CN103758523B - A kind of thin coal seam unmanned work plane moves the construction process of frame restricted model automatically - Google Patents

A kind of thin coal seam unmanned work plane moves the construction process of frame restricted model automatically Download PDF

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CN103758523B
CN103758523B CN201310750592.4A CN201310750592A CN103758523B CN 103758523 B CN103758523 B CN 103758523B CN 201310750592 A CN201310750592 A CN 201310750592A CN 103758523 B CN103758523 B CN 103758523B
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stroke
shearer
hydraulic support
hydraulic
push
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方新秋
梁敏富
刘兴国
薛广哲
吴刚
李虎威
谢小平
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China University of Mining and Technology CUMT
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Abstract

一种薄煤层无人工作面自动移架约束模型的构建方法,属于煤矿移架模型的构建方法。以薄煤层无人工作面液压支架与其它机采设备之间的约束关系为基础,构建采煤机和液压支架之间的运行约束模型;在采煤机沿无人工作面往返牵引割煤时,支架上红外接收器接收采煤机上红外发射器发出的红外线,并以接收到红外线的一架支架为定点,控制前滚筒前方的支架收起护帮板,避免前滚筒截割护帮板,控制后滚筒之后的十架支架推溜十分之一行程,使刮板输送机按一定曲线弯曲,完成整个推溜行程的支架执行降移升动作,实现支架与采煤机位移和牵引方向之间的相互约束关系。对改进液压支架的自动化控制的设计、改善其使用性能、提高设备的可靠性和寿命,具有重要意义。

The invention discloses a method for constructing a constrained model of an automatic moving frame in a thin coal seam unmanned working face, belonging to a method for constructing a frame moving model in a coal mine. Based on the constraint relationship between the hydraulic support of the thin coal seam unmanned working face and other mechanical mining equipment, the operation constraint model between the shearer and the hydraulic support is constructed; , the infrared receiver on the bracket receives the infrared rays emitted by the infrared emitter on the shearer, and takes a bracket that receives the infrared rays as a fixed point to control the bracket in front of the front drum to retract the side guard to prevent the front drum from cutting the side guard. Control the ten brackets behind the rear roller to push one-tenth of the stroke to make the scraper conveyor bend according to a certain curve. mutual constraint relationship between them. It is of great significance to improve the design of the automatic control of the hydraulic support, improve its performance, and improve the reliability and life of the equipment.

Description

一种薄煤层无人工作面自动移架约束模型的构建方法A Constraint Model Construction Method for Automatic Moving Frame in Unmanned Working Face in Thin Coal Seam

技术领域technical field

本发明涉及一种煤矿移架模型的构建方法,具体是一种薄煤层无人工作面自动移架约束模型的构建方法。The invention relates to a method for constructing a frame-moving model in a coal mine, in particular to a method for constructing an automatic frame-moving constraint model for an unmanned working face in a thin coal seam.

背景技术Background technique

经过多年的开采,我国不少地区矿井的中厚和厚煤层的储量已接近枯竭,而对于薄煤层(厚度≤1.3m)的开采,长期由于经济技术和安全等原因而处于缓慢发展的状态。我国煤炭储量中薄煤层的可采储量约为61.5亿t,占全国煤炭总可采储量的19%左右,然而据不完全统计,我国薄煤层的年产量只占全国煤炭总产量的10.4%左右,产量与储量的比例严重失调。After years of mining, the reserves of medium-thick and thick coal seams in mines in many areas of my country are close to depletion, and the mining of thin coal seams (thickness ≤ 1.3m) has been in a state of slow development for a long time due to economic, technical and safety reasons. The recoverable reserves of thin coal seams in my country's coal reserves are about 6.15 billion tons, accounting for about 19% of the total coal recoverable reserves in the country. However, according to incomplete statistics, the annual output of thin coal seams in my country only accounts for about 10.4% of the country's total coal production. , the ratio of production and reserves is seriously out of balance.

无人工作面采煤技术是解决煤炭行业安全生产和可持续发展的重要途径,特别是对于我国长期发展缓慢甚至处于停滞状态的难采薄煤层的开采,将具有重要战略意义。无人工作面主要机采设备包括矮机身采煤机、刮板输送机和液压支架,采煤机沿工作面往返牵引割煤,并将落煤装入刮板输送机中,刮板输送机将落煤运出工作面,再通过转载机和可伸缩带式输送机将煤运出,液压支架完成支护工作面顶板和将机采设备沿走向推进的功能。虽然三种机采设备是相互独立、分开控制的,但是,在运行中是相互制约、相互协调的,运行中存在着约束关系。在采煤过程中,机采设备必须按照这种约束关系运行,才能正常协调的工作,充分发挥设备的生产能力。否则,设备之间将发生干涉,出现诸如采煤机截割顶梁,支护不及时等现象。工作面的顶底板条件、采煤机结构尺寸和液压支架结构等,直接影响机采设备之间的约束关系。Unmanned face coal mining technology is an important way to solve the problem of safe production and sustainable development of the coal industry, especially for the mining of difficult-to-mining thin coal seams that have long-term slow development or even stagnated in my country, and will have important strategic significance. The main mechanical mining equipment in the unmanned working face includes low body shearer, scraper conveyor and hydraulic support. The machine transports the falling coal out of the working face, and then transports the coal out through the reloader and the retractable belt conveyor. The hydraulic support completes the functions of supporting the roof of the working face and pushing the mechanical mining equipment along the direction. Although the three kinds of mechanical mining equipment are mutually independent and controlled separately, they are mutually restricted and coordinated in operation, and there is a constraint relationship in operation. In the process of coal mining, mechanical mining equipment must operate according to this constraint relationship in order to work normally and coordinately and give full play to the production capacity of the equipment. Otherwise, there will be interference between the equipment, such as cutting the roof beam by the shearer, and the support will not be timely. The roof and floor conditions of the working face, the structural size of the shearer and the structure of the hydraulic support directly affect the constraint relationship between the mining equipment.

本发明内容Contents of the invention

技术问题:为了克服现有薄煤层无人工作面液压支架与其它机采设备之间的约束关系技术的不足,本发明的目的是要提供一种思路简单、运算合理和自动化程度高,生产效益、安全性和可靠性好,可实现液压支架与其它机采设备之间约束关系的一种薄煤层无人工作面自动移架约束模型的构建方法。Technical problem: In order to overcome the deficiency of the constraint relationship technology between the hydraulic support of the unmanned working face in the thin coal seam and other mechanical mining equipment, the purpose of the present invention is to provide an , good safety and reliability, and can realize the constraint relationship between the hydraulic support and other machine mining equipment, a construction method of the constraint model of the automatic moving frame in the thin coal seam unmanned working face.

技术方案:本发明的目的通过如下技术方案实现:以薄煤层无人工作面液压支架与其它机采设备之间的约束关系为基础,构建采煤机和液压支架之间的运行约束模型;在采煤机沿无人工作面往返牵引割煤时,支架上红外接收器接收采煤机上红外发射器发出的红外线,并以接收到红外线的一架支架为定点,控制前滚筒前方的支架收起护帮板,避免前滚筒截割护帮板,及控制后滚筒之后的十架支架推溜十分之一行程,使后滚筒之后十架支架宽度范围内的刮板输送机按照距离后滚筒由远及近顺序向前推进,形成弯曲段,完成整个推溜行程的支架执行降移升动作,从而实现支架与采煤机的位移和牵引方向之间的相互约束关系;构建方法具体步骤如下:Technical solution: The purpose of the present invention is achieved through the following technical solutions: based on the constraint relationship between the hydraulic support of the thin coal seam unmanned working face and other machine mining equipment, the operation constraint model between the shearer and the hydraulic support is constructed; When the shearer pulls coal back and forth along the unmanned working face, the infrared receiver on the bracket receives the infrared rays emitted by the infrared transmitter on the shearer, and uses the bracket that receives the infrared rays as a fixed point to control the bracket in front of the front drum to retract. The side guard prevents the front roller from cutting the side guard, and controls the ten-frame bracket behind the rear roller to push one-tenth of the stroke, so that the scraper conveyor within the width of the ten-frame bracket behind the rear roller is moved by the rear roller according to the distance. Advance forward in sequence from far to near to form a curved section, and the support that completes the entire push-sliding stroke performs a lifting action, so as to realize the mutual constraint relationship between the support and the shearer's displacement and traction direction; the specific steps of the construction method are as follows:

a、将无人工作面内液压支架从左至右进行顺序编号:1,2,3…,N;矮机身采煤机沿无人工作面往返牵引割煤时,液压支架上红外线接收器接收矮机身采煤机上红外线发射器发出的红外线,以接收到红外线的一架液压支架为定点,用K表示工作面左端与定点之间按支架架数计算的距离,即式中K为不大于(x0/l)的最大整数;x0表示工作面左端与定点之间距离;l为支架间距;a. Number the hydraulic supports in the unmanned working face from left to right: 1, 2, 3..., N; Receive the infrared ray emitted by the infrared transmitter on the short-body shearer, take a hydraulic support that receives the infrared ray as the fixed point, and use K to represent the distance between the left end of the working face and the fixed point calculated according to the number of supports, that is In the formula, K is the largest integer not greater than (x 0 /l); x 0 indicates the distance between the left end of the working surface and the fixed point; l is the distance between the supports;

b、将定点到矮机身采煤机前滚筒的水平投影距离L1换算为按支架架数计算的取整数△K1,将定点到矮机身采煤机后滚筒的水平投影距离L2换算为按支架架数计算的取整数△K2,即并定义:i∈(0,1,2,…,);b. Convert the horizontal projection distance L 1 from the fixed point to the front drum of the low body shearer into an integer △K 1 calculated according to the number of supports, that is Convert the horizontal projection distance L 2 from the fixed point to the rear drum of the low body shearer into an integer △K 2 calculated according to the number of supports, namely and define: i ∈ (0, 1, 2, ...,);

c、将矮机身采煤机从左向右沿无人工作面牵引定为正方向牵引,从右向左牵引定为负方向牵引,用变量x表示矮机身采煤机的牵引方向,即:c. Set the low-body shearer from left to right along the unmanned working face as the positive direction of traction, and from right to left as the negative direction of traction, and use the variable x to represent the traction direction of the low-body shearer, Right now:

d、用Ti表示液压支架的相关动作,如升柱、降柱、前移、推溜;下标表示第i个动作(i=0,1,2,…,);定义12个动作符号如下:d. Use T i to indicate the relevant actions of the hydraulic support, such as raising the column, lowering the column, moving forward, and pushing; the subscript indicates the i-th action (i=0, 1, 2, ...,); define 12 action symbols as follows:

T0:收护帮板;T1:伸护帮板并推溜1/10行程;T2:推溜1/5行程;T3:推溜3/10行程;T4:推溜2/5行程;T5:推溜1/2行程;T6:推溜3/5行程;T7:推溜7/10行程;T8:推溜4/5行程;T9:推溜9/10行程;T10:推溜1个行程;T11:降移升;T 0 : retract side panel; T 1 : extend side panel and push 1/10 stroke; T 2 : push 1/5 stroke; T 3 : push 3/10 stroke; T 4 : push 2/ 5 strokes; T 5 : push 1/2 stroke; T 6 : push 3/5 stroke; T 7 : push 7/10 stroke; T 8 : push 4/5 stroke; T 9 : push 9/ 10 strokes; T 10 : pushing 1 stroke; T 11 : moving up;

e、定义液压支架动作函数编号为M的液压支架执行Ti动作时,定义为:式中符合表示执行动作;矮机身采煤机沿无人工作面往返牵引割煤时,矮机身采煤机附近的12架液压支架分布执行的12个动作可以表示为:——第K0架收护帮板;——第K1架伸护帮板并推溜1/10行程;——第K2架推溜1/5行程;——第K3架推溜3/10行程;——第K4架推溜2/5行程;——第K5架推溜1/2行程;——第K6架推溜3/5行程;——第K7架推溜7/10行程;——第K8架推溜4/5行程;——第K9架推溜9/10行程;——第K10架推溜1个行程;——第K11架降移升,统一标示为:i∈(0,1,2,…,11);e. Define the action function of the hydraulic support. When the hydraulic support whose number is M performs the T i action, it is defined as: in the formula Indicates the execution action; when the short body shearer pulls coal back and forth along the unmanned working face, the 12 actions performed by the 12 hydraulic supports near the short body shearer can be expressed as: ——The K 0th frame receives the side board; ——K 1 stretches the side guard and pushes 1/10 of the stroke; —— K 2 pushes 1/5 stroke; ——The K 3rd pushes 3/10 stroke; ——The K 4th pushes 2/5 of the stroke; ——The K 5th pushes 1/2 stroke; —— K 6 pushes 3/5 stroke; —— K 7 pushes 7/10 stroke; —— K 8 pushes 4/5 stroke; ——The K 9th pushes the 9/10 stroke; ——The K 10th pushes 1 stroke; ——The K 11th is lowered and moved higher, and it is uniformly marked as: i ∈ (0, 1, 2, ..., 11);

f、分析可得液压支架与矮机身采煤机运行的约束关系数学表达式为:f. The mathematical expression of the constraint relationship between the hydraulic support and the operation of the low body shearer can be obtained from the analysis:

KK ii == KK ++ xx (( &Delta;K&Delta;K ii ++ 11 )) (( ii << 11 )) KK -- xx (( &Delta;K&Delta;K ii ++ ii )) (( ii &GreaterEqual;&Greater Equal; 11 )) ,, ii &Element;&Element; (( 0,1,20,1,2 ,, .. .. .. ,, 1111 ))

即:Right now:

TT ii == KK ++ xx (( &Delta;K&Delta;K ii ++ 11 )) (( ii << 11 )) KK -- xx (( &Delta;K&Delta;K ii ++ ii )) (( ii &GreaterEqual;&Greater Equal; 11 )) ,, ii &Element;&Element; (( 0,1,20,1,2 ,, .. .. .. ,, 1111 ))

T i = K + x [ int ( L 1 2 l ) + 1 ) ] ( i < 1 ) K - x [ int ( L 2 2 l ) + i ) ] ( i &GreaterEqual; 1 ) , i &Element; ( 0,1,2 , . . . , 11 ) or T i = K + x [ int ( L 1 2 l ) + 1 ) ] ( i < 1 ) K - x [ int ( L 2 2 l ) + i ) ] ( i &Greater Equal; 1 ) , i &Element; ( 0,1,2 , . . . , 11 )

当矮机身采煤机沿无人工作面正向和反向牵引割煤时,随着液压支架接收到矮机身采煤机发出的红外线,对应的距离x0即被确定,即随矮机身采煤机位置的变化,相对于红外发射器或红外接收器水平投影距离△Ki不变的12架液压支架Ki分别执行12个不同的动作Ti[i∈(0,1,2,…,11)];When the low-body shearer is pulling forward and reverse along the unmanned working face to cut coal, as the hydraulic support receives the infrared rays emitted by the low-body shearer, the corresponding distance x 0 is determined, that is, with the short With the change of the position of the fuselage shearer, the 12 hydraulic supports K i respectively perform 12 different actions T i [i∈(0, 1 , 2,...,11)];

g、以矮机身采煤机上红外发生器对应的第K架液压支架为基准,相对于第K架液压支架位置不变的12架液压支架按照约束关系执行相应的动作,即自动移架与矮机身采煤机位置的约束控制模型可描述如下:g. Taking the K-th hydraulic support corresponding to the infrared generator on the low-body shearer as the benchmark, the 12 hydraulic supports whose positions remain unchanged relative to the K-th hydraulic support perform corresponding actions according to the constraint relationship, that is, the automatic frame movement and The constrained control model for the location of a low body shearer can be described as follows:

1)矮机身采煤机向右牵引割煤时:1) When the short fuselage shearer pulls coal to the right:

①第K+△K1+1架液压支架执行收护帮板动作;①The K+△K 1 +1 hydraulic support performs the action of collecting and protecting the side board;

②第K-△K2-1架液压支架执行伸护帮板并推溜1/10行程;②The K-△K 2 -1 hydraulic support executes the extension of the side guard and pushes 1/10 of the stroke;

③第K-△K3-2架液压支架执行推溜1/10行程;③ The K-△K 3 -2 hydraulic supports perform a push and slide 1/10 of the stroke;

④第K-△K4-3架液压支架执行推溜1/5行程;④ The K-△K 4 -3 hydraulic supports perform a push and slide 1/5 stroke;

⑤第K-△K5-4架液压支架执行推溜3/10行程;⑤ The K-△K 5 -4 hydraulic supports perform a pushing stroke of 3/10;

⑥第K-△K6-5架液压支架执行推溜2/5行程;⑥The K-△K 6-5 hydraulic support performs a pushing 2/5 stroke;

⑦第K-△K7-6架液压支架执行推溜1/2行程;⑦ The K-△K 7 -6 hydraulic supports perform a push-and-slide 1/2 stroke;

⑧第K-△K8-7架液压支架执行推溜3/5行程;⑧The K-△K 8-7 hydraulic support performs a push and slide 3/5 stroke;

⑨第K-△K9-8架液压支架执行推溜7/10行程;⑨The K-△K 9-8 hydraulic supports perform a push-and-slide 7/10 stroke;

⑩第K-△K10-9架液压支架执行推溜4/5行程;⑩The K-△K 10-9 hydraulic support performs a push-slide 4/5 stroke;

第K-△K11-10架液压支架执行推溜1个行程; K-△K 11 -10 hydraulic supports perform a pushing stroke;

第K-△K12-11架液压支架执行降移升动作。 The K-△K 12-11 hydraulic supports perform the movement of lowering, moving and raising.

2)矮机身采煤机向左牵引割煤时:2) When the short fuselage shearer pulls coal to the left:

①第K-△K1-1架液压支架执行收护帮板动作;① The K-△K 1 -1 hydraulic support performs the action of collecting the side board;

②第K+△K2+1架液压支架执行伸护帮板并推溜1/10行程;②The K+△K 2 +1 hydraulic support executes the extension of the side guard and pushes 1/10 of the stroke;

③第K+△K3+2架液压支架执行推溜1/5行程;③ The K+△K 3 +2 hydraulic supports perform a pushing stroke of 1/5;

④第K+△K4+3架液压支架执行推溜3/10行程;④ The K+△K 4 +3 hydraulic supports perform a pushing stroke of 3/10;

⑤第K+△K5+4架液压支架执行推溜2/5行程;⑤K+△K 5 +4 hydraulic supports perform a pushing 2/5 stroke;

⑥第K+△K6+5架液压支架执行推溜1/2行程;⑥The K+△K 6 +5 hydraulic support executes the pushing 1/2 stroke;

⑦第K+△K7+6架液压支架执行推溜3/5行程;⑦ The K+△K 7 +6 hydraulic support executes the pushing stroke of 3/5;

⑧第K+△K8+7架液压支架执行推溜7/10行程;⑧ The K+△K 8 +7 hydraulic supports execute the pushing 7/10 stroke;

⑨第K+△K9+8架液压支架执行推溜4/5行程;⑨The K+△K 9 +8 hydraulic supports perform a pushing 4/5 stroke;

⑩第K+△K10+9架液压支架执行推溜9/10行程;⑩The K+△K 10 +9 hydraulic support performs a pushing stroke of 9/10;

第K+△K11+10架液压支架执行推溜1个行程; K+△K 11 +10 hydraulic supports perform a pushing stroke;

第K+△K12+11架液压支架执行降移升动作。 The K+△K 12 +11 hydraulic support performs the movement of lowering, moving and raising.

有益效果,由于采用了上述方案,通过分析薄煤层无人工作面液压支架与其它机采设备之间的约束关系,建立液压支架与矮机身采煤机位置自动控制约束模型,此方法思路简单、运算合理和自动化程度高,生产效益、安全性和可靠性好。采用此约束模型的构建方法,对于改进液压支架的自动化控制的设计、改善其使用性能、提高设备工作的可靠性和寿命,具有重要意义。Beneficial effect, due to the adoption of the above scheme, by analyzing the constraint relationship between the hydraulic support and other mechanical mining equipment in the unmanned working face of the thin coal seam, the automatic control constraint model of the position of the hydraulic support and the short fuselage shearer is established. This method has a simple idea , reasonable calculation and high degree of automation, good production efficiency, safety and reliability. The construction method of this constraint model is of great significance for improving the design of automatic control of hydraulic supports, improving their performance, and improving the reliability and life of equipment.

附图说明Description of drawings

图1是本发明矮机身采煤机向右牵引时自动移架的约束关系图。Fig. 1 is a constraint relation diagram of the automatic frame shifting when the low body shearer of the present invention is towed to the right.

图2是本发明矮机身采煤机向左牵引时自动移架的约束关系图。Fig. 2 is a constraint relation diagram of the automatic frame shifting when the low body shearer of the present invention is towed to the left.

图中,1、矮机身采煤机;2、刮板输送机;3、液压支架;4、煤壁;5、后滚筒;6、红外线发射器;7、前滚筒;8、红外线接收器;9、无人工作面。In the figure, 1. Low body shearer; 2. Scraper conveyor; 3. Hydraulic support; 4. Coal wall; 5. Rear drum; 6. Infrared transmitter; 7. Front drum; 8. Infrared receiver ; 9. Unmanned working surface.

具体实施方式Detailed ways

结合附图对本发明具体实施步骤进行说明:The specific implementation steps of the present invention are described in conjunction with accompanying drawings:

实施例1:在图1和图2中,x0表示定点距离工作面左端的距离;l表示支架间距;L1表示定点距离采煤机前滚筒的水平投影距离;L2表示定点距离采煤机后滚筒的水平投影距离;表示第Ki架液压支架执行的第i个动作。Example 1: In Figure 1 and Figure 2, x 0 represents the distance from the fixed point to the left end of the working face; l represents the distance between the supports; L 1 represents the horizontal projection distance from the fixed point to the front drum of the shearer; L 2 represents the distance from the fixed point to coal mining The horizontal projection distance of the rear drum of the machine; Indicates the i-th action performed by the Ki-th hydraulic support.

以薄煤层无人工作面液压支架与其它机采设备之间的约束关系为基础,构建采煤机和液压支架之间的运行约束模型;在采煤机沿无人工作面往返牵引割煤时,支架上红外接收器接收采煤机上红外发射器发出的红外线,并以接收到红外线的一架支架为定点,控制前滚筒前方的支架收起护帮板,避免前滚筒截割护帮板,及控制后滚筒之后的十架支架推溜十分之一行程,使后滚筒之后十架支架宽度范围内的刮板输送机按照距离后滚筒由远及近顺序向前推进,形成弯曲段,完成整个推溜行程的支架执行降移升动作,从而实现支架与采煤机的位移和牵引方向之间的相互约束关系;Based on the constraint relationship between the hydraulic support and other mechanical mining equipment in the thin coal seam unmanned working face, the operation constraint model between the shearer and the hydraulic support is constructed; when the shearer pulls coal back and forth along the unmanned working face , the infrared receiver on the bracket receives the infrared rays emitted by the infrared emitter on the coal shearer, and takes a bracket that receives the infrared rays as a fixed point to control the bracket in front of the front drum to retract the side guard to prevent the front drum from cutting the side guard. And control the ten-frame support behind the rear roller to push one-tenth of the stroke, so that the scraper conveyor within the width of the ten-frame support behind the rear roller advances forward in order from far to near according to the distance from the rear roller to form a curved section. The support of the entire pushing stroke performs the movement of lifting and lowering, so as to realize the mutual restraint relationship between the displacement and the traction direction of the support and the shearer;

构建方法具体步骤如下:The specific steps of the construction method are as follows:

a、将无人工作面9内液压支架3从左至右进行顺序编号:1,2,3…,N;矮机身采煤机1沿无人工作面9往返牵引割煤4时,液压支架3上红外线接收器8接收矮机身采煤机1上红外线发射器6发出的红外线,以接收到红外线的一架液压支架3为定点,用K表示工作面左端与定点之间按支架架数计算的距离,即式中K为不大于(x0/l)的最大整数;x0表示工作面左端与定点之间距离;l为支架间距;a. Number the hydraulic supports 3 in the unmanned working face 9 from left to right: 1, 2, 3..., N; The infrared receiver 8 on the support 3 receives the infrared rays emitted by the infrared emitter 6 on the low body shearer 1, and a hydraulic support 3 that receives the infrared rays is used as a fixed point, and K indicates that the left end of the working face and the fixed point are pressed by the support frame The distance calculated by the number, that is, In the formula, K is the largest integer not greater than (x 0 /l); x 0 indicates the distance between the left end of the working surface and the fixed point; l is the distance between the supports;

b、将定点到矮机身采煤机1前滚筒7的水平投影距离L1换算为按支架架数计算的取整数△K1,即将定点到矮机身采煤机后滚筒5的水平投影距离L2换算为按支架架数计算的取整数△K2,即并定义:i∈(0,1,2,…,);b. Convert the horizontal projection distance L 1 from the fixed point to the front drum 7 of the low body shearer 1 into an integer △K 1 calculated according to the number of supports, that is Convert the horizontal projection distance L 2 from the fixed point to the rear drum 5 of the low body shearer into an integer △K 2 calculated according to the number of supports, namely and define: i ∈ (0, 1, 2, ...,);

c、将矮机身采煤机1从左向右沿无人工作面9牵引定为正方向牵引,从右向左牵引定为负方向牵引,用变量x表示矮机身采煤机1的牵引方向,即:c. Set the low-body shearer 1 from left to right along the unmanned working surface 9 as the positive direction traction, and from right to left as the negative direction traction, and use the variable x to represent the short-body shearer 1 Traction direction, that is:

d、用Ti表示液压支架3的相关动作,如升柱、降柱、前移、推溜、收护帮板;下标表示第i个动作(i=0,1,2,…,)。定义12个动作符号如下:d. Use T i to indicate the relevant actions of the hydraulic support 3, such as raising the column, lowering the column, moving forward, pushing, and protecting the side board; the subscript indicates the i-th action (i=0, 1, 2, ...,) . Define 12 action symbols as follows:

T0:收护帮板;T1:伸护帮板并推溜1/10行程;T2:推溜1/5行程;T3:推溜3/10行程;T4:推溜2/5行程;T5:推溜1/2行程;T6:推溜3/5行程;T7:推溜7/10行程;T8:推溜4/5行程;T9:推溜9/10行程;T10:推溜1个行程;T11:降移升;T 0 : retract side panel; T 1 : extend side panel and push 1/10 stroke; T 2 : push 1/5 stroke; T 3 : push 3/10 stroke; T 4 : push 2/ 5 strokes; T 5 : push 1/2 stroke; T 6 : push 3/5 stroke; T 7 : push 7/10 stroke; T 8 : push 4/5 stroke; T 9 : push 9/ 10 strokes; T 10 : pushing 1 stroke; T 11 : moving up;

e、定义液压支架3动作函数编号为M的液压支架3执行Ti动作时,定义为:式中符合表示执行动作。矮机身采煤机1沿无人工作面往返牵引割煤4时,矮机身采煤机1附近的12架液压支架分布执行的12个动作可以表示为:——第K0架收护帮板;——第K1架伸护帮板并推溜1/10行程;——第K2架推溜1/5行程;——第K3架推溜3/10行程;——第K4架推溜2/5行程;——第K5架推溜1/2行程;——第K6架推溜3/5行程;——第K7架推溜7/10行程;——第K8架推溜4/5行程;——第K9架推溜9/10行程;——第K10架推溜1个行程;——第K11架降移升,统一标示为:i∈(0,1,2,…,11);e. Define the action function of hydraulic support 3. When the hydraulic support 3 whose number is M performs T i action, it is defined as: in the formula Indicates the execution of an action. When the short body shearer 1 pulls the coal cutting 4 back and forth along the unmanned working face, the 12 actions performed by the 12 hydraulic supports near the low body shearer 1 can be expressed as: ——The K 0th frame receives the side board; ——K 1 stretches the side guard and pushes 1/10 of the stroke; —— K 2 pushes 1/5 stroke; ——The K 3rd pushes 3/10 stroke; ——The K 4th pushes 2/5 of the stroke; ——The K 5th pushes 1/2 stroke; —— K 6 pushes 3/5 stroke; —— K 7 pushes 7/10 stroke; —— K 8 pushes 4/5 stroke; ——The K 9th pushes the 9/10 stroke; ——The K 10th pushes 1 stroke; ——The K 11th is lowered and moved higher, and it is uniformly marked as: i ∈ (0, 1, 2, ..., 11);

f、分析可得液压支架3与矮机身采煤机1运行的约束关系数学表达式为:f. The mathematical expression of the constraint relationship between the operation of the hydraulic support 3 and the low body shearer 1 can be obtained through analysis:

KK ii == KK ++ xx (( &Delta;K&Delta;K ii ++ 11 )) (( ii << 11 )) KK -- xx (( &Delta;K&Delta;K ii ++ ii )) (( ii &GreaterEqual;&Greater Equal; 11 )) ,, ii &Element;&Element; (( 0,1,20,1,2 ,, .. .. .. ,, 1111 ))

即:Right now:

TT ii == KK ++ xx (( &Delta;K&Delta;K ii ++ 11 )) (( ii << 11 )) KK -- xx (( &Delta;K&Delta;K ii ++ ii )) (( ii &GreaterEqual;&Greater Equal; 11 )) ,, ii &Element;&Element; (( 0,1,20,1,2 ,, .. .. .. ,, 1111 ))

T i = K + x [ int ( L 1 2 l ) + 1 ) ] ( i < 1 ) K - x [ int ( L 2 2 l ) + i ) ] ( i &GreaterEqual; 1 ) , i &Element; ( 0,1,2 , . . . , 11 ) or T i = K + x [ int ( L 1 2 l ) + 1 ) ] ( i < 1 ) K - x [ int ( L 2 2 l ) + i ) ] ( i &Greater Equal; 1 ) , i &Element; ( 0,1,2 , . . . , 11 )

当矮机身采煤机1沿无人工作面9正向和反向牵引割煤4时,随着液压支架3接收到矮机身采煤机1发出的红外线,对应的距离x0即被确定,即随矮机身采煤机1位置的变化,相对于红外发射器6或红外接收器8水平投影距离△Ki不变的12架液压支架Ki分别执行12个不同的动作Ti[i∈(0,1,2,…,11)];When the low-body shearer 1 pulls the coal cutting 4 in the forward and reverse directions along the unmanned working surface 9, as the hydraulic support 3 receives the infrared rays emitted by the low-body shearer 1, the corresponding distance x 0 is Determined, that is, with the change of the position of the low body shearer 1, the 12 hydraulic supports K i with the same horizontal projection distance ΔK i relative to the infrared transmitter 6 or infrared receiver 8 respectively perform 12 different actions T i [i ∈ (0, 1, 2, ..., 11)];

g、以矮机身采煤机1上红外发射器6对应的第K架液压支架3为基准,相对于第K架液压支架3位置不变的12架液压支架3按照约束关系执行相应的动作,即自动移架与矮机身采煤机1位置的约束控制模型可描述如下:g. Taking the K-th hydraulic support 3 corresponding to the infrared emitter 6 on the low-body shearer 1 as a reference, the 12 hydraulic supports 3 whose positions are unchanged relative to the K-th hydraulic support 3 perform corresponding actions according to the constraint relationship , that is, the constraint control model of the position of the automatic moving frame and the low body shearer 1 can be described as follows:

1)矮机身采煤机1向右牵引割煤4时:1) When the short fuselage shearer 1 pulls the coal cutting 4 to the right:

①第K+△K1+1架液压支架3执行收护帮板动作;① The K+△K 1 +1 hydraulic support 3 performs the action of collecting the side board;

②第K-△K2-1架液压支架3执行伸护帮板并推溜1/10行程;②The K-△K 2 -1 hydraulic support 3 implements the extension of the side guard and pushes 1/10 of the stroke;

③第K-△K3-2架液压支架3执行推溜1/10行程;③ The K-△K 3 -2 hydraulic support 3 executes a pushing stroke of 1/10;

④第K-△K4-3架液压支架3执行推溜1/5行程;④ K-△K 4 -3 hydraulic support 3 executes push and slide 1/5 stroke;

⑤第K-△K5-4架液压支架3执行推溜3/10行程;⑤ K-△K 5 -4 hydraulic support 3 executes a pushing stroke of 3/10;

⑥第K-△K6-5架液压支架3执行推溜2/5行程;⑥ The K-△K 6 -5 hydraulic support 3 executes the pushing 2/5 stroke;

⑦第K-△K7-6架液压支架3执行推溜1/2行程;⑦ The K-△K 7-6 hydraulic support 3 executes the pushing 1/2 stroke;

⑧第K-△K8-7架液压支架3执行推溜3/5行程;⑧ The K-△K 8 -7 hydraulic support 3 executes a push and slide 3/5 stroke;

⑨第K-△K9-8架液压支架3执行推溜7/10行程;⑨ The K-△K 9-8 hydraulic support 3 executes the pushing stroke of 7/10;

⑩第K-△K10-9架液压支架3执行推溜4/5行程;⑩The K-△K 10-9 hydraulic support 3 executes the pushing 4/5 stroke;

第K-△K11-10架液压支架3执行推溜1个行程; K-△K 11 -10 hydraulic support 3 executes one push stroke;

第K-△K12-11架液压支架3执行降移升动作。 The K-△K 12-11 hydraulic support 3 executes the movement of moving up and down.

2)矮机身采煤机1向左牵引割煤4时:2) When the short fuselage shearer 1 pulls the coal cutting 4 to the left:

①第K-△K1-1架液压支架3执行收护帮板动作;① The K-△K 1 -1 hydraulic support 3 performs the action of collecting the side board;

②第K+△K2+1架液压支架3执行伸护帮板并推溜1/10行程;② K+△K 2 +1 hydraulic support 3 implements stretching of the side guard and pushes 1/10 of the stroke;

③第K+△K3+2架液压支架3执行推溜1/5行程;③ K+△K 3 + 2 hydraulic supports 3 perform a pushing stroke of 1/5;

④第K+△K4+3架液压支架3执行推溜3/10行程;④ The K+△K 4 +3 hydraulic support 3 executes a pushing stroke of 3/10;

⑤第K+△K5+4架液压支架3执行推溜2/5行程;⑤K+△K 5 +4 hydraulic support 3 executes a pushing 2/5 stroke;

⑥第K+△K6+5架液压支架3执行推溜1/2行程;⑥K+△K 6 +5 hydraulic support 3 executes push 1/2 stroke;

⑦第K+△K7+6架液压支架3执行推溜3/5行程;⑦ The K+△K 7 +6 hydraulic support 3 executes a pushing stroke of 3/5;

⑧第K+△K8+7架液压支架3执行推溜7/10行程;⑧ The K+△K 8 +7 hydraulic support 3 executes the pushing stroke of 7/10;

⑨第K+△K9+8架液压支架3执行推溜4/5行程;⑨ The K+△K 9 +8 hydraulic support 3 executes the pushing 4/5 stroke;

⑩第K+△K10+9架液压支架3执行推溜9/10行程;⑩The K+△K 10 +9 hydraulic support 3 executes a pushing stroke of 9/10;

第K+△K11+10架液压支架3执行推溜1个行程; The K+△K 11 +10 hydraulic support 3 executes a pushing stroke;

第K+△K12+11架液压支架3执行降移升动作。 The K+△K 12 +11 hydraulic support 3 executes the movement of moving up and down.

本发明通过分析薄煤层无人工作面液压支架与其它机采设备之间的约束关系,建立液压支架与矮机身采煤机位置自动控制约束模型,此方法思路简单、运算合理和自动化程度高,生产效益、安全性和可靠性好,采用此约束模型的构建方法,对于改进液压支架的自动化控制的设计、改善其使用性能、提高设备工作的可靠性和寿命,具有重要意义。The present invention analyzes the constraint relationship between the hydraulic support and other mechanical mining equipment in the unmanned working face of the thin coal seam, and establishes the automatic control constraint model of the position of the hydraulic support and the low body shearer. This method has simple ideas, reasonable calculation and high degree of automation , production efficiency, safety and reliability are good. Adopting the construction method of this constraint model is of great significance for improving the design of automatic control of hydraulic support, improving its performance, and improving the reliability and life of equipment.

Claims (1)

1.一种薄煤层无人工作面自动移架约束模型的构建方法,其特征是:以薄煤层无人工作面液压支架与其它机采设备之间的约束关系为基础,构建采煤机和液压支架之间的运行约束模型;在采煤机沿无人工作面往返牵引割煤时,支架上红外接收器接收采煤机上红外发射器发出的红外线,并以接收到红外线的一架支架为定点,控制前滚筒前方的支架收起护帮板,避免前滚筒截割护帮板,及控制后滚筒之后的十架支架推溜十分之一行程,使后滚筒之后十架支架宽度范围内的刮板输送机按照距离后滚筒由远及近顺序向前推进,形成弯曲段,完成整个推溜行程的支架执行降移升动作,从而实现支架与采煤机的位移和牵引方向之间的相互约束关系;构建方法具体步骤如下:1. A method for constructing a constraint model for automatic movement of a thin coal seam unmanned working face, characterized in that: based on the constraint relationship between the hydraulic support of the thin coal seam unmanned working face and other mechanical mining equipment, the shearer and The operation constraint model between the hydraulic supports; when the coal shearer pulls coal back and forth along the unmanned working face, the infrared receiver on the support receives the infrared rays emitted by the infrared emitter on the coal shearer, and uses a support that receives the infrared rays as the Fixed point, control the bracket in front of the front roller to retract the side guard, avoid cutting the side guard by the front roller, and control the ten brackets behind the rear drum to push one-tenth of the stroke, so that the ten brackets behind the rear drum are within the width range of the ten brackets. According to the distance, the scraper conveyor advances forward in sequence from far to near to form a curved section, and the support that completes the entire pushing stroke performs a lifting action, so as to realize the displacement between the support and the shearer and the traction direction. Mutual constraint relationship; the specific steps of the construction method are as follows: a、将无人工作面内液压支架从左至右进行顺序编号:1,2,3…,N;矮机身采煤机沿无人工作面往返牵引割煤时,液压支架上红外线接收器接收矮机身采煤机上红外线发射器发出的红外线,以接收到红外线的一架液压支架为定点,用K表示工作面左端与定点之间按支架架数计算的距离,即式中K为不大于(x0/l)的最大整数;x0表示工作面左端与定点之间距离;l为支架间距;a. Number the hydraulic supports in the unmanned working face from left to right: 1, 2, 3..., N; Receive the infrared ray emitted by the infrared transmitter on the short-body shearer, take a hydraulic support that receives the infrared ray as the fixed point, and use K to represent the distance between the left end of the working face and the fixed point calculated according to the number of supports, that is In the formula, K is the largest integer not greater than (x 0 /l); x 0 represents the distance between the left end of the working surface and the fixed point; l is the distance between the supports; b、将定点到矮机身采煤机前滚筒的水平投影距离L1换算为按支架架数计算的取整数△K1,即将定点到矮机身采煤机后滚筒的水平投影距离L2换算为按支架架数计算的取整数△K2,即并定义: &Delta;K i = &Delta;K 1 ( i < 1 ) &Delta;K 2 ( i &GreaterEqual; 1 ) , i∈(0,1,2,…,);b. Convert the horizontal projection distance L 1 from the fixed point to the front drum of the low body shearer into an integer △K 1 calculated according to the number of supports, that is Convert the horizontal projection distance L 2 from the fixed point to the rear drum of the low body shearer into an integer △K 2 calculated according to the number of supports, namely and define: &Delta;K i = &Delta;K 1 ( i < 1 ) &Delta;K 2 ( i &Greater Equal; 1 ) , i∈(0,1,2,...,); c、将矮机身采煤机从左向右沿无人工作面牵引定为正方向牵引,从右向左牵引定为负方向牵引,用变量x表示矮机身采煤机的牵引方向,即:c. Set the low-body shearer from left to right along the unmanned working face as the positive direction of traction, and from right to left as the negative direction of traction, and use the variable x to represent the traction direction of the low-body shearer, Right now: d、用Ti表示液压支架的相关动作,如升柱、降柱、前移、推溜;下标表示第i个动作(i=0,1,2,…,);定义12个动作符号如下:d. Use T i to represent the relevant actions of the hydraulic support, such as raising the column, lowering the column, moving forward, and pushing; the subscript indicates the i-th action (i=0, 1, 2, ...,); define 12 action symbols as follows: T0:收护帮板;T1:伸护帮板并推溜1/10行程;T2:推溜1/5行程;T3:推溜3/10行程;T4:推溜2/5行程;T5:推溜1/2行程;T6:推溜3/5行程;T7:推溜7/10行程;T8:推溜4/5行程;T9:推溜9/10行程;T10:推溜1个行程;T11:降移升;T 0 : retract side panel; T 1 : extend side panel and push 1/10 stroke; T 2 : push 1/5 stroke; T 3 : push 3/10 stroke; T 4 : push 2/ 5 strokes; T 5 : push 1/2 stroke; T 6 : push 3/5 stroke; T 7 : push 7/10 stroke; T 8 : push 4/5 stroke; T 9 : push 9/ 10 strokes; T 10 : pushing 1 stroke; T 11 : moving up; e、定义液压支架动作函数编号为M的液压支架执行Ti动作时,定义为:式中符合表示执行动作;矮机身采煤机沿无人工作面往返牵引割煤时,矮机身采煤机附近的12架液压支架分布执行的12个动作表示为:——第K0架收护帮板;——第K1架伸护帮板并推溜1/10行程;——第K2架推溜1/5行程;——第K3架推溜3/10行程;——第K4架推溜2/5行程;——第K5架推溜1/2行程;——第K6架推溜3/5行程;——第K7架推溜7/10行程;——第K8架推溜4/5行程;——第K9架推溜9/10行程;——第K10架推溜1个行程;——第K11架降移升,统一标示为:i∈(0,1,2,…,11);e. Define the action function of the hydraulic support. When the hydraulic support whose number is M performs the T i action, it is defined as: in the formula Indicates the execution action; when the short body shearer pulls coal back and forth along the unmanned working face, the 12 actions performed by the 12 hydraulic supports near the short body shearer are expressed as: ——The K 0th frame receives the side board; ——K 1 stretches the side guard and pushes 1/10 of the stroke; —— K 2 pushes 1/5 stroke; ——The K 3rd pushes 3/10 stroke; ——The K 4th pushes 2/5 of the stroke; ——The K 5th pushes 1/2 stroke; —— K 6 pushes 3/5 stroke; —— K 7 pushes 7/10 stroke; —— K 8 pushes 4/5 stroke; ——The K 9th pushes the 9/10 stroke; ——The K 10th pushes 1 stroke; ——The K 11th is lowered and moved higher, and it is uniformly marked as: i∈(0,1,2,...,11); f、分析可得液压支架与矮机身采煤机运行的约束关系数学表达式为:f. The mathematical expression of the constraint relationship between the hydraulic support and the operation of the low body shearer can be obtained from the analysis: K i = K + x ( &Delta;K i + 1 ) ( i < 1 ) K - x ( &Delta;K i + i ) ( i &GreaterEqual; 1 ) , i∈(0,1,2,…,11) K i = K + x ( &Delta;K i + 1 ) ( i < 1 ) K - x ( &Delta;K i + i ) ( i &Greater Equal; 1 ) , i∈(0,1,2,...,11) 即:Right now: T i = K + x ( &Delta;K i + 1 ) ( i < 1 ) K - x ( &Delta;K i + i ) ( i &GreaterEqual; 1 ) , i∈(0,1,2,…,11) T i = K + x ( &Delta;K i + 1 ) ( i < 1 ) K - x ( &Delta;K i + i ) ( i &Greater Equal; 1 ) , i∈(0,1,2,...,11) T i = K + x [ int ( L 1 2 l ) + 1 ) ] ( i < 1 ) K - x [ int ( L 2 2 l ) + i ) ] ( i &GreaterEqual; 1 ) , i∈(0,1,2,…,11)or T i = K + x [ int ( L 1 2 l ) + 1 ) ] ( i < 1 ) K - x [ int ( L 2 2 l ) + i ) ] ( i &Greater Equal; 1 ) , i∈(0,1,2,...,11) 当矮机身采煤机沿无人工作面正向和反向牵引割煤时,随着液压支架接收到矮机身采煤机发出的红外线,对应的距离x0即被确定,即随矮机身采煤机位置的变化,相对于红外发射器或红外接收器水平投影距离△Ki不变的12架液压支架Ki分别执行12个不同的动作Ti[i∈(0,1,2,…,11)];When the low-body shearer is pulling forward and reverse along the unmanned working face to cut coal, as the hydraulic support receives the infrared rays emitted by the low-body shearer, the corresponding distance x 0 is determined, that is, with the short With the change of the position of the fuselage shearer, the 12 hydraulic supports K i respectively perform 12 different actions T i [i∈(0, 1 , 2,...,11)]; g、以矮机身采煤机上红外发生器对应的第K架液压支架为基准,相对于第K架液压支架位置不变的12架液压支架按照约束关系执行相应的动作,即自动移架与矮机身采煤机位置的约束控制模型可描述如下:g. Taking the K-th hydraulic support corresponding to the infrared generator on the low-body shearer as the benchmark, the 12 hydraulic supports whose positions remain unchanged relative to the K-th hydraulic support perform corresponding actions according to the constraint relationship, that is, the automatic frame movement and The constrained control model for the location of a low body shearer can be described as follows: 1)矮机身采煤机向右牵引割煤时:1) When the short fuselage shearer pulls coal to the right: ①第K+△K1+1架液压支架执行收护帮板动作;①The K+△K 1 +1 hydraulic support performs the action of collecting and protecting the side board; ②第K-△K2-1架液压支架执行伸护帮板并推溜1/10行程;②The K-△K 2 -1 hydraulic support executes the extension of the side guard and pushes 1/10 of the stroke; ③第K-△K3-2架液压支架执行推溜1/10行程;③ The K-△K 3 -2 hydraulic supports perform a push and slide 1/10 of the stroke; ④第K-△K4-3架液压支架执行推溜1/5行程;④ The K-△K 4 -3 hydraulic supports perform a push and slide 1/5 stroke; ⑤第K-△K5-4架液压支架执行推溜3/10行程;⑤ The K-△K 5 -4 hydraulic supports perform a pushing stroke of 3/10; ⑥第K-△K6-5架液压支架执行推溜2/5行程;⑥The K-△K 6-5 hydraulic support performs a pushing 2/5 stroke; ⑦第K-△K7-6架液压支架执行推溜1/2行程;⑦ The K-△K 7 -6 hydraulic supports perform a push-and-slide 1/2 stroke; ⑧第K-△K8-7架液压支架执行推溜3/5行程;⑧The K-△K 8-7 hydraulic support performs a push and slide 3/5 stroke; ⑨第K-△K9-8架液压支架执行推溜7/10行程;⑨The K-△K 9-8 hydraulic supports perform a push-and-slide 7/10 stroke; ⑩第K-△K10-9架液压支架执行推溜4/5行程;⑩The K-△K 10-9 hydraulic support performs a push-slide 4/5 stroke; 第K-△K11-10架液压支架执行推溜1个行程; K-△K 11 -10 hydraulic supports perform a pushing stroke; 第K-△K12-11架液压支架执行降移升动作; The K-△K 12-11 hydraulic support performs the movement of lowering and moving; 2)矮机身采煤机向左牵引割煤时:2) When the short fuselage shearer pulls coal to the left: ①第K-△K1-1架液压支架执行收护帮板动作;① The K-△K 1 -1 hydraulic support performs the action of collecting the side board; ②第K+△K2+1架液压支架执行伸护帮板并推溜1/10行程;②The K+△K 2 +1 hydraulic support executes the extension of the side guard and pushes 1/10 of the stroke; ③第K+△K3+2架液压支架执行推溜1/5行程;③ The K+△K 3 +2 hydraulic supports perform a pushing stroke of 1/5; ④第K+△K4+3架液压支架执行推溜3/10行程;④ The K+△K 4 +3 hydraulic supports perform a pushing stroke of 3/10; ⑤第K+△K5+4架液压支架执行推溜2/5行程;⑤K+△K 5 +4 hydraulic supports perform a pushing 2/5 stroke; ⑥第K+△K6+5架液压支架执行推溜1/2行程;⑥The K+△K 6 +5 hydraulic support executes the pushing 1/2 stroke; ⑦第K+△K7+6架液压支架执行推溜3/5行程;⑦ The K+△K 7 +6 hydraulic support executes the pushing stroke of 3/5; ⑧第K+△K8+7架液压支架执行推溜7/10行程;⑧ The K+△K 8 +7 hydraulic supports execute the pushing 7/10 stroke; ⑨第K+△K9+8架液压支架执行推溜4/5行程;⑨The K+△K 9 +8 hydraulic supports perform a pushing 4/5 stroke; ⑩第K+△K10+9架液压支架执行推溜9/10行程;⑩The K+△K 10 +9 hydraulic support performs a pushing stroke of 9/10; 第K+△K11+10架液压支架执行推溜1个行程; K+△K 11 +10 hydraulic supports perform a pushing stroke; 第K+△K12+11架液压支架执行降移升动作。 The K+△K 12 +11 hydraulic support performs the movement of lowering, moving and raising.
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