CN104058215A - Scrapping plate conveyor dynamic straightening method based on absolute motion trajectory of coal cutter - Google Patents
Scrapping plate conveyor dynamic straightening method based on absolute motion trajectory of coal cutter Download PDFInfo
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Abstract
The invention provides a scrapping plate conveyor dynamic straightening method based on the absolute motion trajectory of a coal cutter and belongs to a scrapping plate conveyor dynamic straightening method for a full-mechanized mining face. In the dynamic straightening method, a positioning device mounted on the coal cutter is utilized, so as to conduct real-time monitoring to the moving trajectory of the coal cutter along the scrapping plate conveyor; a signal processing circuit analyzes the dynamic position data of the coal cutter moving along the scrapping plate conveyor under the set spatial coordinate system; the absolute motion trajectory curve of the coal cutter and target reference motion trajectory of the quire under the geographical spatial coordinate system are concluded; a micro controller draws a target reference motion trajectory of a next quire according to the target reference trajectory and the working face coal bed terrain; the displacement distance of each hydraulic support is calculated; the micro controller controls an electro hydraulic control system via an output circuit; the electro hydraulic control system controls each bracket controller, so as to push a jack forward and enables the scrapping plate conveyor to meet the linear requirement. The positioning device on the coal cutter detects the orientation of the full-mechanized mining face in the geographical spatial coordinate system, so that adjusting false inclination of the full-mechanized mining face can be achieved.
Description
Technical field
The present invention relates to the dynamic aligning method of a kind of coal mine fully-mechanized mining working slat conveyer, particularly a kind of dynamic aligning method of slat conveyer based on coalcutter absolute motion track.
Background technology
At present, main coal production state in the world, driving surface major part is all to adopt long-armed coal-mining method, i.e. the fully-mechanized mining working taking hydraulic support electrohydraulic control, coalcutter and hydraulic support interlock as feature.In coal production process, realize method that fully-mechanized mining working produces normally and efficiently and be fully-mechanized mining working " three straight flat ": hydraulic support, the rib cutting, slat conveyer keep respectively point-blank.
Fully-mechanized mining working surface conveyer is the operation guide rail of coalcutter, is again the fulcrum of hydraulic support; Slat conveyer is directly the basis in driving surface " three is straight ", is crucial.The driving surface that slat conveyer directly cuts out could be straight; If driving surface is not straight, slat conveyer must be also bending, and vice versa.Slat conveyer bending will cause chain unbalance stress, and between chain and key way, wearing and tearing aggravate and cause scraper plate crooked, and severe patient is broken scraper plate, and bending may make coalcutter slide down when serious.Therefore the slat conveyer fuselage that directly can effectively prevent from mining is gnawed top and is stung ground, and has ensured the smooth feed of coalcutter cutting rib, thereby has guaranteed that driving surface is straight.
Because electrohydraulic control hydraulic support is passed each time and is inevitably had accumulated error, cause driving surface to occur bending, bring series of problems in coal production, for example coalcutter is along the current difficulty of slat conveyer, slat conveyer load increases, wearing and tearing aggravation, equipment failure rate increases, the problems such as working surface production Efficiency Decreasing.
Must carry out at present artificial alignment, its method is: draw a rope as benchmark at fully-mechanized mining working two ends, by manually judging, in the time that driving surface occurs that local appearance is bending, carry out pushing and sliding correction by manual operation hydraulic support.But the driving surface of this situation and degree of automation is extremely unbecoming.
In patent of invention " fully-mechanized mining working surface hydraulic support and slat conveyer automatic alignment method and system " (201310058049.8), adopt the stroke sensor being arranged on hydraulic support to measure two relative positions between hydraulic support, to specify hydraulic support as benchmark, carry out the hydraulic support in straightening stated limit, the reading that makes stroke sensor is zero; But stroke sensor exists error, in the process of hydraulic support straightening, error constantly accumulative total cannot be eliminated.Even so sensor reading is zero can not determine that hydraulic support is in straightening state; And there is no reference azimuth in straightening, the not parallel angle that occurs of hydraulic support and driving surface in the process of straightening, can not detect, driving surface is tilted.And this invention is not suitable for the driving surface that needs oblique adjusting yet.
Patent of invention " fully-mechanized mining working bending detection device and method for aligning and system " is the middle inertial navigation system that adopts inertia sensitive element and level inclination sensor combinations or three axle inertial sensors and double-shaft tilt angle sensor combination (200910215616.X), and coalcutter is detected in real time along slat conveyer running orbit and attitude; But because inertial navigation system exists the device of not eliminating cumulative errors in cumulative errors and this device.So can not accurately detect the running orbit of coalcutter, just can not reach alignment state while carrying out driving surface straightening.
In patent of invention " fully mechanized coal face slat conveyer fuselage automatic alignment device and control method " (201110053172.1), pass through the displacement of ultrasonic transduter Real-Time Monitoring support advancing jack, again taking the displacement of the advancing jack of Metal pylon as benchmark, simulate the straightness accuracy of slat conveyer, and compare and draw error with theoretical straightness accuracy, then adjust the straightness accuracy of slat conveyer by bracket controller; But in its medium-height trestle passing process, have error, can not make support remain on desirable straight line, so even if control advancing jack, making its error is zero, can not make slat conveyer reach theoretical straightness accuracy requirement.
Summary of the invention
The object of the invention is to provide a kind of dynamic aligning method of slat conveyer based on coalcutter absolute motion track, solves fully-mechanized mining working surface conveyer because there is no the problem that benchmark cannot the bending of testing face, makes fully-mechanized mining working realize alignment automation.
For achieving the above object, the present invention adopts following technical scheme: this aligning method comprises: the method for the dynamic alignment of slat conveyer when the dynamic aligning method of fully-mechanized mining working surface conveyer and fully-mechanized mining working are adjusted pseudo-inclination;
The dynamic aligning method step of described fully-mechanized mining working surface conveyer is:
(1), can monitor out the real-time absolute coordinates of coalcutter under geographical space system of axes by coalcutter registration device;
(2), go out under geographical space system of axes coalcutter along the absolute running orbit line of slat conveyer by a series of real-time coordinate fitting of coalcutter; And obtain the position coordinate of its pushing and sliding point in trajectory according to hydraulic support in the layout of driving surface;
(3), by absolute the coalcutter simulating running orbit line projection to horizontal surface, obtain coalcutter projected footprint line; On projected footprint line, find the bench mark D as target reference locus from driving surface projection line point farthest;
(4), according to driving surface coal seam topographic condition, by the bench mark of target reference locus, draw target reference locus, by target reference locus along advance of the face direction translation H distance, obtain the target reference locus of next cutter, described H distance is hydraulic support acquiescence passing displacement;
(5), as calculated the distance d of target reference locus is put in pushing and sliding
i, for making slat conveyer pass the position of the target reference locus of next cutter, the distance that hydraulic support is passed forward at pushing and sliding point along advance of the face direction is d=H-d
i;
(6), by the hydraulic support calculating pushing distance forward, pass to bracket controller through data transmission circuit, control the passing of pushing and sliding hydraulic actuating cylinders, realize the adjustment to slat conveyer straightness accuracy, realize propelling and the alignment of fully-mechanized mining working.
When described fully-mechanized mining working is adjusted pseudo-inclination, the step of the method for the dynamic alignment of slat conveyer is:
(1), detect coalcutter real-time coordinate under geographical space system of axes by coalcutter registration device, and simulate its absolute running orbit line;
(2), the absolute running orbit of coalcutter is projected in floor undulation plane, obtain projected footprint line G; Detect the orientation W of projected footprint line G under geographical space system of axes by coalcutter registration device
1, its needed orientation W adjusting under geographical space system of axes
2;
(3), on projection line G, find the bench mark (M) as target reference locus from driving surface projection line point farthest; According to driving surface coal seam topographic condition, by the bench mark M of target reference locus, draw target reference locus;
(4), on fully-mechanized mining working, taking one end of target reference locus as centre of gration, target reference locus is rotated; And making the swing offset of the other end is H distance, obtaining orientation is W
1' rotate straight line, be the target reference locus line of next cutter, described H distance is that hydraulic support acquiescence is passed displacement;
(5), as calculated the pushing and sliding distance of putting target reference locus line is d, the displacement that is hydraulic support and passes slat conveyer; And have CPU micro-control unit by the displacement obtaining, and pass to bracket controller through data transmission circuit, control the passing of pushing and sliding hydraulic actuating cylinder, realize oblique adjusting and the alignment of fully-mechanized mining working;
(6), repeating step (3)-(5), until the orientation of fully-mechanized mining working under geographical space coordinate is W
2.
Beneficial effect, owing to having adopted such scheme, in the present invention, eliminated the cumulative errors of inertial navigation element by UWB, described UWB Chinese is ultra broadband, it is a kind of carrierfree communication technology, utilize the non-sinusoidal wave burst pulse transmission data of nanosecond to picosecond level, can accurately locate the position of coalcutter under space coordinates, and can simulate its running orbit along slat conveyer, needn't rely on the straightness accuracy of hydraulic support to adjust the bending of slat conveyer, the sinuousness that can direct-detection goes out slat conveyer, realizes the alignment of slat conveyer; The slat conveyer load of alignment reduces, and reduces wear; Reduce equipment failure rate; Improve working surface production efficiency; Change the manually behindhand type of alignment, improve automation; Utilization is arranged on the registration device on coalcutter, coalcutter is carried out to Real-Time Monitoring along slat conveyer running orbit, parse coalcutter dynamic position data while moving along slat conveyer under the space coordinates of setting by signal processing circuit, simulate the target of its absolute motion geometric locus under geographical space system of axes and this cutter with reference to path of motion, draw the target trajectory of next cutter by CPU micro controller unit according to target reference locus and driving surface coal seam topographic condition again, and then calculate the pushing distance of each hydraulic support.CPU micro controller unit sends to full face electrohydraulic control system through data output circuit the pushing distance of each hydraulic support, full face electrohydraulic control system is passed to the bracket controller of each hydraulic support, control advancing jack pushing and sliding, make slat conveyer reach straight line requirement.This coalcutter registration device can also detect the orientation of fully-mechanized mining working in geographical space system of axes, can realize the pseudo-inclination of tune of fully-mechanized mining working.
Advantage: the space coordinates of setting, for determining that the orientation of fully-mechanized mining working provides a reference coordinate system, thus known its in the orientation of system of axes, can realize the tune of driving surface pseudo-tilt.
Brief description of the drawings
Fig. 1 is the fully-mechanized mining working alignment system chart that the present invention is based on coalcutter absolute motion track.
Fig. 2 is fully-mechanized mining working schematic diagram.
Fig. 3 is the perspective view of fully-mechanized mining working in XY plane.
Fig. 4 is that the fully-mechanized mining working that the present invention is based on coalcutter absolute motion track advances and alignment schematic diagram.
Fig. 5 adjusts pseudo-inclination schematic diagram for the present invention is based on coalcutter absolute motion track fully-mechanized mining working.
In figure: 1, working face wall; 2,11, slat conveyer; 3, hydraulic support; 4,7, coalcutter; 5, UWB; 6 ', the projection of coalcutter real-world operation track on horizontal surface; 8, the projection of the ideal trajectory that coalcutter moves this moment on horizontal surface; 8 ', the ideal trajectory of next cutter of coalcutter operation is in the projection on horizontal surface; 9, solid arrow represents that pushing and sliding put the distance of projection line 7; 10, empty arrow represents the distance that support will be passed; 11, slat conveyer is passed process; 12, floor undulation; 13, geographical space system of axes.
Detailed description of the invention
Embodiment 1: this aligning method comprises: the method for the dynamic alignment of slat conveyer when the dynamic aligning method of fully-mechanized mining working surface conveyer and fully-mechanized mining working are adjusted pseudo-inclination; Utilization is arranged on the registration device on coalcutter, coalcutter is carried out to Real-Time Monitoring along slat conveyer running orbit, parse coalcutter dynamic position data while moving along slat conveyer under the space coordinates of setting by signal processing circuit, simulate the target of its absolute motion geometric locus under geographical space system of axes and this cutter with reference to path of motion 8, again by CPU micro controller unit according to target reference locus and driving surface coal seam topographic condition draw the target trajectory 8 of next cutter ', and then calculate the pushing distance of each hydraulic support.CPU micro controller unit sends to full face electrohydraulic control system through data output circuit the pushing distance of each hydraulic support, full face electrohydraulic control system is passed to the bracket controller of each hydraulic support, control advancing jack pushing and sliding, make slat conveyer reach straight line requirement.This coalcutter registration device can also detect the orientation of fully-mechanized mining working in geographical space system of axes, can realize the pseudo-inclination of tune of fully-mechanized mining working.
The dynamic aligning method step of described fully-mechanized mining working surface conveyer is:
(1), can monitor out the real-time absolute coordinates of coalcutter under geographical space system of axes 13 by coalcutter registration device;
(2), go out under geographical space system of axes coalcutter along the absolute running orbit line 6 of slat conveyer by a series of real-time coordinate fitting of coalcutter; And obtain the position coordinate of its pushing and sliding point in trajectory 6 according to hydraulic support in the layout of driving surface;
(3), by absolute the coalcutter simulating running orbit line projection to horizontal surface, obtain coalcutter projected footprint line 6 '; On projected footprint line, find the bench mark D as target reference locus from driving surface projection line point farthest;
(4), according to driving surface coal seam topographic condition, by the bench mark of target reference locus, draw target reference locus 8, by target reference locus 8 along advance of the face direction translation H distance, obtain the target reference locus 8 of next cutter ', described H distance is hydraulic support acquiescence passing displacement;
(5), as calculated the distance d of target reference locus 8 is put in pushing and sliding
i, for make slat conveyer pass the target reference locus 8 of next cutter ' position, the distance that hydraulic support is passed forward at pushing and sliding point along advance of the face direction is d=H-d
i;
(6), by the hydraulic support calculating pushing distance forward, pass to bracket controller through data transmission circuit, control the passing of pushing and sliding hydraulic actuating cylinders, realize the adjustment to slat conveyer straightness accuracy, realize propelling and the alignment of fully-mechanized mining working;
When described fully-mechanized mining working is adjusted pseudo-inclination, the step of the method for the dynamic alignment of slat conveyer is:
(1), detect coalcutter real-time coordinate under geographical space system of axes by coalcutter registration device 13, and simulate its absolute running orbit line 6;
(2), the absolute running orbit 6 of coalcutter is projected in floor undulation plane, obtain projected footprint line G; Detect the orientation W of projected footprint line G under geographical space system of axes by coalcutter registration device
1, its needed orientation W adjusting under geographical space system of axes
2;
(3), on projection line G, find the bench mark (M) as target reference locus from driving surface projection line point farthest; According to driving surface coal seam topographic condition, by the bench mark M of target reference locus, draw target reference locus 8;
(4), on fully-mechanized mining working, taking one end of target reference locus as centre of gration, by target reference locus rotation 8; And making the swing offset of the other end is H distance, obtaining orientation is W
1' rotate straight line, be the target reference locus line 8 of next cutter ", described H distance is that hydraulic support acquiescence is passed displacement;
(5), as calculated the pushing and sliding distance of putting target reference locus line is d, the displacement that is hydraulic support and passes slat conveyer; And have CPU micro-control unit by the displacement obtaining, and pass to bracket controller through data transmission circuit, control the passing of pushing and sliding hydraulic actuating cylinder, realize oblique adjusting and the alignment of fully-mechanized mining working;
(6), repeating step (3)-(5), until the orientation of fully-mechanized mining working under geographical space coordinate is W
2.
Claims (1)
1. the dynamic aligning method of slat conveyer based on coalcutter absolute motion track, is characterized in that: this aligning method comprises: the method for the dynamic alignment of slat conveyer when the dynamic aligning method of fully-mechanized mining working surface conveyer and fully-mechanized mining working are adjusted pseudo-inclination;
The dynamic aligning method step of described fully-mechanized mining working surface conveyer is:
(1), can monitor out the real-time absolute coordinates of coalcutter under geographical space system of axes by coalcutter registration device;
(2), go out under geographical space system of axes coalcutter along the absolute running orbit line of slat conveyer by a series of real-time coordinate fitting of coalcutter; And obtain the position coordinate of its pushing and sliding point in trajectory according to hydraulic support in the layout of driving surface;
(3), by absolute the coalcutter simulating running orbit line projection to horizontal surface, obtain coalcutter projected footprint line; On projected footprint line, find the bench mark D as target reference locus from driving surface projection line point farthest;
(4), according to driving surface coal seam topographic condition, by the bench mark of target reference locus, draw target reference locus, by target reference locus along advance of the face direction translation H distance, obtain the target reference locus of next cutter, described H distance is hydraulic support acquiescence passing displacement;
(5), as calculated the distance di of target reference locus is put in pushing and sliding, for making slat conveyer pass the position of the target reference locus of next cutter, the distance that hydraulic support is passed forward at pushing and sliding point along advance of the face direction is d=H-d
i;
(6), by the hydraulic support calculating pushing distance forward, pass to bracket controller through data transmission circuit, control the passing of pushing and sliding hydraulic actuating cylinders, realize the adjustment to slat conveyer straightness accuracy, realize propelling and the alignment of fully-mechanized mining working;
When described fully-mechanized mining working is adjusted pseudo-inclination, the step of the method for the dynamic alignment of slat conveyer is:
(1), detect coalcutter real-time coordinate under geographical space system of axes by coalcutter registration device, and simulate its absolute running orbit line;
(2), the absolute running orbit of coalcutter is projected in floor undulation plane, obtain projected footprint line G; Detect the orientation W1 of projected footprint line G under geographical space system of axes by coalcutter registration device, its needed orientation W2 adjusting under geographical space system of axes;
(3), on projection line G, find the bench mark (M) as target reference locus from driving surface projection line point farthest; According to driving surface coal seam topographic condition, by the bench mark M of target reference locus, draw target reference locus;
(4), on fully-mechanized mining working, taking one end of target reference locus as centre of gration, target reference locus is rotated; And making the swing offset of the other end is H distance, obtaining orientation is W
1' rotate straight line, be the target reference locus line of next cutter, described H distance is that hydraulic support acquiescence is passed displacement;
(5), as calculated the pushing and sliding distance of putting target reference locus line is d, the displacement that is hydraulic support and passes slat conveyer; And have CPU micro-control unit by the displacement obtaining, and pass to bracket controller through data transmission circuit, control the passing of pushing and sliding hydraulic actuating cylinder, realize oblique adjusting and the alignment of fully-mechanized mining working;
(6), repeating step (3)-(5), until the orientation of fully-mechanized mining working under geographical space coordinate is W
2.
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| CN110595462B (en) * | 2019-05-23 | 2021-01-19 | 北斗天地股份有限公司山东分公司 | Straight line fitting method |
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