CN104100277A - Automatic control system for pseudo-inclined fully mechanized mining face - Google Patents
Automatic control system for pseudo-inclined fully mechanized mining face Download PDFInfo
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Abstract
An automatic control system for a pseudo-inclined fully mechanized mining face comprises scrapper conveyers, hydraulic supports, support controllers, laser position sensors, laser range finders, angle sensors and inclination regulating jacks, each scrapper conveyer is formed by sequential connection of a plurality of chutes, every chute is connected with a pushing rod of the corresponding hydraulic support, the laser position sensors, the laser range finders and the angle sensors are connected with the support controllers via connectors, and one end of each inclination regulating jack is fixed on the adjacent hydraulic support in the gliding direction of the corresponding scrapper conveyer while the other end of the same is fixed on the chute connected with the local hydraulic support. The automatic control system for the pseudo-inclined fully mechanized mining face has the advantages that the problems of positioning and posture control of the hydraulic supports in the process of moving are solved via laser positioning signals, the vertical relation among the hydraulic supports and the scrapper conveyers are kept, component force, on the scrapper conveyers, generated by the hydraulic supports in the process of moving can be counteracted by weight components generated by the scrapper conveyers and the hydraulic supports, and thereby the problem of gliding up and down of workface equipment is solved.
Description
Technical field
The present invention relates to the pseudo-tiltedly automatic control system of a kind of fully-mechanized mining working, relate in particular to a kind of have the work plane solution working face equipment straightening at inclination angle and method and the control system of upper string downslide problem.
Background technology
Fully-mechanized mining working is arranged in order and forms at work plane by many hydraulic supports, realizes the support to face roof and the migration to scratch board conveyor.The hydraulic support of work plane is by the floating system retraining a little less than scratch board conveyor, in work plane passing process, because hydraulic support is connected by pin ear with scratch board conveyor, there is gap, cause passing and in course of action, have certain error, not high owing to controlling the precision of stroke sensor that hydraulic support passes in addition, the accumulation of error that multi-pass operation coordinates the error that causes and sensor accuracy to cause by equipment, finally cause working surface hydraulic support and scratch board conveyor bending not straight, directly affect coal cutting effect.There is the fully-mechanized mining working at inclination angle, because scratch board conveyor is in passing process, can produce a downward sliding force, causing scratch board conveyor entirety to glide.Due to the normal operation in order to realize work plane, the scratch board conveyor of work plane, hydraulic support should keep moving attitude, and work plane should be substantially on same straight line after passing.Meanwhile, in coal mining process, scratch board conveyor is the track of coal-winning machine operation, thus be the prerequisite that ensures scratch board conveyor straightness accuracy at the straightness accuracy of working surface hydraulic support, finally for coal-winning machine thereon reaches good coal cutting effect.
At present, the control that hydraulic support manual system work plane all glides by manually carrying out the control of work plane straightness accuracy and upper string.At the work plane that disposes electrohydraulic control system due to control system sensor error and the pin ear accumulation of error, and hydraulic system such as feeds back when stagnant at the problem, fully-mechanized mining working equipment straightening operation is most still taking artificial electric control operation as Main Means, needing especially operating personnel to do the laggard row of concrete judgement according to field condition for string downslide on large inclination working surface equipment controls manually, and in prior art, the control of straightness accuracy relies on the passing stroke of stroke sensor to judge substantially, there is no a set of verification feedback mechanism, once stroke sensor breaks down, make very much the straightness accuracy generation relatively large deviation of each hydraulic support and scratch board conveyor, bring serious impact to the normal mining work of work plane.Upper string glides does not have relevant electric-control system solution and auxiliary products thereof, equipment offset sharper slowdowns, easily cause crowded frame serious, conveyer head is too short, and to cause conveyer to unload coal not smooth, form coal piling phenomenon at head, when serious, may cause conveyer that elevating conveyor is pushed into outside fortune lane and helps rib, cause emergency exit, termination to be stopped up, also can bring down-hole accident
For this reason, this area urgent need is developed the pseudo-tiltedly automatic control system of a kind of safe and reliable fully-mechanized mining working and is used to solve Inclined Full-mechanized Mining Face the problems such as downslide and straightness accuracy control of going here and there, and realizes the pseudo-tiltedly automatic control system of work plane.
Summary of the invention
For addressing the above problem, the present invention proposes the pseudo-tiltedly automatic control system of a kind of fully-mechanized mining working, comprise scratch board conveyor, hydraulic support, bracket controller, laser positioning sensor, laser range finder, angular transducer and oblique adjusting jack, described scratch board conveyor is formed by connecting in turn by more piece chute, and every joint chute connects the pusher rod of a hydraulic support; Described laser positioning sensor, laser range finder and angular transducer are connected with bracket controller by connector; Described oblique adjusting jack one end is fixed on the adjacent hydraulic support of drag conveyor gliding direction, and the other end is fixed on the chute of this hydraulic support connection.
Preferred described laser positioning sensor is arranged on hydraulic support, configure altogether two, one of them is for locating between working surface hydraulic support, the reception of another one laser locator and transmitting terminal are arranged on respectively on the chute of hydraulic support and its connection, the relative position in moving process for detection of hydraulic support and scratch board conveyor, and hydraulic support makes scratch board conveyor and hydraulic support thrusting rod keep vertical relation in passing process, carry out the attitude control of work plane scratch board conveyor.
Preferred described laser range finder is arranged on the hydraulic support of face end, obtains the end hydraulic support of laser range finder measurement to the distance of gate road rib by bracket controller, judges the downslide amount of working face equipment according to the variable quantity of this distance.
Preferred described angular transducer is arranged on the hydraulic support of face end, the described distance of measuring according to described laser range finder, the pseudo-rake angle that evaluation work face need to be set and pseudo-gradient, and by bracket controller, the attitude of hydraulic support is adjusted to control.
Use the pseudo-tiltedly automatic control system of above-mentioned fully-mechanized mining working, comprise
1. setting angle sensor on face end support, the inclination angle of surveying work face, and according to the size at inclination angle, determine the pseudo-rake angle of work plane, be arranged into by work plane oblique, to produce a component upwards in the time that hydraulic support is passed, to overcome the downslide component producing due to inclination angle hydraulic support and the scratch board conveyor of work plane in the time passing, to solve the downslide of working surface hydraulic support and scratch board conveyor, according to calculated value and measured value, rely on and adjust frame jack to carry out hydraulic support angle adjustment.
2. work plane completes the laser positioning sensor Emission Lasers on the hydraulic support that moves frame, provide and move the location criteria that frame puts in place for not moving the hydraulic support of frame, execution moves the laser positioning sensor of installing on the hydraulic support of frame and receives laser signal, when arriving and having completed while moving the position that the hydraulic support of frame aligns, stop moving frame, thereby realize the straightness accuracy control of working surface hydraulic support.
3. work plane is in the time carrying out pushing and sliding, need to open oblique adjusting jack, keep hydraulic support and scratch board conveyor to keep vertical relation, to ensure carrying out pseudo-gradient control according to work plane oblique adjusting angle, move in frame process in execution, should use the attitude of adjusting after frame jack pair hydraulic moving stand process finishes to control, to ensure that hydraulic support and scratch board conveyor keep plumbness substantially.
4. working surface hydraulic support successively, repeat passing process, glide thereby solve upper string in the continuous progradation of work plane, the problem of straightness accuracy control.
5. on face end support, pass through the gap of laser range finder measuring junction head bracket and tunnel rib, judge thus the downslide amount of working face equipment, adjust pseudo-gradient simultaneously, prevent that the continuation of working face equipment from gliding.
The invention has the advantages that: solved location and the attitude control problem of hydraulic support in passing process by laser positioning signal, automatically control the pseudo-gradient of work plane according to the inclination angle of work plane, according to laser locator, to complete the hydraulic support that moves frame as object of reference, realize the accurate location of hydraulic moving stand process, thereby realized the control of work plane straightness accuracy; Hydraulic support and scratch board conveyor maintenance vertical relation are realized by laser positioning sensor, the downslide component that upwards component and scratch board conveyor that its hydraulic support produces scratch board conveyor in pushing and sliding process and hydraulic support weight are produced is offset, thereby has effectively solved the problem of string downslide on working face equipment.System has automatic control, simple in structure, and precision is high, and reliability is high, installation, maintenance, the advantage such as easy to use.
Brief description of the drawings
Accompanying drawing 1 is the pseudo-work plane schematic diagram of tiltedly controlling;
Accompanying drawing 2 is of the present invention with the working surface hydraulic support of laser positioning sensor and the structure chart of scratch board conveyor;
Accompanying drawing 3 is working surface hydraulic support group annexation operating principle schematic diagram in the pseudo-tiltedly automatic control system of fully-mechanized mining working of the present invention.
Reference numeral is as follows: 1-scratch board conveyor; 2-hydraulic support; 3-bracket controller; 4-angular transducer; 5-laser positioning sensor; 6-laser range finder.
Detailed description of the invention
Referring to accompanying drawing 1-3, it has been described according to the pseudo-tiltedly preferred embodiment of automatic control system of fully-mechanized mining working of the present invention, in the present embodiment, the across pitch stope that is in tilted layout, work plane, according to the oblique control mode of puppet, is arranged to a parallelogram by work plane, is tiltedly controlled and on drag conveyor, is altered downslide by the puppet of work plane, along with the iterative method of work plane, the scratch board conveyor that each hydraulic support promotes front moves forward in turn.Bracket controller and laser positioning sensor are installed on hydraulic support, bracket controller carries out the basic operations such as this pushing bracket action, and can carry out communication with other bracket controller, information transmits and receive data, bracket controller is connected by connector with laser positioning sensor, bracket controller can be controlled laser positioning sensor and receive and transmitted signal, laser positioning sensor is arranged on hydraulic support column and between two posts and on scratch board conveyor, for avoiding laser positioning sensor to come off and ensureing the steady and audible of laser signal, preferably laser positioning sensor is fixed on the front column of hydraulic support by connecting steel ring, its signal transmitting and receiving window stretches out by steel pole, and ensure below the top board of its signal transmitting and receiving window in hydraulic support.Laser positioning sensor comprises transmitter unit and receiving element, transmitter unit Emission Lasers signal, laser signal is preferably grating signal, receiving element receives laser signal, bracket controller connects laser positioning sensor by linkage unit, can be by ordering to select to carry out signal transmission or reception, receiving element is many group patterns formula, form by multiple laser pickoffs the matrix that laser signal receives, receive laser grating signal, to control the frame that moves of hydraulic support, and according to laser pick-off signal the position in receiving array, be confirmed whether to put in place or exceed, put with the chord position that moves of controlling preferably hydraulic support, thereby reach the Precise control of work plane straightness accuracy.
Pass through this setup, complete on the hydraulic support two ends support that moves frame, the generating laser of opening laser positioning sensor by bracket controller sends hydraulic moving stand locating laser signal, carry out the bracket controller that moves frame and opening the laser pickoff of laser positioning sensor, detect and move frame laser positioning signal at any time, when bracket controller detects while moving frame laser positioning signal, stop moving frame action, and will not complete the hydraulic support that moves frame edge and closing the generating laser of laser positioning sensor, complete the generating laser of opening laser positioning sensor that moves frame, the hydraulic support that does not move frame for adjacent frame and shelf provides and moves frame locating laser signal.
For the hydraulic support of realizing with machine automation control, may be because coal shearer speed is very fast, hydraulic support there will be many phenomenons of moving frame, need to carry out the sequential control of laser signal according to moving frame stroke like this, first the hydraulic support that has approached unit advance finishes to move frame process according to the frame locating laser signal that moves receiving, and open immediately the generating laser that moves frame laser positioning sensor, provide and move frame locating laser signal for other do not complete the hydraulic support that moves frame.
Working surface hydraulic support completes same above-mentioned steps successively, each hydraulic support moves frame in a manner described successively, until moving frame, this work plane all hydraulic support completes, now the frame distance of moving of all support of work plane is all consistent with the frame distance of moving of first hydraulic support, and each hydraulic support can keep a reasonable straightness accuracy.In hydraulic moving stand process, also to make hydraulic support and scratch board conveyor keep vertical relation, for this reason, rely on the laser positioning sensor of installing on hydraulic support and on corresponding scratch board conveyor, carry out the adjustment in vertical direction, complete moving in frame process by the tune frame mechanism of hydraulic support, laser signal contraposition on hydraulic support and scratch board conveyor, guarantee in hydraulic moving stand process and move frame and finish after all keep vertical with scratch board conveyor, can ensure like this can offset according to the sliding force of the upwards component calculating and scratch board conveyor and hydraulic support equipment deadweight generation in the time of hydraulic support pushing and sliding, glide to solve the upper string of working face equipment in passing process.Adopt the gap that laser range finder measuring junction head bracket and tunnel rib are installed on face end support, judge thus the downslide amount of working face equipment, adjust pseudo-gradient simultaneously, prevent that the continuation of working face equipment from gliding.
Particularly, use the pseudo-tiltedly automatic control system of above-mentioned fully-mechanized mining working, can comprise the following steps:
1. setting angle sensor on face end support, the inclination angle of surveying work face, and according to the size at inclination angle, determine the pseudo-rake angle of work plane, be arranged into by work plane oblique, to produce a component upwards in the time that hydraulic support is passed, to overcome the downslide component producing due to inclination angle hydraulic support and the scratch board conveyor of work plane in the time passing, to solve the downslide of working surface hydraulic support and scratch board conveyor, according to calculated value and measured value, rely on and adjust frame jack to carry out hydraulic support angle adjustment.
2. work plane completes the laser positioning sensor Emission Lasers on the hydraulic support that moves frame, provide and move the location criteria that frame puts in place for not moving the hydraulic support of frame, execution moves the laser positioning sensor of installing on the hydraulic support of frame and receives laser signal, when arriving and having completed while moving the position that the hydraulic support of frame aligns, stop moving frame, thereby realize the straightness accuracy control of working surface hydraulic support.
3. work plane is in the time carrying out pushing and sliding, need to open oblique adjusting jack, keep hydraulic support and scratch board conveyor to keep vertical relation, to ensure carrying out pseudo-gradient control according to work plane oblique adjusting angle, move in frame process in execution, should use the attitude of adjusting after frame jack pair hydraulic moving stand process finishes to control, to ensure that hydraulic support and scratch board conveyor keep plumbness substantially.
4. working surface hydraulic support successively, repeat passing process, glide thereby solve upper string in the continuous progradation of work plane, the problem of straightness accuracy control.
5. on face end support, pass through the gap of laser range finder measuring junction head bracket and tunnel rib, judge thus the downslide amount of working face equipment, adjust pseudo-gradient simultaneously, prevent that the continuation of working face equipment from gliding.
The concrete grammar of altering downslide on wherein controlling is as follows:
The work plane strike pitch that face end support is measured according to angular transducer, determines and controls pseudo-gradient, and carry out face end support move frame control;
The bracket controller that completes the hydraulic support that moves frame moves towards according to working face equipment, controls corresponding laser positioning sensor transmitter unit and sends laser positioning signal, and the hydraulic support that moves frame for close preparation provides and moves frame position signalling;
The hydraulic support that preparation moves frame is moving in frame process constantly detection level and vertical laser positioning sensor laser position reception signal, control in the horizontal direction the straightness accuracy that hydraulic moving stand keeps working surface hydraulic support, control in vertical direction the upwards component in hydraulic support passing process, scratch board conveyor being produced, itself and the sliding force producing due to the deadweight of scratch board conveyor and hydraulic support equipment are offseted, make it in equilibrium state, thereby the upper string that solves working face equipment glides, and realizes the control of work plane straightness accuracy;
Repeat above-mentioned steps, can make work plane keep operation attitude, realize the continuous production operation of work plane.
The above; it is only preferably detailed description of the invention of patent of the present invention; but the protection domain of patent of the present invention is not limited to this; anyly be familiar with in technical scope that those skilled in the art disclose in patent of the present invention; the variation that can expect easily or replacement, within all should being encompassed in the protection domain of patent of the present invention.
Claims (4)
1. the pseudo-tiltedly automatic control system of fully-mechanized mining working, comprise scratch board conveyor, hydraulic support, bracket controller, laser positioning sensor, laser range finder, angular transducer and oblique adjusting jack, it is characterized in that: described scratch board conveyor is formed by connecting in turn by more piece chute, every joint chute connects the pusher rod of a hydraulic support; Described laser positioning sensor, laser range finder and angular transducer are connected with bracket controller by connector; Described oblique adjusting jack one end is fixed on the adjacent hydraulic support of drag conveyor gliding direction, and the other end is fixed on the chute of this hydraulic support connection.
2. the pseudo-tiltedly automatic control system of fully-mechanized mining working as claimed in claim 1, it is characterized in that: described laser positioning sensor is arranged on hydraulic support, configure altogether two, one of them is for locating between working surface hydraulic support, the reception of another one laser locator and transmitting terminal are arranged on respectively on the chute of hydraulic support and its connection, the relative position in moving process for detection of hydraulic support and scratch board conveyor, and hydraulic support makes scratch board conveyor and hydraulic support thrusting rod keep vertical relation in passing process, carry out the attitude control of work plane scratch board conveyor.
3. the pseudo-tiltedly automatic control system of fully-mechanized mining working as claimed in claim 1 or 2, it is characterized in that: described laser range finder is arranged on the hydraulic support of face end, obtain the end hydraulic support of laser range finder measurement to the distance of gate road rib by bracket controller, judge the downslide amount of working face equipment according to the variable quantity of this distance.
4. the pseudo-tiltedly automatic control system of fully-mechanized mining working as claimed in claim 3, it is characterized in that: described angular transducer is arranged on the hydraulic support of face end, the described distance of measuring according to described laser range finder, the pseudo-rake angle that evaluation work face need to be set and pseudo-gradient, and by bracket controller, the attitude of hydraulic support is adjusted to control.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105422156A (en) * | 2015-12-11 | 2016-03-23 | 北京天地玛珂电液控制系统有限公司 | Automatic pushing-rolling control method for thin coal seam |
| CN105909294A (en) * | 2016-07-02 | 2016-08-31 | 山东科技大学 | Hydraulic support with pose detection and control function and working method thereof |
| CN108397230A (en) * | 2018-05-04 | 2018-08-14 | 王海军 | A kind of underground coal mine scratch board conveyor straightening and personnel's locking system |
| CN108518221A (en) * | 2018-05-10 | 2018-09-11 | 天地科技股份有限公司 | A kind of automation coal mining system and method based on various dimensions positioning and deep learning |
| CN108663032A (en) * | 2018-04-20 | 2018-10-16 | 太原理工大学 | Working surface hydraulic support posture and linearity testing apparatus based on robot and method |
| CN110043257A (en) * | 2019-06-05 | 2019-07-23 | 中国矿业大学(北京) | A kind of coalcutter automatic reversing system |
| CN110057324A (en) * | 2019-06-08 | 2019-07-26 | 天地科技股份有限公司 | A kind of coal face hydraulic support and drag conveyor straightness monitoring method |
| CN110426016A (en) * | 2019-07-30 | 2019-11-08 | 精英数智科技股份有限公司 | A kind of alignment householder method and system for moving frame for fully-mechanized mining working surface hydraulic support |
| CN111442759A (en) * | 2020-03-05 | 2020-07-24 | 天地科技股份有限公司 | Combine and adopt unified monitoring system of working face equipment position appearance |
| CN111997679A (en) * | 2020-09-09 | 2020-11-27 | 重庆工程职业技术学院 | Fully-mechanized coal mining face end pushing state monitoring device |
| CN112879097A (en) * | 2021-04-09 | 2021-06-01 | 郑州煤机液压电控有限公司 | Automatic detection method for upward movement or downward movement of coal face conveyor |
| CN112983523A (en) * | 2021-04-09 | 2021-06-18 | 郑州煤机液压电控有限公司 | Method for detecting abnormity of pushing, sliding and moving frame of fully mechanized coal mining face of coal mine |
| CN113217068A (en) * | 2021-04-28 | 2021-08-06 | 太原理工大学 | Working face detection device, method, terminal and storage medium |
| CN113464141A (en) * | 2021-08-25 | 2021-10-01 | 国能神东煤炭集团有限责任公司 | Triangular coal area recovery method |
| CN114427476A (en) * | 2021-12-17 | 2022-05-03 | 北京天玛智控科技股份有限公司 | Hydraulic support, attitude control method of hydraulic support and attitude control device of hydraulic support |
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| CN105909294A (en) * | 2016-07-02 | 2016-08-31 | 山东科技大学 | Hydraulic support with pose detection and control function and working method thereof |
| CN108663032A (en) * | 2018-04-20 | 2018-10-16 | 太原理工大学 | Working surface hydraulic support posture and linearity testing apparatus based on robot and method |
| CN108663032B (en) * | 2018-04-20 | 2020-07-03 | 太原理工大学 | Working face hydraulic support posture and straightness detection device and method based on robot |
| CN108397230A (en) * | 2018-05-04 | 2018-08-14 | 王海军 | A kind of underground coal mine scratch board conveyor straightening and personnel's locking system |
| CN108518221B (en) * | 2018-05-10 | 2024-02-20 | 天地科技股份有限公司 | Automatic coal mining system and method based on multidimensional positioning and deep learning |
| CN108518221A (en) * | 2018-05-10 | 2018-09-11 | 天地科技股份有限公司 | A kind of automation coal mining system and method based on various dimensions positioning and deep learning |
| CN110043257A (en) * | 2019-06-05 | 2019-07-23 | 中国矿业大学(北京) | A kind of coalcutter automatic reversing system |
| CN110057324A (en) * | 2019-06-08 | 2019-07-26 | 天地科技股份有限公司 | A kind of coal face hydraulic support and drag conveyor straightness monitoring method |
| CN110057324B (en) * | 2019-06-08 | 2020-09-04 | 中煤科工开采研究院有限公司 | Method for monitoring straightness of coal face hydraulic support and scraper conveyor |
| CN110426016A (en) * | 2019-07-30 | 2019-11-08 | 精英数智科技股份有限公司 | A kind of alignment householder method and system for moving frame for fully-mechanized mining working surface hydraulic support |
| CN111442759A (en) * | 2020-03-05 | 2020-07-24 | 天地科技股份有限公司 | Combine and adopt unified monitoring system of working face equipment position appearance |
| CN111442759B (en) * | 2020-03-05 | 2023-10-31 | 天地科技股份有限公司 | Unified monitoring system for pose of fully-mechanized coal mining face equipment |
| CN111997679A (en) * | 2020-09-09 | 2020-11-27 | 重庆工程职业技术学院 | Fully-mechanized coal mining face end pushing state monitoring device |
| CN112879097A (en) * | 2021-04-09 | 2021-06-01 | 郑州煤机液压电控有限公司 | Automatic detection method for upward movement or downward movement of coal face conveyor |
| CN112983523A (en) * | 2021-04-09 | 2021-06-18 | 郑州煤机液压电控有限公司 | Method for detecting abnormity of pushing, sliding and moving frame of fully mechanized coal mining face of coal mine |
| CN112879097B (en) * | 2021-04-09 | 2022-06-24 | 郑州煤机液压电控有限公司 | Automatic detection method for upward movement or downward movement of coal face conveyor |
| CN113217068A (en) * | 2021-04-28 | 2021-08-06 | 太原理工大学 | Working face detection device, method, terminal and storage medium |
| CN113464141A (en) * | 2021-08-25 | 2021-10-01 | 国能神东煤炭集团有限责任公司 | Triangular coal area recovery method |
| CN114427476A (en) * | 2021-12-17 | 2022-05-03 | 北京天玛智控科技股份有限公司 | Hydraulic support, attitude control method of hydraulic support and attitude control device of hydraulic support |
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