CN105221178A - Electrichydraulic control waste filling mining hydraulic bracket and Research on Automatic Filling thereof - Google Patents
Electrichydraulic control waste filling mining hydraulic bracket and Research on Automatic Filling thereof Download PDFInfo
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- CN105221178A CN105221178A CN201510539800.5A CN201510539800A CN105221178A CN 105221178 A CN105221178 A CN 105221178A CN 201510539800 A CN201510539800 A CN 201510539800A CN 105221178 A CN105221178 A CN 105221178A
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Abstract
The present invention relates to coal mining design field, particularly relate to the research & design of waste filling production practice and waste filling mining hydraulic bracket, be specifically related to a kind of electrichydraulic control waste filling mining hydraulic bracket and Research on Automatic Filling thereof.Electrichydraulic control waste filling mining hydraulic bracket provided by the invention and Research on Automatic Filling thereof, by the pressure sensor being provided with electrohydraulic control system and be connected with electrohydraulic control system signal, stroke sensor, first obliquity sensor, second obliquity sensor and the 3rd obliquity sensor, achieve by hydraulic way waste filling mining hydraulic bracket Automated condtrol, effectively reduce the waste filling time, improve pack effectiveness, alleviate the labour intensity of operating personnel, improve waste filling effect by electrohydraulic control system simultaneously, realize the production domesticization of fully-mechanized mining working electrohydraulic control system, be conducive to saving equipment investment cost and promoting the intensivization development of coal high-yield and high-efficiency.
Description
Technical field
The present invention relates to coal mining design field, particularly relate to the research & design of waste filling production practice and waste filling mining hydraulic bracket, be specifically related to a kind of electrichydraulic control waste filling mining hydraulic bracket and Research on Automatic Filling thereof.
Background technology
Coal is the pillar of China's energy, in traditional progress of coal mining, people only focus on the economic worth of coal mining usually, and lack the negative effect considering that coal mining produces human environment, the particularly spoil deposited of ground, both needed to take a large amount of land areas, again serious pollution had been caused to environment.Meanwhile, the goaf formed in down-hole of mining, easily causes ground surface to subside, surface structures and highway is suffered damage.Waste filling solves the hillock because the spoil in progress of coal mining is formed in ground accumulation, eliminate the pernicious gas that naturally causes because of spoil to the pollution of environment, also solve simultaneously because of coal adopt empty after the surface subsidence that formed be the destruction of surface structures and highway.Therefore filling support exploitation and to apply be that one of coal mining mode is reformed greatly, be the trend of coal mining development from now on.
In waste filling mining operations, both needed the spoil filler being constantly conveyed through pulverizing to goaf, and needed again to ensure the personal security of carrying out packing job operation.Existing hydraulic support for filling waste rock, the natural packing of main dependence spoil is filled goaf, but due to the restriction of its frame for movement in the height direction, comparatively wide arc gap is left between goaf top plate and obturator, spoil obturator directly can not contact with top board, and because the spoil obturator coefficient of volumetric expansion is large, thus cause filling effect undesirable and ground still has the phenomenon of the unfavorable situation of larger depression.Filling mining hydraulic support exists above-mentioned mentioned not with top plate contact and filling effect is undesirable and the problem of subsiding still appears in ground, the mining operations scope of coal winning technology under building, under water body and under railway can be limited, cause stope continue anxiety, shorten the mining area coal production length of service, mining area is made to enter the old and feeble date of retirement prematurely, this not only causes to country and greatly wastes, and also will cause the social concern of resources sustainable development.
Therefore, for above deficiency, the invention provides a kind of electrichydraulic control waste filling mining hydraulic bracket and Research on Automatic Filling thereof.
Summary of the invention
(1) technical problem that will solve
The technical problem to be solved in the present invention be solve existing waste filling mining hydraulic bracket back production and filling operation efficiency is low, cause because filling quality is uneven that waste filling effect is undesirable, labor intensity of operating staff is high, operating environment is complicated and the safety of operating personnel in operation process is not high enough, goaf top plate sinkage can not get effective alleviation, be also unfavorable for the problem adapting to coal production high-yield and high-efficiency intensivization development and realize the production domesticization of fully-mechanized mining working electrohydraulic control system simultaneously.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of electrichydraulic control waste filling mining hydraulic bracket, this hydraulic support comprises electrohydraulic control system, base, back timber, front column and rear column, one end of described front column is fixedly connected on described base, the other end is fixedly connected on described back timber, one end of described rear column is fixedly connected on described base, and the other end is fixedly connected on described back timber;
Described back timber is connected with balance arm by balance arm jack, and described balance arm is connected to described base by compacting jack; Described base is provided with the first obliquity sensor, and described back timber is provided with the second obliquity sensor, and described balance arm is provided with the 3rd obliquity sensor and shovel board; Described compacting jack is provided with pressure sensor and stroke sensor;
Described electrohydraulic control system is connected with described pressure sensor, stroke sensor, the first obliquity sensor, the second obliquity sensor and the 3rd obliquity sensor signal, and described electrohydraulic control system is controlled hydraulic support automatically by hydraulic way.
Wherein, described electrohydraulic control system comprises digital monitor system, main valve body and controller; Described main valve body is connected with controller by protector connector, described pressure sensor, stroke sensor, the first obliquity sensor, the second obliquity sensor are connected with described controller signals with the 3rd obliquity sensor, and described controller is controlled described base, balance arm, back timber and compacting jack automatically by control bound body; Described digital monitor system receives and shows the transmission data of described pressure sensor, stroke sensor first obliquity sensor, the second obliquity sensor and the 3rd obliquity sensor.
Wherein, hydraulic support also comprises fixed mount, and described fixed mount is provided with blanking sensor, and described blanking sensor Real-Time Monitoring falls cash amount, and by the information transmission of the cash amount that falls to described electrohydraulic control system.
Wherein, hydraulic support also comprises advancing jack, is provided with stroke sensor in described advancing jack, and described stroke sensor monitors the distance of advancing jack motion in real time, and by the information transmission of advancing jack move distance to described electrohydraulic control system.
Wherein, described back timber has upper connecting rod by hinge, the other end of described upper connecting rod has front rod and back link respectively by hinge, and described front rod is positioned at the top of described back link, and the other end of described front rod and back link is connected on described base.
Wherein, described front column and rear column are provided with pressure sensor and laser range finder, described laser range finder for detecting the distance of described back timber and base, and by column force value and distance information transmission to described electrohydraulic control system.
Wherein, described controller is provided with operation interface, and described operation interface is provided with support holding function key, and described support holding function key is used for sending operational order to hydraulic support.
Wherein, the quantity of the hydraulic support that described operation interface controls is a frame or multi rack, and can control the action in groups of multi rack hydraulic support and the direction of going forward one by one of action in groups.
Present invention also offers a kind of Research on Automatic Filling of electrichydraulic control waste filling mining hydraulic bracket, following operating procedure:
S1, start electrohydraulic control system, open and put cash mouth, the spoil on spoil transporter falls into appointed area, and to be fallen cash amount by blanking sensor Real-Time Monitoring, cash amount to be fallen reaches and presets requirement, closes and puts cash mouth;
S2, startup compacting jack are till it reaches contact spoil, and electrohydraulic control system controls the time that compacting jack is stretched to spoil distance;
S3, startup balance arm and balance arm jack, make hydraulic support carry out stretching compacting and receiving balance arm instruction simultaneously, carry out tamping filling to spoil;
S4, being monitored and record real-time pressure value and the stroke value of compacting jack by pressure sensor and stroke sensor, the force value preset if reach and stroke value, then stop compacting operation; The force value preset if do not reach and stroke value, wait until the default maximum duration, stops compacting operation and record real-time pressure value and stroke value;
S5, angle value by the first obliquity sensor, the second obliquity sensor and the 3rd obliquity sensor respectively monitoring record base, back timber and balance arm, preset condition when inclination angle meets, then stop balance arm operation; If do not reach default inclination value, wait until the default maximum duration, stop balance arm operation;
After S6, tamping filling complete, receive compacting jack and balance arm simultaneously, avoid shovel board to be taken back by spoil, in receipts compacting operation, judge whether to reach the force value and stroke value that preset, if reach preset value, then stop compacting operation; If do not reach preset value, wait until the default maximum duration, stop compacting operation; In the operation of receipts balance arm, judge whether inclination angle meets preset value, if reach preset value, then stop balance arm operation; If do not reach preset value, wait until the default maximum duration, stop balance arm operation;
S7, stretch balance arm, make balance arm get back to initial position, judge whether inclination angle meets preset value, if reach preset value, then stop balance arm operation; If do not reach preset value, wait until the default maximum duration, stop balance arm operation; Finally judge whether to carry out secondary filling according to the force value in step S4 and stroke value, if reach default force value and stroke value, then whole automatic filling process terminates; If do not reach default force value and stroke value, then return step S1.
Wherein, in step s 5, realize the control to balance arm raising height by the first obliquity sensor, the second obliquity sensor and the 3rd obliquity sensor, avoid shovel board touching spoil transporter in tamping process.
(3) beneficial effect
Technique scheme tool of the present invention has the following advantages: electrichydraulic control waste filling mining hydraulic bracket provided by the invention and Research on Automatic Filling thereof, by the pressure sensor being provided with electrohydraulic control system and be connected with electrohydraulic control system signal, stroke sensor, first obliquity sensor, second obliquity sensor and the 3rd obliquity sensor, achieve by hydraulic way waste filling mining hydraulic bracket Automated condtrol, effectively reduce the waste filling time, improve pack effectiveness, alleviate the labour intensity of operating personnel, improve waste filling effect by the Real-Time Monitoring of electrohydraulic control system simultaneously, realize the production domesticization of fully-mechanized mining working electrohydraulic control system, be conducive to saving equipment investment cost and promoting the intensivization development of coal high-yield and high-efficiency.
Accompanying drawing explanation
Fig. 1 is the sensor allocation plan of embodiment of the present invention electrichydraulic control waste filling mining hydraulic bracket;
Fig. 2 is the structural representation of embodiment of the present invention electrichydraulic control waste filling mining hydraulic bracket;
Fig. 3 is the assembling schematic diagram of embodiment of the present invention main valve body;
Fig. 4 is the operation interface schematic diagram of the invention process csr controller;
Fig. 5 is the flow chart of the Research on Automatic Filling of embodiment of the present invention electrichydraulic control waste filling mining hydraulic bracket.
In figure: 1: pressure sensor; 2: stroke sensor; 3-1: the first obliquity sensor; 3-2: the second obliquity sensor; 3-3: the three obliquity sensor; 4: blanking sensor; 5: base; 6: balance arm; 7: back timber; 8-1: front column; 8-2: rear column; 9: compacting jack; 10: advancing jack; 11: balance arm jack; 12: upper connecting rod; 13: front rod; 14: back link; 15: controller; 16: main valve body; 17: fixed mount.
Detailed description of the invention
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
As shown in Figures 1 to 4, a kind of electrichydraulic control waste filling mining hydraulic bracket that the embodiment of the present invention provides, this hydraulic support comprises electrohydraulic control system, base 5, back timber 7, front column 8-1 and rear column 8-2, one end of front column 8-1 is fixedly connected on base 5, the other end is fixedly connected on back timber 7, one end of rear column 8-2 is fixedly connected on base 5, and the other end is fixedly connected on back timber 7;
Back timber 7 is connected with balance arm 6 by balance arm jack 11, and balance arm 6 is connected to base 5 by compacting jack 9; Base 5 is provided with the first obliquity sensor 3-1, back timber 7 is provided with the second obliquity sensor 3-2, balance arm 6 is provided with the 3rd obliquity sensor 3-3 and shovel board, in automatic filling process, realize the control to balance arm 6 raising height, efficiently avoid shovel board in tamping process and can touch the situation of stowage conveyer; Compacting jack 9 is provided with pressure sensor 1 and stroke sensor 2, real-time pressure value and the stroke value of compacting jack 9 is detected by pressure sensor 1 and stroke sensor 2, judge the quality of filling effect with this, thus select whether carry out secondary filling, improve filling effect.
Electrohydraulic control system is connected with pressure sensor 1, stroke sensor 2, first obliquity sensor 3-1, the second obliquity sensor 3-2 and the 3rd obliquity sensor 3-3 signal, and electrohydraulic control system is controlled hydraulic support automatically by hydraulic way, and according to the whole flow process at waste filling scene, achieve the programming system that comprehensive mechanization filling coal mining system controls automatically.
Electrohydraulic control system comprises digital monitor system, main valve body 16 and controller 15; Main valve body 16 is connected with controller 15 by protector connector, pressure sensor 1, stroke sensor 2, first obliquity sensor 3-1, the second obliquity sensor 3-2 are connected with controller 15 signal with the 3rd obliquity sensor 3-3, and controller 15 is controlled automatically by control bound body 16 pairs of bases 5, balance arm 6, back timber 7 and compacting jack 9; Digital monitor system receives and display pressure sensor 1, stroke sensor 2, first obliquity sensor 3-1, the second obliquity sensor 3-2 and the 3rd obliquity sensor 3-3 transmission data, namely can be known the job state of controlled support by digital monitor system.
Control mode is chosen by hydraulic bracket controller 15, then send corresponding control command (namely providing the corresponding signal of telecommunication), make corresponding electromagnetic pilot valve events, control bound 16 is opened, to connected hydraulic cylinder feed flow, hydraulic support is made to do corresponding action.Hydraulic support duty feeds back to controller 15 by pressure sensor 1, stroke sensor 2, first obliquity sensor 3-1, the second obliquity sensor 3-2 and the 3rd obliquity sensor 3-3, and controller 15 decides the next action of hydraulic support again according to the signal provided.
Hydraulic support also comprises fixed mount 17, fixed mount 17 is provided with blanking sensor 4, blanking sensor 4 Real-Time Monitoring falls cash amount, and by the information transmission of the cash amount that falls to electrohydraulic control system, electrohydraulic control system sends by fluid pressure line the start or stop that instruction controls cash mouth, namely startup fixed mount 17 is opened and is put cash mouth, monitored by blanking sensor 4 and record cash amount, after the cash amount that falls reaches the requirement preset, namely closedown fixed mount 17 is closed and is put cash mouth, stops blanking operation.
Hydraulic support also comprises advancing jack 10, stroke sensor 2 is installed in advancing jack 10, the distance of stroke sensor 2 monitoring advancing jack 10 motion in real time, and by the information transmission of advancing jack 10 move distance to electrohydraulic control system, electrohydraulic control system sends instruction by fluid pressure line and carrys out the pushing and sliding of hydraulic control support and try to stop people from fighting each other, thus achieves the automatic pushing and sliding of controlled hydraulic support and the control of stroke of trying to stop people from fighting each other.
Back timber 7 has upper connecting rod 12 by hinge, the other end of upper connecting rod 12 has front rod 13 and back link 14 respectively by hinge, and front rod 13 is positioned at the top of back link 14, the other end of front rod 13 and back link 14 is connected on base 5, adopts the filling hydraulic pressure support stability of this bar linkage structure good, on the basis ensureing enough supporting intensities, structure is simpler, stent size is compacter, lightweight, and globality is strong.
Front column 8-1 and rear column 8-2 is provided with pressure sensor 1 and laser range finder, laser range finder is for detecting the distance of back timber 7 and base 5, and by column force value and distance information transmission to electrohydraulic control system, electrohydraulic control system sends instruction by fluid pressure line and carrys out falling frame and rising frame of hydraulic control support, thus achieves falling frame and rising frame operation controlled hydraulic support.
Controller 15 is provided with operation interface, operation interface is provided with support holding function key, support holding function key is used for sending operational order to hydraulic support, described operational order comprise fall post, move frame, setting prop, pushing and sliding, stretch rear flexible, receive after stretch, stretch that front side is protected, received that front side is protected, stretched that rear side protects, receives that rear side protects, stretches balance arm, receives balance arm, overs cash, folding and unfolding cash, be stretched flat weighing apparatus, be closed flat weighing apparatus, stretch compacting and receipts compacting; According to the concrete required operational order of reality, sustained hold corresponding support holding function key, until indicate completing of action.
The quantity of the hydraulic support that operation interface controls is a frame or multi rack, and can control the action in groups of multi rack hydraulic support and the direction of going forward one by one of action in groups.Controlled support usually can from one side adjacent frame, from both sides adjacent frame, handle from last becoming pack support.Controller 15 is comprised single support control unit system and the cellular system on all supports is shared or net control that optional equipment links up by necessary, realizes the monitoring of control to hydraulic support action and state.Wherein, in groups action comprise automatically move in groups frame, in groups pushing and sliding, in groups draw slip, stretch in groups extensible canopy, in groups stretch extensible canopy interlock, in groups receive extensible canopy, in groups receive extensible canopy interlock, in groups stretch wall supporting, in groups receive wall supporting and in groups spraying etc.
As shown in Figure 5, present invention also offers a kind of Research on Automatic Filling of electrichydraulic control waste filling mining hydraulic bracket, following operating procedure:
S1, start electrohydraulic control system, start fixed mount 17 and namely open and put cash mouth, the spoil on spoil transporter falls into appointed area, and to be fallen cash amount by blanking sensor 4 Real-Time Monitoring, cash amount to be fallen reaches and presets requirement, closes and puts cash mouth;
S2, startup compacting jack 9, carry out stretching compacting operation until compacting jack 9 contacts spoil, compacting operation stops, and electrohydraulic control system controls the time that compacting jack 9 is stretched to spoil distance;
S3, startup balance arm 6 and balance arm jack 11, make hydraulic support carry out stretching compacting and receiving balance arm operation simultaneously, carry out tamping filling to spoil;
S4, to be monitored by pressure sensor 1 and stroke sensor 2 and to record compaction pressure value and the stroke value of compacting jack 9, the compaction pressure value that (YES) presets if reach and stroke value, then stop compacting operation, the compaction pressure value that (no) preset if do not reach and stroke value, wait until the maximum actuation duration reaching and preset, stop compacting operation and the compaction pressure value recorded at that time and stroke value;
S5, angle value by the first obliquity sensor 3-1, the second obliquity sensor 3-2 and the 3rd obliquity sensor 3-3 respectively monitoring record base 5, back timber 7 and balance arm 6, condition is preset when inclination angle reaches (YES), then stop balance arm operation, if do not reach the inclination value that (no) presets, wait until the maximum actuation duration reaching and preset, stop balance arm operation;
S6, after tamping filling completes, high-order wait, namely next step instruction of digital monitor system is waited for, carry out receipts compacting jack 9 (receipts compacting) simultaneously, the operation of balance arm 6 and balance arm jack 11 (receipts balance arm), so to avoid shovel board to be taken back by spoil, all need respectively to compaction pressure value when carrying out the operation of receiving compacting and receiving balance arm, stroke value and inclination value judge, if reach (YES) preset value, carry out next step operation, if do not reach (no), wait until the maximum actuation duration reaching and preset, carry out next step operation again,
S7, carry out stretching balance arm operation, make balance arm 6 get back to initial position, judge whether to reach the inclination value preset, reach (YES) then balance arm stopping, if do not reach (no), wait until the maximum actuation duration reaching and preset, then balance arm stops; After balance arm stops, the compaction pressure value that (YES) presets if reach and stroke value, then the operation of hydraulic support automatic filling stops, the compaction pressure value that (no) preset if do not reach and stroke value, then see the filling number of times whether reaching and preset, if reach (YES), the operation of hydraulic support automatic filling stops, if do not reach (no), and need from step S1 resume operations.
In step s 5, realize the control to balance arm 6 raising height by the first obliquity sensor 3-1, the second obliquity sensor 3-2 and the 3rd obliquity sensor 3-3, avoid shovel board touching spoil transporter in tamping process.
The specific works process of electrichydraulic control waste filling mining hydraulic bracket of the present invention is: start electrohydraulic control system, namely startup fixed mount 17 is opened and is put cash mouth, spoil on spoil transporter falls into appointed area, to be fallen cash amount by blanking sensor 4 Real-Time Monitoring, cash amount to be fallen reaches and presets requirement, closes and puts cash mouth; Start compacting jack 9 until it reaches contact spoil, compacting operation stops; Start balance arm 6 and balance arm jack 11, make hydraulic support carry out stretching compacting and receiving balance arm instruction simultaneously, tamping filling is carried out to spoil; Monitored by pressure sensor 1 and stroke sensor 2 and record compaction pressure value and the stroke value of compacting jack 9; By the angle value of the first obliquity sensor 3-1, the second obliquity sensor 3-2 and the 3rd obliquity sensor 3-3 difference monitoring record base 5, back timber 7 and balance arm 6; If after reaching default compaction pressure value, stroke value and inclination value, namely complete tamping filling operation, carry out receipts compacting simultaneously and receive balance arm operating; Finally carry out stretching balance arm operation, make balance arm 6 get back to initial position, complete the operation of spoil automatic filling thus.
In sum, electrichydraulic control waste filling mining hydraulic bracket provided by the invention and Research on Automatic Filling thereof, by the pressure sensor being provided with electrohydraulic control system and be connected with electrohydraulic control system signal, stroke sensor, first obliquity sensor, second obliquity sensor and the 3rd obliquity sensor, achieve by hydraulic way waste filling mining hydraulic bracket Automated condtrol, effectively reduce the waste filling time, improve pack effectiveness, alleviate the labour intensity of operating personnel, improve waste filling effect by the Real-Time Monitoring of electrohydraulic control system simultaneously, realize the production domesticization of fully-mechanized mining working electrohydraulic control system, be conducive to saving equipment investment cost and promoting the intensivization development of coal high-yield and high-efficiency.
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 spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. an electrichydraulic control waste filling mining hydraulic bracket, it is characterized in that: comprise electrohydraulic control system, base (5), back timber (7), front column (8-1) and rear column (8-2), one end of described front column (8-1) is fixedly connected on described base (5), the other end is fixedly connected on described back timber (7), one end of described rear column (8-2) is fixedly connected on described base (5), and the other end is fixedly connected on described back timber (7);
Described back timber (7) is connected with balance arm (6) by balance arm jack (11), and described balance arm (6) is connected to described base (5) by compacting jack (9); Described base (5) is provided with the first obliquity sensor (3-1), described back timber (7) is provided with the second obliquity sensor (3-2), and described balance arm (6) is provided with the 3rd obliquity sensor (3-3) and shovel board; Described compacting jack (9) is provided with pressure sensor (1) and stroke sensor (2);
Described electrohydraulic control system is connected with described pressure sensor (1), stroke sensor (2), the first obliquity sensor (3-1), the second obliquity sensor (3-2) and the 3rd obliquity sensor (3-3) signal, and described electrohydraulic control system is controlled hydraulic support automatically by hydraulic way.
2. electrichydraulic control waste filling mining hydraulic bracket according to claim 1, is characterized in that: described electrohydraulic control system comprises digital monitor system, main valve body (16) and controller (15); Described main valve body (16) is connected with controller (15) by protector connector, described pressure sensor (1), stroke sensor (2), the first obliquity sensor (3-1), the second obliquity sensor (3-2) are connected with described controller (15) signal with the 3rd obliquity sensor (3-3), and described controller (15) is controlled described base (5), balance arm (6), back timber (7) and compacting jack (9) automatically by control bound body (16); Described digital monitor system receives and shows the transmission data of described pressure sensor (1), stroke sensor (2), the first obliquity sensor (3-1), the second obliquity sensor (3-2) and the 3rd obliquity sensor (3-3).
3. electrichydraulic control waste filling mining hydraulic bracket according to claim 1, it is characterized in that: also comprise fixed mount (17), described fixed mount (17) is provided with blanking sensor (4), described blanking sensor (4) Real-Time Monitoring falls cash amount, and by the information transmission of the cash amount that falls to described electrohydraulic control system.
4. electrichydraulic control waste filling mining hydraulic bracket according to claim 1, it is characterized in that: also comprise advancing jack (10), stroke sensor (2) is installed in described advancing jack (10), described stroke sensor (2) monitors the distance that advancing jack (10) moves in real time, and by the information transmission of advancing jack (10) move distance to described electrohydraulic control system.
5. electrichydraulic control waste filling mining hydraulic bracket according to claim 1, it is characterized in that: described back timber (7) has upper connecting rod (12) by hinge, the other end of described upper connecting rod (12) has front rod (13) and back link (14) respectively by hinge, and described front rod (13) is positioned at the top of described back link (14), the other end of described front rod (13) and back link (14) is connected on described base (5).
6. electrichydraulic control waste filling mining hydraulic bracket according to claim 1, it is characterized in that: described front column (8-1) and rear column (8-2) are provided with pressure sensor (1) and laser range finder, described laser range finder for detecting the distance of described back timber (7) and base (5), and by column force value and distance information transmission to described electrohydraulic control system.
7. electrichydraulic control waste filling mining hydraulic bracket according to claim 2, it is characterized in that: described controller (15) is provided with operation interface, described operation interface is provided with support holding function key, and described support holding function key is used for sending operational order to hydraulic support.
8. electrichydraulic control waste filling mining hydraulic bracket according to claim 7, is characterized in that: the quantity of the hydraulic support that described operation interface controls is a frame or multi rack, and can control the action in groups of multi rack hydraulic support and the direction of going forward one by one of action in groups.
9. a Research on Automatic Filling for the electrichydraulic control waste filling mining hydraulic bracket according to any one of claim 1-8, is characterized in that: comprise following operating procedure:
S1, start electrohydraulic control system, open and put cash mouth, the spoil on spoil transporter falls into appointed area, and to be fallen cash amount by blanking sensor (4) Real-Time Monitoring, cash amount to be fallen reaches and presets requirement, closes and puts cash mouth;
S2, startup compacting jack (9) are till it reaches contact spoil, and electrohydraulic control system controls the time that compacting jack (9) is stretched to spoil distance;
S3, startup balance arm (6) and balance arm jack (11), make hydraulic support carry out stretching compacting and receiving balance arm instruction simultaneously, carry out tamping filling to spoil;
S4, being monitored and record real-time pressure value and the stroke value of compacting jack (9) by pressure sensor (1) and stroke sensor (2), the force value preset if reach and stroke value, then stop compacting operation; The force value preset if do not reach and stroke value, wait until the default maximum duration, stops compacting operation and record real-time pressure value and stroke value;
S5, angle value by the first obliquity sensor (3-1), the second obliquity sensor (3-2) and the 3rd obliquity sensor (3-3) respectively monitoring record base (5), back timber (7) and balance arm (6), preset condition when inclination angle meets, then stop balance arm operation; If do not reach default inclination value, wait until the default maximum duration, stop balance arm operation;
After S6, tamping filling complete, receive compacting jack (9) and balance arm (6) simultaneously, avoid shovel board to be taken back by spoil, in receipts compacting operation, judge whether to reach the force value and stroke value that preset, if reach preset value, then stop compacting operation; If do not reach preset value, wait until the default maximum duration, stop compacting operation; In the operation of receipts balance arm, judge whether inclination angle meets preset value, if reach preset value, then stop balance arm operation; If do not reach preset value, wait until the default maximum duration, stop balance arm operation;
S7, stretch balance arm (6), make balance arm (6) get back to initial position, judge whether inclination angle meets preset value, if reach preset value, then stop balance arm operation; If do not reach preset value, wait until the default maximum duration, stop balance arm operation; Finally judge whether to carry out secondary filling according to the force value in step S4 and stroke value, if reach default force value and stroke value, then whole automatic filling process terminates; If do not reach default force value and stroke value, then return step S1.
10. the Research on Automatic Filling of electrichydraulic control waste filling mining hydraulic bracket according to claim 9, it is characterized in that: in step s 5, realize the control to balance arm (6) raising height by the first obliquity sensor (3-1), the second obliquity sensor (3-2) and the 3rd obliquity sensor (3-3), avoid shovel board touching spoil transporter in tamping process.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN108729946A (en) * | 2018-04-30 | 2018-11-02 | 中山市宝军电子有限公司 | A kind of mineral products goaf backfill material compactor structure |
| CN109989787A (en) * | 2019-05-09 | 2019-07-09 | 陕西长武亭南煤业有限责任公司 | A kind of coal mine waste rock filling combination ramming mechanism |
| CN110406951A (en) * | 2019-07-23 | 2019-11-05 | 华电郑州机械设计研究院有限公司 | A kind of method and apparatus controlling filling drag conveyor discharging window using ultrasonic distance measurement |
| CN113217068A (en) * | 2021-04-28 | 2021-08-06 | 太原理工大学 | Working face detection device, method, terminal and storage medium |
| CN115159023A (en) * | 2022-07-29 | 2022-10-11 | 郑州煤矿机械集团股份有限公司 | Height adjusting system and method for head and tail cushion frame of scraper conveyor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108729946A (en) * | 2018-04-30 | 2018-11-02 | 中山市宝军电子有限公司 | A kind of mineral products goaf backfill material compactor structure |
| 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 |
| 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 |
| CN109989787A (en) * | 2019-05-09 | 2019-07-09 | 陕西长武亭南煤业有限责任公司 | A kind of coal mine waste rock filling combination ramming mechanism |
| CN109989787B (en) * | 2019-05-09 | 2024-01-19 | 陕西长武亭南煤业有限责任公司 | Coal mine gangue filling combined tamping mechanism |
| CN110406951A (en) * | 2019-07-23 | 2019-11-05 | 华电郑州机械设计研究院有限公司 | A kind of method and apparatus controlling filling drag conveyor discharging window using ultrasonic distance measurement |
| CN113217068A (en) * | 2021-04-28 | 2021-08-06 | 太原理工大学 | Working face detection device, method, terminal and storage medium |
| CN115159023A (en) * | 2022-07-29 | 2022-10-11 | 郑州煤矿机械集团股份有限公司 | Height adjusting system and method for head and tail cushion frame of scraper conveyor |
| CN115159023B (en) * | 2022-07-29 | 2023-09-01 | 郑州煤矿机械集团股份有限公司 | Scraper conveyor head and tail cushion frame height adjusting system and adjusting method |
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