CN105697046A - Automatic control system and method for front face guards of hydraulic supports - Google Patents

Automatic control system and method for front face guards of hydraulic supports Download PDF

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Publication number
CN105697046A
CN105697046A CN201610064836.7A CN201610064836A CN105697046A CN 105697046 A CN105697046 A CN 105697046A CN 201610064836 A CN201610064836 A CN 201610064836A CN 105697046 A CN105697046 A CN 105697046A
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module
hydraulic support
coal
winning machine
face guard
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CN105697046B (en
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司垒
王忠宾
谭超
刘泽
闫海峰
姚新港
周晓谋
刘新华
徐西华
汪佳彪
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21DSHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/16Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
    • E21D23/26Hydraulic or pneumatic control
    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21CMINING OR QUARRYING
    • E21C35/00Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24Remote control specially adapted for machines for slitting or completely freeing the mineral

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
  • Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)

Abstract

The invention discloses an automatic control system and method for front face guards of hydraulic supports and belongs to the field of hydraulic support control. The system comprises a coal mining machine onboard module and a hydraulic support control module. The coal mining machine onboard module is mainly used for acquiring all parameters of a coal mining machine in real time, controlling the coal mining machine to work through a logic decision and communicating with the hydraulic supports; and the hydraulic support control module is mainly used for sending out signals of the hydraulic supports, acquiring the parameters of the hydraulic supports in real time, controlling the hydraulic supports and communicating with the coal mining machine. By the adoption of the automatic control system and method, cooperative control over the front face guards of the hydraulic supports and the coal mining machine can be achieved, the front face guards of the hydraulic supports can be controlled automatically without manual operation, the labor intensity of workers and coal mining accidents are reduced, and the flexible manpower line requirement and the unmanned requirement of fully-mechanized coal mining are met.

Description

Face guard automatic control system and method before a kind of hydraulic support
Technical field
The present invention relates to a kind of hydraulic support automatic control system and method, specifically face guard automatic control system and method before a kind of hydraulic support, belong to hydraulic support control field。
Background technology
Coal-winning machine is to realize one of coal production mechanization and modern visual plant, and mechanical coal mining can alleviate the physical work of workman, improve safety, reaches high yield, high efficiency, low consumed purpose。Hydraulic support is a kind of to utilize fluid pressure to produce support force realize automatic shift to carry out a kind of hydraulic power unit of roof timbering and management, is the indispensable corollary equipment of comprehensive mechanical coal mining。
At present, during with coal mining machine cut top coal, before hydraulic support face guard to stretch out and regain be all manipulated by hand by workman: when coal-winning machine soon moves to the position close to front face guard, face guard before a few frame hydraulic supports near this position is regained by workman in advance;After coal-winning machine is moved through this position, workman transfers hydraulic valve and is stretched out by face guard before the hydraulic support of withdrawal。In whole coal mining process, corresponding hydraulic support will be manipulated by workman according to the position of coal-winning machine, makes front face guard regain and stretch out, it is prevented that coal mining machine cut is to face guard before hydraulic support, the generation caused the accident。This mode mainly has following drawback: (1) completes this work mainly by operative, need workman to followed by coal-winning machine to walk at fully-mechanized mining working always, on the one hand, the labor intensity of workman is big, and it is unfavorable for ensureing the personal safety of workman, on the other hand, it is impossible to reach few peopleization, unmanned comprehensive adopt requirement;(2) operation easily lead to a disaster not in time: if workman can not operate in time withdrawal hydraulic support before face guard, coal-winning machine can cut front face guard, causes coal mining accident;If the front face guard regained can not be stretched out by workman in time, the support action of hydraulic support can not realize well, is unfavorable for the safety in production in colliery。
Summary of the invention
For problems of the prior art, the present invention provides face guard automatic control system and method before a kind of hydraulic support, it is capable of the Collaborative Control of face guard and coal-winning machine before hydraulic support, manual operation is carried out without workman, can in coal-winning machine running, before automatically controlling hydraulic support, face guard stretches out and regains, reduce the labor intensity of workman, ensure the personal safety of workman, reduce the generation of coal mining accident, reach few peopleization, unmanned comprehensive adopt requirement。
To achieve these goals, the technical scheme is that face guard automatic control system before a kind of hydraulic support, control module including coal-winning machine onboard modules and hydraulic support;
Described coal-winning machine onboard modules includes coal-winning machine real-time parameter acquisition module, A/D modular converter one, DSP processing module one, MCU logical calculated control module one, radio receiving transmitting module one, hydraulic support sequence number receiver module, database storage module and coal-winning machine on-board controller;Described coal-winning machine real-time parameter acquisition module is connected with A/D modular converter one signal of telecommunication, A/D modular converter one and hydraulic support sequence number receiver module are connected with DSP processing module one signal of telecommunication, and DSP processing module one, database storage module, radio receiving transmitting module one and coal-winning machine on-board controller control module one signal of telecommunication with MCU logical calculated and be connected;
Described hydraulic support controls that module includes hydraulic support sequence number transmitter module, oil cylinder of hydraulic support displacement transducer, A/D modular converter two, DSP processing module two, MCU logical calculated control face guard oil cylinder before module two, radio receiving transmitting module two, hydraulic support supervisory control desk and hydraulic support;Described oil cylinder of hydraulic support displacement transducer is connected with A/D modular converter two signal of telecommunication, A/D modular converter two is connected with DSP processing module two signal of telecommunication, and DSP processing module two, radio receiving transmitting module two, hydraulic support sequence number transmitter module and hydraulic support supervisory control desk control module two signal of telecommunication with MCU logical calculated and be connected;Face guard oil cylinder communication connection before hydraulic support supervisory control desk and hydraulic support;
Described hydraulic support sequence number receiver module and the communication connection of hydraulic support sequence number transmitter module;
Described coal-winning machine onboard modules and hydraulic support are controlled module and are communicated to connect by radio receiving transmitting module one and radio receiving transmitting module two。
Further, described coal-winning machine real-time parameter acquisition module includes roll left a shaft encoder, right drum shaft encoder, left rocking arm obliquity sensor, right rocking arm obliquity sensor, left tractive unit shaft encoder and right tractive unit shaft encoder, it is respectively provided on the left drum shaft of coal-winning machine, right drum shaft, left rocking arm, right rocking arm, left axis of traction and right axis of traction, is connected with A/D modular converter one signal of telecommunication and carries out real-time Communication for Power。
Further, described hydraulic support sequence number transmitter module includes infrared encoder and infrared transmitter, every hydraulic support sets an infrared encoder and infrared transmitter, infrared encoder and the corresponding infrared transmitter signal of telecommunication connect, and all of infrared encoder controls module two signal of telecommunication with MCU logical calculated and is connected;Described hydraulic support sequence number receiver module includes the infrared remote receiver and the IR decoder that are located on coal-winning machine, infrared remote receiver and the IR decoder signal of telecommunication and connects, and IR decoder is connected with DSP processing module one signal of telecommunication。
Further, described infrared remote receiver is located at the centre position of coal-winning machine body。
Face guard autocontrol method before a kind of hydraulic support, comprises the steps:
(1) the N platform hydraulic support on fully-mechanized mining working being numbered from 1 to N, the infrared encoder on every hydraulic support, infrared transmitter, oil cylinder of hydraulic support displacement transducer are consistent with the numbering of this hydraulic support with the numbering of face guard oil cylinder before hydraulic support;
(2) MCU logical calculated control module two sends order to infrared encoder, the sequence number of current hydraulic support is encoded, and allows infrared transmitter be constantly in the state continuing to launch;
(3) coal-winning machine moves cutting top coal, the infrared signal that infrared remote receiver is received by the IR decoder on coal-winning machine is decoded, judge the intensity of infrared signal, and decoded result is transmitted after DSP processing module one processes to MCU logical calculated control module one;
(4) MCU logical calculated control module one judges according to the infrared signal received, and support number the strongest for infrared signal is defined as the support place residing for coal-winning machine fuselage;
(5) dimensional parameters of the coal-winning machine wherein stored, hydraulic support is transmitted to MCU logical calculated control module one by the database storage module in coal-winning machine onboard modules, MCU logical calculated controls module one and determines, according to the rocking arm inclination angle of current coal-winning machine cutting drum, the cylinder being in cut state: if left rocking arm inclination angle is more than right rocking arm inclination angle, it is determined that left cutting drum is in the state of cutting top coal;If right rocking arm inclination angle is more than left rocking arm inclination angle, it is determined that right cutting drum is in the state of cutting top coal;
(6) MCU logical calculated controls whether module one reaches the angle of cut top board according to the inclination angle judgement cutting drum of the cutting drum being in cutting top coaly state: if the inclination angle of cutting drum reaches the angle of cut top board, go to step (7);If the inclination angle of cutting drum is not up to the angle of cut top board, go to step (3);
(7) MCU logical calculated controls module one calculating needs to regain the hydraulic support sequence number of front face guard, data message is sent to radio receiving transmitting module two by radio receiving transmitting module one, and the information received transmission is controlled module two to MCU logical calculated and preserves by radio receiving transmitting module two;
(8) MCU logical calculated controls the information of the module two information according to radio receiving transmitting module two transmission received and oil cylinder of hydraulic support displacement transducer, before judging coal-winning machine current cutting drum place hydraulic support, whether face guard is regained: if the front face guard of hydraulic support is regained, go to step (9);If the front face guard of hydraulic support is unrecovered, go to step (10);
(9) data message is sent to radio receiving transmitting module one by radio receiving transmitting module two, MCU logical calculated controls module one and judges the speed of now coal-winning machine is relative to whether the initial velocity of coal-winning machine has regulated: if having regulated, go to step (12);If not being adjusted, go to step (13);
(10) MCU logical calculated control module two reaches the time required for the hydraulic support of nearest unrecovered front face guard according to the speed of service calculating coal-winning machine of current coal-winning machine, and judge that can hydraulic support regain front face guard within the time of this permission: if face guard before regaining, after repeating step (3), step (4), go to step (7);If front face guard can not be regained, go to step (11);
(11) radio receiving transmitting module two sends information to radio receiving transmitting module one, and radio receiving transmitting module one transmits information to MCU logical calculated and controls module one;MCU logical calculated controls module one and sends a command to coal-winning machine on-board controller, and coal-winning machine on-board controller controls coal-winning machine and reduces gait of march and cylinder cutting speed, goes to step (7) after repeating step (3), step (4);
(12) MCU logical calculated control module one sends a command to coal-winning machine on-board controller, and coal-winning machine on-board controller controls coal-winning machine and recovers to initial gait of march and cylinder cutting speed;
(13) radio receiving transmitting module one sends information to radio receiving transmitting module two, and MCU logical calculated controls module two and judges whether the front face guard of the hydraulic support being not directed within the scope of current coal-winning machine cut stretches out: if stretching out, go to step (3);If not extending out, MCU logical calculated controls module two and sends a command to hydraulic support supervisory control desk, and before controlling hydraulic support, face guard oil cylinder stretches out face guard before hydraulic support, goes to step (3), and so circulation is until coal-winning machine completes top coal cutting。
The present invention sets coal-winning machine onboard modules on coal-winning machine, module one, database storage module and coal-winning machine on-board controller is controlled, it is achieved that to the collection of the real-time parameter of coal-winning machine with coal-winning machine is controlled in real time by the coal-winning machine real-time parameter acquisition module in module, A/D modular converter one, DSP processing module one, MCU logical calculated;Hydraulic support sets hydraulic support and controls module, by face guard oil cylinder before the oil cylinder of hydraulic support displacement transducer in module, A/D modular converter two, DSP processing module two, MCU logical calculated control module two, hydraulic support supervisory control desk and hydraulic support, it is achieved that face guard before hydraulic support is stretched out and the real-time of retracted state is monitored and control;By hydraulic support sequence number transmitter module, hydraulic support sequence number receiver module and wireless communication module achieve coal-winning machine onboard modules and hydraulic support controls the communication connection between module, it is achieved thereby that the Collaborative Control of face guard and coal-winning machine before hydraulic support, without in manually-operated situation, can in coal-winning machine running, position according to coal-winning machine, before automatically controlling hydraulic support, face guard stretches out and regains, decrease the labor intensity of workman, ensure that the personal safety of workman, decrease the generation of coal mining accident, reach few peopleization, unmanned comprehensive adopt requirement。
Accompanying drawing explanation
Fig. 1 is the system architecture diagram of the present invention。
Fig. 2 is the hydraulic support numbering schematic diagram of the present invention。
Fig. 3 is that the present invention judges the whether excessive calculating schematic diagram with the hydraulic support sequence number judging whether to regain front face guard in rocker arm of coal mining machine inclination angle。
Fig. 4 be the present invention hydraulic support before the flow chart of face guard autocontrol method。
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described。
As it is shown in figure 1, face guard automatic control system before a kind of hydraulic support, control module including coal-winning machine onboard modules and hydraulic support;
Described coal-winning machine onboard modules includes coal-winning machine real-time parameter acquisition module, A/D modular converter one, DSP processing module one, MCU logical calculated control module one, radio receiving transmitting module one, hydraulic support sequence number receiver module, database storage module and coal-winning machine on-board controller;Described coal-winning machine real-time parameter acquisition module is connected with A/D modular converter one signal of telecommunication, A/D modular converter one and hydraulic support sequence number receiver module are connected with DSP processing module one signal of telecommunication, and DSP processing module one, database storage module, radio receiving transmitting module one and coal-winning machine on-board controller control module one signal of telecommunication with MCU logical calculated and be connected;Coal-winning machine real-time parameter acquisition module is for gathering the real-time parameter of coal-winning machine, A/D modular converter one is for converting the analogue signal that coal-winning machine real-time parameter acquisition module collects to digital signal, DSP processing module one is for carrying out computing at a high speed by turning rear digital signal, MCU logical calculated controls module one and carries out logical judgment process to the received signal, and result is sent to coal-winning machine on-board controller and radio receiving transmitting module one, database storage module essential record difference coal-winning machine, the dimensional parameters of hydraulic support, and send it to MCU logical calculated control module, coal-winning machine on-board controller is used for controlling coal-winning machine;
Described hydraulic support controls that module includes hydraulic support sequence number transmitter module, oil cylinder of hydraulic support displacement transducer, A/D modular converter two, DSP processing module two, MCU logical calculated control face guard oil cylinder before module two, radio receiving transmitting module two, hydraulic support supervisory control desk and hydraulic support;Described oil cylinder of hydraulic support displacement transducer is connected with A/D modular converter two signal of telecommunication, A/D modular converter two is connected with DSP processing module two signal of telecommunication, and DSP processing module two, radio receiving transmitting module two, hydraulic support sequence number transmitter module and hydraulic support supervisory control desk control module two signal of telecommunication with MCU logical calculated and be connected;Face guard oil cylinder communication connection before hydraulic support supervisory control desk and hydraulic support;Hydraulic support sequence number transmitter module is used for launching hydraulic support serial number information, and can be received by the hydraulic support sequence number receiver module on coal-winning machine, oil cylinder of hydraulic support displacement transducer is for gathering the stroke of front face guard oil cylinder, namely identify that whether current hydraulic oil cylinder is flexible and regains, A/D modular converter two converts digital signal to for the analogue signal collected by hydraulic cylinder displacement transducer, DSP processing module two is for carrying out computing at a high speed by turning rear digital signal, MCU logical calculated controls module two and carries out logical judgment process to the received signal, and result is sent to hydraulic support supervisory control desk and radio receiving transmitting module two, hydraulic support supervisory control desk for face guard oil cylinder before controlling hydraulic support to the stretching out and regain of face guard before regulating hydraulic support;
Described hydraulic support sequence number receiver module and the communication connection of hydraulic support sequence number transmitter module;
Described coal-winning machine onboard modules and hydraulic support are controlled module and are communicated to connect by radio receiving transmitting module one and radio receiving transmitting module two。
Described coal-winning machine real-time parameter acquisition module includes roll left a shaft encoder, right drum shaft encoder, left rocking arm obliquity sensor, right rocking arm obliquity sensor, left tractive unit shaft encoder and right tractive unit shaft encoder, it is respectively provided on the left drum shaft of coal-winning machine, right drum shaft, left rocking arm, right rocking arm, left axis of traction and right axis of traction, is connected with A/D modular converter one signal of telecommunication and carries out real-time Communication for Power。Roll left an encoder, right cylinder encoder for obtaining the cutting speed of coal-winning machine left and right Rocker drum, left rocking arm obliquity sensor, right rocking arm obliquity sensor are for gathering the inclination angle of coal-winning machine left and right rocking arm, and left tractive unit shaft encoder, right tractive unit shaft encoder are used for gathering coal-winning machine left and right hauling speed。
Described hydraulic support sequence number transmitter module includes infrared encoder and infrared transmitter, every hydraulic support sets an infrared encoder and infrared transmitter, infrared encoder and the corresponding infrared transmitter signal of telecommunication connect, and all of infrared encoder controls module two signal of telecommunication with MCU logical calculated and is connected;Described hydraulic support sequence number receiver module includes the infrared remote receiver and the IR decoder that are located on coal-winning machine, infrared remote receiver and the IR decoder signal of telecommunication and connects, and IR decoder is connected with DSP processing module one signal of telecommunication。Infrared encoder is for being encoded the infrared information to launch, and infrared transmitter is for launching the infrared information encoded, and infrared remote receiver is for receiving the infrared signal of the infrared transmitter transmission on hydraulic support;IR decoder is for decoding the infrared information received。
Described infrared remote receiver is located at the centre position of coal-winning machine body, it is simple to calculates the numbering needing to stretch out or regain the hydraulic support of front face guard accurately, makes working face be smoothed out, be conducive to putting forward high comprehensive mining efficiency。
As shown in Figure 2 and Figure 4, face guard autocontrol method before a kind of hydraulic support, comprise the steps:
(1) the N platform hydraulic support on fully-mechanized mining working being numbered from 1 to N, the infrared encoder on every hydraulic support, infrared transmitter, oil cylinder of hydraulic support displacement transducer are consistent with the numbering of this hydraulic support with the numbering of face guard oil cylinder before hydraulic support;
(2) MCU logical calculated control module two sends order to infrared encoder, the sequence number of current hydraulic support is encoded, and allows infrared transmitter be constantly in the state continuing to launch;
(3) coal-winning machine moves cutting top coal, when coal-winning machine advances to a certain hydraulic support, infrared remote receiver on coal-winning machine is likely to be simultaneously received a lot of infrared signal with hydraulic support numbering, the infrared signal that infrared remote receiver is received by the IR decoder on coal-winning machine is decoded, judge the intensity of infrared signal, and decoded result is transmitted after DSP processing module one processes to MCU logical calculated control module one;
(4) MCU logical calculated control module one judges according to the infrared signal received, and support number the strongest for infrared signal is defined as the support place residing for coal-winning machine fuselage;
(5) dimensional parameters of the double-ended shearer wherein stored, hydraulic support is transmitted to MCU logical calculated control module one by the database storage module in coal-winning machine onboard modules, MCU logical calculated controls module one and determines, according to the rocking arm inclination angle of current coal-winning machine cutting drum, the cylinder being in cut state: if left rocking arm inclination angle is more than right rocking arm inclination angle, determine that coal-winning machine is advanced to the left, left cutting drum is in the state of cutting top coal, and right rocking arm placed angle is minimum for repairing base plate;If right rocking arm inclination angle is more than left rocking arm inclination angle, it is determined that coal-winning machine is advanced to the right, right cutting drum is in the state of cutting top coal, and left rocking arm placed angle is minimum for repairing base plate;
(6) MCU logical calculated controls whether module one reaches the angle of cut top board according to the inclination angle judgement cutting drum of the cutting drum being in cutting top coaly state: if the inclination angle of cutting drum reaches the angle of cut top board, go to step (7);If the inclination angle of cutting drum is not up to the angle of cut top board, go to step (3);
(7) MCU logical calculated controls module one calculating needs to regain the hydraulic support sequence number of front face guard, data message is sent to radio receiving transmitting module two by radio receiving transmitting module one, and the information received transmission is controlled module two to MCU logical calculated and preserves by radio receiving transmitting module two;
(8) MCU logical calculated controls the information of the module two information according to radio receiving transmitting module two transmission received and oil cylinder of hydraulic support displacement transducer, before judging coal-winning machine current cutting drum place hydraulic support, whether face guard is regained: if the front face guard of hydraulic support is regained, go to step (9);If the front face guard of hydraulic support is unrecovered, go to step (10);
(9) data message is sent to radio receiving transmitting module one by radio receiving transmitting module two, MCU logical calculated controls module one and judges the speed of now coal-winning machine is relative to whether the initial velocity of coal-winning machine has regulated: if having regulated, go to step (12);If not being adjusted, go to step (13);
(10) MCU logical calculated control module two reaches the time required for the hydraulic support of nearest unrecovered front face guard according to the speed of service calculating coal-winning machine of current coal-winning machine, and judge that can hydraulic support regain front face guard within the time of this permission: if face guard before regaining, after repeating step (3), step (4), go to step (7);If front face guard can not be regained, go to step (11);
(11) radio receiving transmitting module two sends information to radio receiving transmitting module one, and radio receiving transmitting module one transmits information to MCU logical calculated and controls module one;MCU logical calculated controls module one and sends a command to coal-winning machine on-board controller, and coal-winning machine on-board controller controls coal-winning machine and reduces gait of march and cylinder cutting speed, goes to step (7) after repeating step (3), step (4);
(12) MCU logical calculated control module one sends a command to coal-winning machine on-board controller, and coal-winning machine on-board controller controls coal-winning machine and recovers to initial gait of march and cylinder cutting speed;
(13) radio receiving transmitting module one sends information to radio receiving transmitting module two, and MCU logical calculated controls module two and judges whether the front face guard of the hydraulic support being not directed within the scope of current coal-winning machine cut stretches out: if stretching out, go to step (3);If not extending out, MCU logical calculated controls module two and sends a command to hydraulic support supervisory control desk, and before controlling hydraulic support, face guard oil cylinder stretches out face guard before hydraulic support, goes to step (3), and so circulation is until coal-winning machine completes top coal cutting。
Judge that whether excessive rocker arm of coal mining machine inclination angle method be as follows:
As it is shown on figure 3, d is coal mining machine roller diameter in figure;H is that rocking arm is from the distance bottom coal-winning machine;L1For coal-winning machine fuselage length;L2For rocker arm of coal mining machine length;α is rocker arm of coal mining machine inclination angle;L is hydraulic support width;H is the fully-mechanized mining working base plate height to top board。When coal-winning machine cutting drum edge can touch retaining-plate before hydraulic support, then judge that this rocker arm of coal mining machine inclination angle is excessive, it is possible to cut is to face guard before hydraulic support。Because fully-mechanized mining working base plate is not regular, so when calculating plus a safe distance R, if making coal-winning machine cut less than face guard before hydraulic support, then following relation should be met:
H > h + L 2 · sin α + d 2 + R
That is:
&alpha; < arcsin ( H - h - d 2 - R L 2 )
When α is less than the value calculated according to above formula, the inclination angle of cutting drum is not up to the angle of cut top board, it is not necessary to face guard before withdrawal hydraulic support。
Judge that the method for hydraulic support number involved by the current cutting drum of coal-winning machine is as follows:
As it is shown on figure 3, when coal-winning machine moves to a certain position, navigate to i-th hydraulic support by infrared signal, then the hydraulic support k corresponding to current cutting drum center that mines is:
k = i + L 1 2 + L 2 c o s &alpha;
WhereinThe value calculated adopts and rounds into a method。Before now needing withdrawal hydraulic support, the support number j of face guard is:
j = d l
WhereinThe value calculated adopts and rounds into a method。Generation for Accident prevention, face guard quantity before hydraulic support can be regained on this basis more, if the hydraulic support number of face guard is that m (adopts the symmetrical mode opened centered by k before needing regain more, so m is even number), then before needing withdrawal hydraulic support, face guard support number is:Extremely

Claims (5)

1. face guard automatic control system before a hydraulic support, it is characterised in that: include coal-winning machine onboard modules and hydraulic support controls module;
Described coal-winning machine onboard modules includes coal-winning machine real-time parameter acquisition module, A/D modular converter one, DSP processing module one, MCU logical calculated control module one, radio receiving transmitting module one, hydraulic support sequence number receiver module, database storage module and coal-winning machine on-board controller;Described coal-winning machine real-time parameter acquisition module is connected with A/D modular converter one signal of telecommunication, A/D modular converter one and hydraulic support sequence number receiver module are connected with DSP processing module one signal of telecommunication, and DSP processing module one, database storage module, radio receiving transmitting module one and coal-winning machine on-board controller control module one signal of telecommunication with MCU logical calculated and be connected;
Described hydraulic support controls that module includes hydraulic support sequence number transmitter module, oil cylinder of hydraulic support displacement transducer, A/D modular converter two, DSP processing module two, MCU logical calculated control face guard oil cylinder before module two, radio receiving transmitting module two, hydraulic support supervisory control desk and hydraulic support;Described oil cylinder of hydraulic support displacement transducer is connected with A/D modular converter two signal of telecommunication, A/D modular converter two is connected with DSP processing module two signal of telecommunication, and DSP processing module two, radio receiving transmitting module two, hydraulic support sequence number transmitter module and hydraulic support supervisory control desk control module two signal of telecommunication with MCU logical calculated and be connected;Face guard oil cylinder communication connection before hydraulic support supervisory control desk and hydraulic support;
Described hydraulic support sequence number receiver module and the communication connection of hydraulic support sequence number transmitter module;
Described coal-winning machine onboard modules and hydraulic support are controlled module and are communicated to connect by radio receiving transmitting module one and radio receiving transmitting module two。
2. face guard automatic control system before a kind of hydraulic support according to claim 1, it is characterized in that: described coal-winning machine real-time parameter acquisition module includes roll left a shaft encoder, right drum shaft encoder, left rocking arm obliquity sensor, right rocking arm obliquity sensor, left tractive unit shaft encoder and right tractive unit shaft encoder, it is respectively provided on the left drum shaft of coal-winning machine, right drum shaft, left rocking arm, right rocking arm, left axis of traction and right axis of traction, is connected with A/D modular converter one signal of telecommunication and carries out real-time Communication for Power。
3. face guard automatic control system before a kind of hydraulic support according to claim 1 and 2, it is characterized in that: described hydraulic support sequence number transmitter module includes infrared encoder and infrared transmitter, every hydraulic support sets an infrared encoder and infrared transmitter, infrared encoder and the corresponding infrared transmitter signal of telecommunication connect, and all of infrared encoder controls module two signal of telecommunication with MCU logical calculated and is connected;Described hydraulic support sequence number receiver module includes the infrared remote receiver and the IR decoder that are located on coal-winning machine, infrared remote receiver and the IR decoder signal of telecommunication and connects, and IR decoder is connected with DSP processing module one signal of telecommunication。
4. face guard automatic control system before a kind of hydraulic support according to claim 3, is characterized in that: described infrared remote receiver is located at the centre position of coal-winning machine body。
5. face guard autocontrol method before a hydraulic support, it is characterised in that: comprise the steps:
(1) the N platform hydraulic support on fully-mechanized mining working being numbered from 1 to N, the infrared encoder on every hydraulic support, infrared transmitter, oil cylinder of hydraulic support displacement transducer are consistent with the numbering of this hydraulic support with the numbering of face guard oil cylinder before hydraulic support;
(2) MCU logical calculated control module two sends order to infrared encoder, the sequence number of current hydraulic support is encoded, and allows infrared transmitter be constantly in the state continuing to launch;
(3) coal-winning machine moves cutting top coal, the infrared signal that infrared remote receiver is received by the IR decoder on coal-winning machine is decoded, judge the intensity of infrared signal, and decoded result is transmitted after DSP processing module one processes to MCU logical calculated control module one;
(4) MCU logical calculated control module one judges according to the infrared signal received, and support number the strongest for infrared signal is defined as the support place residing for coal-winning machine fuselage;
(5) dimensional parameters of the coal-winning machine wherein stored, hydraulic support is transmitted to MCU logical calculated control module one by the database storage module in coal-winning machine onboard modules, MCU logical calculated controls module one and determines, according to the rocking arm inclination angle of current coal-winning machine cutting drum, the cylinder being in cut state: if left rocking arm inclination angle is more than right rocking arm inclination angle, it is determined that left cutting drum is in the state of cutting top coal;If right rocking arm inclination angle is more than left rocking arm inclination angle, it is determined that right cutting drum is in the state of cutting top coal;
(6) MCU logical calculated controls whether module one reaches the angle of cut top board according to the inclination angle judgement cutting drum of the cutting drum being in cutting top coaly state: if the inclination angle of cutting drum reaches the angle of cut top board, go to step (7);If the inclination angle of cutting drum is not up to the angle of cut top board, go to step (3);
(7) MCU logical calculated controls module one calculating needs to regain the hydraulic support sequence number of front face guard, data message is sent to radio receiving transmitting module two by radio receiving transmitting module one, and the information received transmission is controlled module two to MCU logical calculated and preserves by radio receiving transmitting module two;
(8) MCU logical calculated controls the information of the module two information according to radio receiving transmitting module two transmission received and oil cylinder of hydraulic support displacement transducer, before judging coal-winning machine current cutting drum place hydraulic support, whether face guard is regained: if the front face guard of hydraulic support is regained, go to step (9);If the front face guard of hydraulic support is unrecovered, go to step (10);
(9) data message is sent to radio receiving transmitting module one by radio receiving transmitting module two, MCU logical calculated controls module one and judges the speed of now coal-winning machine is relative to whether the initial velocity of coal-winning machine has regulated: if having regulated, go to step (12);If not being adjusted, go to step (13);
(10) MCU logical calculated control module two reaches the time required for the hydraulic support of nearest unrecovered front face guard according to the speed of service calculating coal-winning machine of current coal-winning machine, and judge that can hydraulic support regain front face guard within the time of this permission: if face guard before regaining, after repeating step (3), step (4), go to step (7);If front face guard can not be regained, go to step (11);
(11) radio receiving transmitting module two sends information to radio receiving transmitting module one, and radio receiving transmitting module one transmits information to MCU logical calculated and controls module one;MCU logical calculated controls module one and sends a command to coal-winning machine on-board controller, and coal-winning machine on-board controller controls coal-winning machine and reduces gait of march and cylinder cutting speed, goes to step (7) after repeating step (3), step (4);
(12) MCU logical calculated control module one sends a command to coal-winning machine on-board controller, and coal-winning machine on-board controller controls coal-winning machine and recovers to initial gait of march and cylinder cutting speed;
(13) radio receiving transmitting module one sends information to radio receiving transmitting module two, and MCU logical calculated controls module two and judges whether the front face guard of the hydraulic support being not directed within the scope of current coal-winning machine cut stretches out: if stretching out, go to step (3);If not extending out, MCU logical calculated controls module two and sends a command to hydraulic support supervisory control desk, and before controlling hydraulic support, face guard oil cylinder stretches out face guard before hydraulic support, goes to step (3), and so circulation is until coal-winning machine completes top coal cutting。
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