose base pressure Value Data from base station, calculates the vertical height h of pressure measurement point to liquid level according to formula Pressure P=ρ gh; Wherein, ρ is fluid density, and g is acceleration of gravity, and value gets 9.80N/kg, and h is the vertical height of pressure transducer measurement point to liquid level, unit rice;
Hydraulic support wherein comprises wall supporting 1, extensible canopy 2, back timber 3, column 4, lifting jack 5, upper connecting rod 6, base 14, back bar 9, front rod 13, back link 12 and interrupter 16;
Hydraulic support wherein by side arm and after be configured to, side arm comprises one-level wall supporting 3, secondary protecting side 1, back timber 5, front column 6, rear column 9, upper connecting rod 7, front rod 8, back link 10 and base 23;
Pressure transducer detects the changing value of hydraulic support pressure in real time, comprises front standing pillar pressure, back prop pressure and front beam pressure; Displacement transducer detects the bearing height of hydraulic support in real time, passes stroke; Obliquity sensor is arranged on bracket base and back timber position respectively, detects the angle of pitch, the roll angle of the angle of pitch of the base of hydraulic support, roll angle and direct back timber in real time, and relevant information is merged, judge the state of support; The information of support gesture detector real-time reception pressure, displacement and obliquity sensor, overall treatment is carried out to the multi-source information received, obtain support attitude information accurately, according to current support attitude information, support gesture detector is adjusted support attitude by solenoid valve, maintains support steady;
When support attitude offsets, support gesture detector sends adjustment order to solenoid valve, and the action of solenoid control hydraulic support, corrects support attitude, support gesture detector is by real-time for support attitude information input liquid crystal display simultaneously, and liquid crystal display shows support attitude information in real time; When attitude parameter exceedes warning critical value, to be given a warning information by acoustic-optic alarm.
4. pressure type hydraulic support height detection method as claimed in claim 3, is characterized in that: the liquid in hydraulic hose can select water, mercury.
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| CN104406556B (en) * | 2014-11-18 | 2017-09-08 | 天地科技股份有限公司 | A kind of fully-mechanized mining working support multidigit state and descending amount of piston measurement system and method |
| CN105571564B (en) * | 2015-12-11 | 2018-05-29 | 北京天地玛珂电液控制系统有限公司 | A kind of elevation carrection sensor and the hydraulic support using elevation carrection sensor |
| CN105806532A (en) * | 2016-03-15 | 2016-07-27 | 泰安泰烁岩层控制科技有限公司 | Concentrated monitoring and alarming system for pressure of coal face hydraulic support roof |
| CN105942764B (en) * | 2016-07-01 | 2019-04-16 | 新昌县大市聚镇聚成农场 | A kind of circularly exhibiting cabinet of self-balancing |
| 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 |
| 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 |
| CN108491360B (en) * | 2018-02-26 | 2022-04-01 | 北京天玛智控科技股份有限公司 | Coal mining amount calculation method |
| CN108557680A (en) * | 2018-05-04 | 2018-09-21 | 深圳市精艺佳科技发展有限公司 | More piece helix tube type motor-driven jack control method and its system |
| CN108981650A (en) * | 2018-07-27 | 2018-12-11 | 中国矿业大学 | A kind of device and method for Hydraulic Support Posture detection |
| CN110045387B (en) * | 2019-04-23 | 2023-05-16 | 中国矿业大学 | Intelligent support shield type hydraulic support posture monitoring system and measurement method thereof |
| CN110631463A (en) * | 2019-09-27 | 2019-12-31 | 六盘水师范学院 | Automatic measurement system of hydraulic support equipment for coal mine |
| CN113821884B (en) * | 2021-08-31 | 2024-01-26 | 郑州恒达智控科技股份有限公司 | Digital twin method and system based on hydraulic support multidimensional attitude monitoring |
| CN114509036B (en) * | 2021-11-16 | 2024-01-16 | 中煤新集能源股份有限公司 | Hydraulic support monitoring device |
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| CN201802433U (en) * | 2010-06-01 | 2011-04-20 | 郑州四维机电设备制造有限公司 | Hydraulic support integrating paste filling and support |
| CN102288153B (en) * | 2011-06-14 | 2013-06-05 | 四川大学 | Online monitoring system and method of high-voltage line windage based on vibration power generation |
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