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

Abstract

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

A Constraint Model Construction Method for Automatic Moving Frame in Unmanned Working Face in Thin Coal Seam

technical field

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.

Background technique

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.

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.

Contents of the invention

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.

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. 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. 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. 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. 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:

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. 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. 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:

${\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; K</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&Delta;K</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; K</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&Delta;K</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; \&Greater\; Equal;</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; \&Element;</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 0,1,2</span>}<span\; class="notranslate">\; ,</span><span\; class="notranslate">\; .</span><span\; class="notranslate">\; .</span><span\; class="notranslate">\; .</span><span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 11</span>}<span\; class="notranslate">\; )</span>$

Right now:

${\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; K</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&Delta;K</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; K</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&Delta;K</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; \&Greater\; Equal;</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; \&Element;</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 0,1,2</span>}<span\; class="notranslate">\; ,</span><span\; class="notranslate">\; .</span><span\; class="notranslate">\; .</span><span\; class="notranslate">\; .</span><span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 11</span>}<span\; class="notranslate">\; )</span>$

or $T_i=\left\{\begin{array}{c}K+x[\mathrm{int}\left(\frac{L_1}{2l}\right)+1)](i<1)\\ K-x\left[\mathrm{int}\left(\frac{L_2}{2l}\right)+i)\right](i\&Greater\; Equal;1)\end{array}\right.,i\&Element;(\mathrm{0,1,2},...,11)$

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. 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) When the short fuselage shearer pulls coal to the right:

①The K+△K ₁ +1 hydraulic support performs the action of collecting and protecting the side board;

②The K-△K ₂ -1 hydraulic support executes the extension of the side guard and pushes 1/10 of the stroke;

③ The K-△K ₃ -2 hydraulic supports perform a push and slide 1/10 of the stroke;

④ The K-△K ₄ -3 hydraulic supports perform a push and slide 1/5 stroke;

⑤ The K-△K ₅ -4 hydraulic supports perform a pushing stroke of 3/10;

⑥The K-△K _6-5 hydraulic support performs a pushing 2/5 stroke;

⑦ The K-△K ₇ -6 hydraulic supports perform a push-and-slide 1/2 stroke;

⑧The K-△K _8-7 hydraulic support performs a push and slide 3/5 stroke;

⑨The K-△K _9-8 hydraulic supports perform a push-and-slide 7/10 stroke;

⑩The K-△K _10-9 hydraulic support performs a push-slide 4/5 stroke;

K-△K ₁₁ -10 hydraulic supports perform a pushing stroke;

The K-△K _12-11 hydraulic supports perform the movement of lowering, moving and raising.

2) When the short fuselage shearer pulls coal to the left:

① The K-△K ₁ -1 hydraulic support performs the action of collecting the side board;

②The K+△K ₂ +1 hydraulic support executes the extension of the side guard and pushes 1/10 of the stroke;

③ The K+△K ₃ +2 hydraulic supports perform a pushing stroke of 1/5;

④ The K+△K ₄ +3 hydraulic supports perform a pushing stroke of 3/10;

⑤K+△K ₅ +4 hydraulic supports perform a pushing 2/5 stroke;

⑥The K+△K ₆ +5 hydraulic support executes the pushing 1/2 stroke;

⑦ The K+△K ₇ +6 hydraulic support executes the pushing stroke of 3/5;

⑧ The K+△K ₈ +7 hydraulic supports execute the pushing 7/10 stroke;

⑨The K+△K ₉ +8 hydraulic supports perform a pushing 4/5 stroke;

⑩The K+△K ₁₀ +9 hydraulic support performs a pushing stroke of 9/10;

K+△K ₁₁ +10 hydraulic supports perform a pushing stroke;

The K+△K ₁₂ +11 hydraulic support performs the movement of lowering, moving and raising.

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.

Description of drawings

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.

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.

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.

Detailed ways

The specific implementation steps of the present invention are described in conjunction with accompanying drawings:

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.

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;

The specific steps of the construction method are as follows:

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. 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. 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. 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:

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. 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. 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:

${\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; K</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&Delta;K</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; K</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&Delta;K</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; \&Greater\; Equal;</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; \&Element;</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 0,1,2</span>}<span\; class="notranslate">\; ,</span><span\; class="notranslate">\; .</span><span\; class="notranslate">\; .</span><span\; class="notranslate">\; .</span><span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 11</span>}<span\; class="notranslate">\; )</span>$

Right now:

${\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; K</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&Delta;K</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\\ \mathrm{<span\; class="notranslate">\; K</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&Delta;K</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; \&Greater\; Equal;</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; \&Element;</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 0,1,2</span>}<span\; class="notranslate">\; ,</span><span\; class="notranslate">\; .</span><span\; class="notranslate">\; .</span><span\; class="notranslate">\; .</span><span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; 11</span>}<span\; class="notranslate">\; )</span>$

or $T_i=\left\{\begin{array}{c}K+x[\mathrm{int}\left(\frac{L_1}{2l}\right)+1)](i<1)\\ K-x\left[\mathrm{int}\left(\frac{L_2}{2l}\right)+i)\right](i\&Greater\; Equal;1)\end{array}\right.,i\&Element;(\mathrm{0,1,2},...,11)$

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. 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) When the short fuselage shearer 1 pulls the coal cutting 4 to the right:

① The K+△K ₁ +1 hydraulic support 3 performs the action of collecting the side board;

②The K-△K ₂ -1 hydraulic support 3 implements the extension of the side guard and pushes 1/10 of the stroke;

③ The K-△K ₃ -2 hydraulic support 3 executes a pushing stroke of 1/10;

④ K-△K ₄ -3 hydraulic support 3 executes push and slide 1/5 stroke;

⑤ K-△K ₅ -4 hydraulic support 3 executes a pushing stroke of 3/10;

⑥ The K-△K ₆ -5 hydraulic support 3 executes the pushing 2/5 stroke;

⑦ The K-△K _7-6 hydraulic support 3 executes the pushing 1/2 stroke;

⑧ The K-△K ₈ -7 hydraulic support 3 executes a push and slide 3/5 stroke;

⑨ The K-△K _9-8 hydraulic support 3 executes the pushing stroke of 7/10;

⑩The K-△K _10-9 hydraulic support 3 executes the pushing 4/5 stroke;

K-△K ₁₁ -10 hydraulic support 3 executes one push stroke;

The K-△K _12-11 hydraulic support 3 executes the movement of moving up and down.

2) When the short fuselage shearer 1 pulls the coal cutting 4 to the left:

① The K-△K ₁ -1 hydraulic support 3 performs the action of collecting the side board;

② K+△K ₂ +1 hydraulic support 3 implements stretching of the side guard and pushes 1/10 of the stroke;

③ K+△K ₃ + 2 hydraulic supports 3 perform a pushing stroke of 1/5;

④ The K+△K ₄ +3 hydraulic support 3 executes a pushing stroke of 3/10;

⑤K+△K ₅ +4 hydraulic support 3 executes a pushing 2/5 stroke;

⑥K+△K ₆ +5 hydraulic support 3 executes push 1/2 stroke;

⑦ The K+△K ₇ +6 hydraulic support 3 executes a pushing stroke of 3/5;

⑧ The K+△K ₈ +7 hydraulic support 3 executes the pushing stroke of 7/10;

⑨ The K+△K ₉ +8 hydraulic support 3 executes the pushing 4/5 stroke;

⑩The K+△K ₁₀ +9 hydraulic support 3 executes a pushing stroke of 9/10;

The K+△K ₁₁ +10 hydraulic support 3 executes a pushing stroke;

The K+△K ₁₂ +11 hydraulic support 3 executes the movement of moving up and down.

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. 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. 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. 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: ${\mathrm{\&Delta;K}}_i=\left\{\begin{array}{c}{\mathrm{\&Delta;K}}_1(i<1)\\ {\mathrm{\&Delta;K}}_2(i\&Greater\; Equal;1)\end{array}\right.,$ i∈(0,1,2,...,); 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. 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: 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. 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. 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: $K_i=\left\{\begin{array}{c}K+x({\mathrm{\&Delta;K}}_i+1)(i<1)\\ K-x({\mathrm{\&Delta;K}}_i+i)(i\&Greater\; Equal;1)\end{array}\right.,$ i∈(0,1,2,...,11) Right now: $T_i=\left\{\begin{array}{c}K+x({\mathrm{\&Delta;K}}_i+1)(i<1)\\ K-x({\mathrm{\&Delta;K}}_i+i)(i\&Greater\; Equal;1)\end{array}\right.,$ i∈(0,1,2,...,11) or $T_i=\left\{\begin{array}{c}K+x[\mathrm{int}\left(\frac{L_1}{2l}\right)+1)](i<1)\\ K-x[\mathrm{int}\left(\frac{L_2}{2l}\right)+i)](i\&Greater\; Equal;1)\end{array}\right.,$ 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. 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) When the short fuselage shearer pulls coal to the right: ①The K+△K ₁ +1 hydraulic support performs the action of collecting and protecting the side board; ②The K-△K ₂ -1 hydraulic support executes the extension of the side guard and pushes 1/10 of the stroke; ③ The K-△K ₃ -2 hydraulic supports perform a push and slide 1/10 of the stroke; ④ The K-△K ₄ -3 hydraulic supports perform a push and slide 1/5 stroke; ⑤ The K-△K ₅ -4 hydraulic supports perform a pushing stroke of 3/10; ⑥The K-△K _6-5 hydraulic support performs a pushing 2/5 stroke; ⑦ The K-△K ₇ -6 hydraulic supports perform a push-and-slide 1/2 stroke; ⑧The K-△K _8-7 hydraulic support performs a push and slide 3/5 stroke; ⑨The K-△K _9-8 hydraulic supports perform a push-and-slide 7/10 stroke; ⑩The K-△K _10-9 hydraulic support performs a push-slide 4/5 stroke; K-△K ₁₁ -10 hydraulic supports perform a pushing stroke; The K-△K _12-11 hydraulic support performs the movement of lowering and moving; 2) When the short fuselage shearer pulls coal to the left: ① The K-△K ₁ -1 hydraulic support performs the action of collecting the side board; ②The K+△K ₂ +1 hydraulic support executes the extension of the side guard and pushes 1/10 of the stroke; ③ The K+△K ₃ +2 hydraulic supports perform a pushing stroke of 1/5; ④ The K+△K ₄ +3 hydraulic supports perform a pushing stroke of 3/10; ⑤K+△K ₅ +4 hydraulic supports perform a pushing 2/5 stroke; ⑥The K+△K ₆ +5 hydraulic support executes the pushing 1/2 stroke; ⑦ The K+△K ₇ +6 hydraulic support executes the pushing stroke of 3/5; ⑧ The K+△K ₈ +7 hydraulic supports execute the pushing 7/10 stroke; ⑨The K+△K ₉ +8 hydraulic supports perform a pushing 4/5 stroke; ⑩The K+△K ₁₀ +9 hydraulic support performs a pushing stroke of 9/10; K+△K ₁₁ +10 hydraulic supports perform a pushing stroke; The K+△K ₁₂ +11 hydraulic support performs the movement of lowering, moving and raising.