CN105134276A - Coal caving control system of steep-inclined super-thick coal seam short-wall sub-level caving working face - Google Patents
Coal caving control system of steep-inclined super-thick coal seam short-wall sub-level caving working face Download PDFInfo
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Abstract
The invention discloses a coal caving control system of a steep-inclined super-thick coal seam short-wall sub-level caving working face. The coal caving control system comprises a hydraulic support, a gesture monitoring device, a main control computer and a support control device. The hydraulic support comprises a support base, a hydraulic cylinder, a driving beam, a tail beam and an insertion plate, the tail of the hydraulic cylinder is fixed on the support base, the hydraulic cylinder is provided with a telescopic ejector rod, the driving beam is fixed to the movable end of the ejector rod, the first end of the tail beam is connected to the driving beam, and the insertion plate is installed at the second end of the tail beam; the gesture monitoring device is used for detecting real-time gestures of the hydraulic support, the main control computer outputs control signals according to the real-time gestures, the support control device controls the hydraulic cylinder according to the control signals, and the signal input end of the main control computer is in communication connection with the signal output end of the gesture monitoring device through the support control device. The coal caving control system can be suitable for coal caving control of the steep-inclined super-thick coal seam short-wall sub-level caving working face.
Description
Technical field
The present invention relates to a kind of be applicable to severe inclined thick coal seam shortwall top-coal caving face put coal control system.
Background technology
At present, colliery top-coal caving face adopts hydraulic support electrohydraulic control system to realize operation mostly, and the control technology of support is also developed.In actual production, generally adopt manual operation hydraulic support, control by rule of thumb to put coal, but the mode of production of the artificial single action operation of this dependence, work plane employment is many, and efficiency is lower, and the contradiction of ature of coal control and the rate of extraction is more outstanding.Putting in coal process, Sub-Level Caving mechanism opening all needs visually observing by people with closedown, cannot reach the requirement of Based Intelligent Control.Therefore how top-coal caving face is putting in coal process the automatic control accuracy improving Sub-Level Caving mechanism, is a method difficult problem for caving roof coal hydraulic support Based Intelligent Control.
Chinese patent CN102828763A discloses the hydraulic support automatic control system that a kind of working face wears memory function, comprise hydraulic support, bracket controller, signal adapter and monitoring host computer, every platform hydraulic support is all installed a described bracket controller, the hydraulic support of face end installs signal adapter, in crossheading, monitoring host computer is installed, bracket controller is used for hydraulic control support, and can be sent on the monitoring host computer of crossheading by signal adapter by the action message of hydraulic support; Monitoring host computer has action parameter memory module and action parameter output module, the action message of each hydraulic support that the bracket controller received sends by action parameter memory module in chronological sequence sorts, to form each hydraulic support action record and to preserve; Each hydraulic support action record according to time order and function Sequential output, is sent on corresponding hydraulic bracket controller by signal adapter by action parameter output module, realizes the automatic control of hydraulic support.
Chinese patent CN103256064A discloses a kind of caving roof coal hydraulic support Based Intelligent Control and puts coal method, the difficult problem that the method operates for comprehensive extracting and caving face Sub-Level Caving, with caving roof coal hydraulic support, coal-winning machine and complete equipment of scrapper conveyer electricity liquid coupling control hardware system are for supporting, in software systems, establish the dynamic constrained equation of caving roof coal hydraulic support Self Adaptive Control, simulation caving roof coal hydraulic support and country rock and the behavior that is coupled of pushing up coal, automatically caving roof coal hydraulic support autonomous and Fang Mei mechanism gesture stability parameter is generated by intelligent decision, realize the self adaptation regulation and control of caving roof coal hydraulic support behavior, put the SECO of coal process and coal is put in memory.
But, exist in prior art as above in following defect:
1) time sequencing of support action record only can be relied on to export, accurately cannot control according to support current pose; Or after support attitude coupling device long-term acquisition support attitude information only can be relied on to carry out sample analysis, carry out statistical analysis control, in actual applications more difficult application.
2) adopt longwall coal-face in prior art, the exploitation of severe inclined thick coal seam cannot be applicable to.
3) cannot be applicable to the control of opening with closing of the Fang Mei mechanism of top-coal caving face, action sequence operation is to putting coal without practical use.
Therefore, be necessary very much to design a kind of can be applicable to severe inclined thick coal seam shortwall top-coal caving face put coal control system.
Summary of the invention
In view of this, the invention provides a kind of can be applicable to severe inclined thick coal seam shortwall top-coal caving face put coal control system, be intended to the defect overcoming prior art.
The coal control system of putting of severe inclined thick coal seam shortwall top-coal caving face provided by the present invention comprises: hydraulic support, and described hydraulic support comprises bracket base, hydraulic jack, driving beam, tail boom and plate; The afterbody of described hydraulic jack is fixed on described bracket base, and described hydraulic jack is provided with telescopic push rod, and described driving beam is fixed on the movable end of described push rod; The first end of described tail boom is connected on described driving beam, and described plate is arranged on the second end of described tail boom; For detecting the attitude monitoring device of the real-time attitude of described hydraulic support; The main control computer of control signal is exported according to described real-time attitude; Control the support control device of described hydraulic jack according to described control signal, communicated to connect by described support control device between the signal input part of described main control computer and the signal output part of described attitude monitoring device.
Preferably, described attitude monitoring device comprises: for monitoring the first attitude transducer of the attitude of described bracket base, described first attitude transducer is arranged on described bracket base, is communicated to connect between the signal output part of described first attitude transducer and the signal input part of described main control computer by described support control device.
Preferably, described attitude monitoring device also comprises: for monitoring the second attitude transducer of the attitude of described tail boom, described second attitude transducer is arranged on described tail boom, is communicated to connect between the signal output part of described second attitude transducer and the signal input part of described main control computer by described support control device.
Preferably, described first attitude transducer and described second attitude transducer are all obliquity sensors.
Preferably, described in put coal control system and also comprise coal rock detection device for gathering cash information, described coal rock detection device is arranged on described tail boom, and described coal rock detection device is connected communicatedly with described main control computer or described support control device.
Preferably, described coal rock detection device is coal and rock identify sensor.
Preferably, described main control computer is flame-proof type computer.
Preferably, described driving beam comprises the first beam body, the second beam body and the 3rd beam body; Described first beam body is connected to the end of described push rod, and described first beam body and described bracket base be arranged in parallel; The first end of described second beam body and the end of described first beam body hinged, the first end of described 3rd beam body and the second end of described second beam body hinged, the second end and the described bracket base of described 3rd beam body are hinged; Described tail boom is fixed on described second beam body or the 3rd beam body.
Preferably, described tail boom is parallel with described bracket base.
What adopt severe inclined thick coal seam shortwall top-coal caving face of the present invention puts coal control system, by Fang Mei mechanism attitude monitoring device, hydraulic support electrohydraulic control system, support memory control device, the device associatings such as main control computer, solve when seam inclination angle is larger, put the flexibility problem that coal workman adjusts caving parameter; By coal rock detection device remembering the application of putting in coal automatic control system, decreasing the switch problem of manual intervention coal discharge outlet, achieving the full-automatic intelligent Sub-Level Caving of work plane and controlling.Present invention achieves following technique effect: automation caving coal technology has been applied to the shortwall top-coal caving face under severe inclined thick coal seam condition from longwell top-coal caving face, has achieved the automation top coal caving of severe inclined thick coal seam; By carrying out record analysis to manual operation Sub-Level Caving exemplary process, in conjunction with multiple device Based Intelligent Control, achieve the target reducing manual intervention when top-coal caving face condition changes greatly; Coal control method is put in the shortwall top-coal caving face memory achieving severe inclined thick coal seam, decrease and put the Complicated Flow that coal workman adjusts caving parameter, increase the flexibility of caving roof coal hydraulic support control and the accuracy of coal discharge outlet switch, ensure that the output of top-coal caving face does not reduce simultaneously.
Accompanying drawing explanation
Preferred embodiment in the present invention will be described in detail by accompanying drawing below, will contribute to understanding objects and advantages of the present invention, wherein:
Fig. 1 is a kind of preferred embodiment putting coal control system of severe inclined thick coal seam shortwall top-coal caving face of the present invention.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is described in detail.The identical Reference numeral of wherein identical component represents.It should be noted that, the word "front", "rear" of use is described below, "left", "right", "up" and "down" refer to direction in accompanying drawing, word " interior " and " outward " refer to the direction towards or away from particular elements geometric center respectively.
Fig. 1 is a kind of preferred embodiment putting coal control system of severe inclined thick coal seam shortwall top-coal caving face of the present invention.As shown in Figure 1, the coal control system of putting of severe inclined thick coal seam shortwall top-coal caving face provided by the present invention comprises hydraulic support 100, attitude monitoring device, main control computer 300, support control device 400 and coal rock detection device 500.
Described hydraulic support 100 comprises bracket base 110, hydraulic jack 120, drives beam 130, tail boom 140 and plate 150; The afterbody of described hydraulic jack 120 is fixed on described bracket base 110, and described hydraulic jack 120 is provided with telescopic push rod 121, and described driving beam 130 is fixed on the movable end of described push rod 121; The first end of described tail boom 140 is connected on described driving beam 130, and described plate 150 is arranged on the second end of described tail boom 140.Described bracket base 110 generally can be arranged on the ground of working site, for supporting and other parts on bearing hydraulic support 100.Described hydraulic jack 120 drives described driving beam 130 to move by the flexible of described push rod 121, drives described tail boom 140 to move by the motion of described driving beam 130, thus drives described plate 150 to move.
Described attitude monitoring device is for detecting the real-time attitude of described hydraulic support 100, when actual job, on the diverse location that described attitude monitoring device can be arranged on described hydraulic support 100 as required or different parts, thus the real-time attitude of monitoring corresponding component or position.Preferred embodiment such as shown in Fig. 1, described attitude monitoring device comprises: for monitoring the first attitude transducer 210 of the attitude of described bracket base 110, described first attitude transducer 210 is arranged on described bracket base 110, is communicated to connect between the signal output part of described first attitude transducer 210 and the signal input part of described main control computer 300 by described support control device 400.Described attitude monitoring device also comprises: for monitoring the second attitude transducer 220 of the attitude of described tail boom 140, described second attitude transducer 220 is arranged on described tail boom 140, is communicated to connect between the signal output part of described second attitude transducer 220 and the signal input part of described main control computer 300 by described support control device 400.Preferably, described first attitude transducer 210 and described second attitude transducer 220 are all obliquity sensors.Such as, can be realized by TMDQJC (GUD90B/S2.0) [GUD90B] obliquity sensor of Beijing Tian Ma company.
Described main control computer 300 exports control signal according to described real-time attitude, the control signal exported is sent to support control device 400, can be communicated to connect between the signal input part of described main control computer 300 and the signal output part of described attitude monitoring device by described support control device 400.Such as, the signal output part of described attitude monitoring device can be connected with a signal input part of support control device 400, then support control device 400 signal output part is connected with the signal input part of main control computer 300.Under this connected mode, first the signal of attitude monitoring device is sent to support control device 400, by support control device 400, coherent signal is sent to main control computer 300 again, after main control computer 300 processes, control signal is sent to support control device 400, to realize the control to hydraulic support.Preferably, in actual use, main control computer 300 can be realized by flame-proof type computer.Such as, the TMDFBZ of Beijing Tian Ma company (KJC127/12) [KJC127/12] flame proof computer can be used to realize.
Described support control device 400 is for controlling described hydraulic jack 120 according to described control signal, described support control device 400 receives the control signal from main control computer 300, send control instruction to hydraulic jack 120, make hydraulic jack 120 carry out specific action according to the requirement of instruction.Such as: described support control device 400 can by bracket controller, pressure sensor, stroke sensor, connector, coupler, power supply, the controller of the composition such as solenoid operated directional valve realizes, wherein, bracket controller can as main support memory control device.
Described coal rock detection device 500 is arranged on described tail boom 140, and described coal rock detection device 500 is connected communicatedly with described main control computer 300 or described support control device 400.Preferably, described coal rock detection device 500 is coal and rock identify sensors.Described coal rock detection device 500 is for gathering cash information, and the gathered cash information that falls directly can be sent to bracket controller by described coal rock detection device 500, forms certain impact to the control of hydraulic jack 120.The cash information that falls also can be sent to main control computer 300 by described coal rock detection device 500, the generation effect when main control computer 300 exports control signal.
Severe inclined thick coal seam shortwall top-coal caving face of the present invention put the manually-operated control of putting coal of memory that coal control system achieves the shortwall top-coal caving face under severe inclined thick coal seam condition; Solve top-coal caving face put manual intervention in coal process too much, along with the problem of geological conditions change electrohydraulic control system bad adaptability; Solve coal discharge outlet in Sub-Level Caving process and open and close the problem needing manual observation.
In the preferred embodiment shown in Fig. 1, described driving beam 130 comprises the first beam body 131, second beam body 132 and the 3rd beam body 133; Described first beam body 131 is connected to the end of described push rod 121, and described first beam body 131 be arranged in parallel with described bracket base 110; The first end of described second beam body 132 and the end of described first beam body 131 hinged, the first end of described 3rd beam body 133 and the second end of described second beam body 132 hinged, the second end and the described bracket base 110 of described 3rd beam body 133 are hinged; Described tail boom 140 is fixed on described second beam body 132 or the 3rd beam body 133, and described tail boom 140 is parallel with described bracket base 110.
In specific implementation process, two described attitude monitoring devices can be placed in the below place of bracket base 110 and tail boom 140 respectively, coal rock detection device 500 can be placed in below support tail boom 140, and support memory control device is located in hydraulic support 100 electrohydraulic control system.Described attitude monitoring device may be used for gathering the information such as tail boom 140 attitude, plate 150 attitude, base attitude, work plane inclined degree of caving roof coal hydraulic support 100, and the most at last signal transmission to support electrohydraulic control system.Coal rock detection device 500 may be used for gathering the coal cinder and spoil information of putting coal discharge outlet in coal process, feeds back in support electrohydraulic control system, and support memory control device performs memory action according to the signal of attitude monitoring device and coal rock detection device 500.
Particularly, attitude monitoring device can complete Collecting operation by following process: the bracket controller of the output that performs an action is in controlled stages, action sequence and relevant obliquity sensor data, coal rock detection device data are reported and submitted to down-hole electricity hydraulic control main frame by system bus, the posture position of support and the data of obliquity sensor and coal rock detection device data at the end of each action sequence of host record, and calculate the duration of each action sequence, generate the memory parameter of set sequence.The memory parameter of each group action sequence has certain storage format in main frame.
The drawing coal technology that tradition can be applied to longwell top-coal caving face by the present invention is transplanted on shortwall top-coal caving face, and increases Fang Mei mechanism attitude monitoring device, support memory control device, coal rock detection device, hydraulic support electrohydraulic control system, main control computer etc. and realize a kind of memory as supplementary means and put coal control method.Support workman is by caving roof coal hydraulic support controller operation coal-caving supporter, and Artificial Control completes a complete Sub-Level Caving flow process and exemplary process.In the operating process of exemplary process, Fang Mei mechanism attitude monitoring device by the pendulum angle of support tail boom 140, plate 150 stretch out formation, the elevation-depression angle of base, the horizontal high-dipping angle of work plane pass to main control computer 300, after main control computer 300 receives the finish command of exemplary process, the data message that analyzing and processing Fang Mei mechanism attitude monitoring device transmits, generates memory parameter and is handed down to support memory control device.Support workman starts execution support Memory control by caving roof coal hydraulic support 100 controller, coal rock detection device 500 in Memory control process by gather the cash information feed back that falls to bracket controller, intervene the opening time of the coal discharge outlet in Memory control process, until automatically complete the course of action of whole exemplary process.
When reality uses, concrete Memory control can realize by the following method: main frame according to action data report and submit sequential to generate orderly memory parameter after, memory parameter is handed down to work plane and is broadcast to all bracket controllers, controller stores memory parameter.Timberer is started by operation bracket controller one key puts coal Memory control pattern automatically.Under Memory control pattern, bracket controller reads the memory parameter in storage area, perform corresponding action sequence code successively according to action sequence number, in the process of implementation, duration parameters and the sensor parameters of each group action sequence preferentially play effect of contraction simultaneously each other.
What adopt severe inclined thick coal seam shortwall top-coal caving face of the present invention puts coal control system, by Fang Mei mechanism attitude monitoring device, hydraulic support electrohydraulic control system, support memory control device, the device associatings such as main control computer, solve when seam inclination angle is larger, put the flexibility problem that coal workman adjusts caving parameter; By coal rock detection device remembering the application of putting in coal automatic control system, decreasing the switch problem of manual intervention coal discharge outlet, achieving the full-automatic intelligent Sub-Level Caving of work plane and controlling.Present invention achieves following technique effect: automation caving coal technology has been applied to the shortwall top-coal caving face under severe inclined thick coal seam condition from longwell top-coal caving face, has achieved the automation top coal caving of severe inclined thick coal seam; By carrying out record analysis to manual operation Sub-Level Caving exemplary process, in conjunction with multiple device Based Intelligent Control, achieve the target reducing manual intervention when top-coal caving face condition changes greatly; Coal control method is put in the shortwall top-coal caving face memory achieving severe inclined thick coal seam, decrease and put the Complicated Flow that coal workman adjusts caving parameter, increase the flexibility of caving roof coal hydraulic support control and the accuracy of coal discharge outlet switch, ensure that the output of top-coal caving face does not reduce simultaneously.
Last it is noted that above embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (9)
1. severe inclined thick coal seam shortwall top-coal caving face put a coal control system, it is characterized in that, described in put coal control system and comprise:
Hydraulic support, described hydraulic support comprises bracket base, hydraulic jack, driving beam, tail boom and plate; The afterbody of described hydraulic jack is fixed on described bracket base, and described hydraulic jack is provided with telescopic push rod, and described driving beam is fixed on the movable end of described push rod; The first end of described tail boom is connected on described driving beam, and described plate is arranged on the second end of described tail boom;
For detecting the attitude monitoring device of the real-time attitude of described hydraulic support;
The main control computer of control signal is exported according to described real-time attitude;
Control the support control device of described hydraulic jack according to described control signal, communicated to connect by described support control device between the signal input part of described main control computer and the signal output part of described attitude monitoring device.
2. severe inclined thick coal seam shortwall top-coal caving face according to claim 1 put coal control system, it is characterized in that, described attitude monitoring device comprises:
For monitoring the first attitude transducer of the attitude of described bracket base, described first attitude transducer is arranged on described bracket base, is communicated to connect between the signal output part of described first attitude transducer and the signal input part of described main control computer by described support control device.
3. severe inclined thick coal seam shortwall top-coal caving face according to claim 2 put coal control system, it is characterized in that, described attitude monitoring device also comprises:
For monitoring the second attitude transducer of the attitude of described tail boom, described second attitude transducer is arranged on described tail boom, is communicated to connect between the signal output part of described second attitude transducer and the signal input part of described main control computer by described support control device.
4. severe inclined thick coal seam shortwall top-coal caving face according to claim 3 put coal control system, it is characterized in that, described first attitude transducer and described second attitude transducer are all obliquity sensors.
5. put coal control system according to the severe inclined thick coal seam shortwall top-coal caving face in claim 1-4 described in any one, it is characterized in that, described coal control system of putting also comprises coal rock detection device for gathering cash information, described coal rock detection device is arranged on described tail boom, and described coal rock detection device is connected communicatedly with described main control computer or described support control device.
6. severe inclined thick coal seam shortwall top-coal caving face according to claim 5 put coal control system, it is characterized in that, described coal rock detection device is coal and rock identify sensor.
7. put coal control system according to the severe inclined thick coal seam shortwall top-coal caving face in claim 1-4 described in any one, it is characterized in that, described main control computer is flame-proof type computer.
8. put coal control system according to the severe inclined thick coal seam shortwall top-coal caving face in claim 1-4 described in any one, it is characterized in that, described driving beam comprises the first beam body, the second beam body and the 3rd beam body; Described first beam body is connected to the end of described push rod, and described first beam body and described bracket base be arranged in parallel; The first end of described second beam body and the end of described first beam body hinged, the first end of described 3rd beam body and the second end of described second beam body hinged, the second end and the described bracket base of described 3rd beam body are hinged; Described tail boom is fixed on described second beam body or the 3rd beam body.
9. severe inclined thick coal seam shortwall top-coal caving face according to claim 8 put coal control system, it is characterized in that, described tail boom is parallel with described bracket base.
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Inventor after: Tian Hua Inventor after: Wei Wenyan Inventor after: Lin Enqiang Inventor after: Li Zhongzhong Inventor after: Bi Dongzhu Inventor after: Cui Yao Inventor after: Luo Hongbo Inventor after: Qi Tao Inventor after: Zhang Ge Inventor after: He Yiyan Inventor after: Xue Tianshan Inventor after: Wei Wenshu Inventor after: Niu Jianfeng Inventor after: Liu Qing Inventor before: Tian Hua |
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