CN106050287A - System and method for controlling Wongawilli coal mining supports - Google Patents
System and method for controlling Wongawilli coal mining supports Download PDFInfo
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- CN106050287A CN106050287A CN201610649586.3A CN201610649586A CN106050287A CN 106050287 A CN106050287 A CN 106050287A CN 201610649586 A CN201610649586 A CN 201610649586A CN 106050287 A CN106050287 A CN 106050287A
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- 238000005065 mining Methods 0.000 title claims abstract description 102
- 238000000034 method Methods 0.000 title claims abstract description 83
- 239000003245 coal Substances 0.000 title claims abstract description 77
- 230000008093 supporting effect Effects 0.000 claims abstract description 59
- 230000009471 action Effects 0.000 claims description 21
- 238000011084 recovery Methods 0.000 claims description 21
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000000875 corresponding effect Effects 0.000 description 8
- 238000005259 measurement Methods 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
- E21D23/26—Hydraulic or pneumatic control
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- Mining & Mineral Resources (AREA)
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Abstract
An embodiment of the invention discloses a system and a method for controlling Wongawilli coal mining supports. The system comprises support controllers, stroke sensors, pressure sensors and inclination angle sensors. The support controllers are arranged on the various coal mining supports, and the coal mining supports can act under the control of the support controllers according to feedback values of the sensors connected with the support controllers; each stroke sensor is arranged in a support cylinder of the corresponding coal mining support, is connected with the corresponding support controller and is used for measuring forward running distances of the single support; the pressure sensors are arranged on upright columns of the coal mining supports, are connected with the support controllers and are used for measuring the roof supporting strength of the upright columns; the inclination angle sensors are arranged on protecting sides and side protecting plates of the coal mining supports, are connected with the support controllers and are used for measuring inclination angles of the protecting sides and the side protecting plates. The system and the method in the embodiment of the invention have the advantage that the coal mining supports can be automatically controlled according to the stroke, the pressures and inclination angles of the coal mining supports by the aid of the system and the method for controlling the Wongawilli coal mining supports.
Description
Technical field
The present embodiments relate to underground coal mine support apparatus technical field, particularly relate to a kind of wangeviry mining method support
Control system and method.
Background technology
China is under-utilized to mine coal post and corner coal resource reclaiming, and a large amount of valuable coal resources go out of use, and make
Become great energy waste and huge economic loss.Trace it to its cause, mainly lack recovery process reasonable, safe and efficient
And equipment.
Wangevili Coal Cutting Method is the efficient shortwall pillar coal-mining method formed on the basis of pillar mining, because of at first
In Australia " Wangeviry " coal seam, pilot production is successfully gained the name.The maximum feature of the method is work surface flexible arrangement, can
Reclaim corner coal and combine the coal resources adopting inconvenience back production, have that equipment investment is few, produce coal fast, equipment operation flexibly, work surface
Resettlement is flexible, the more high advantage of full efficiency.Its process is to offer two in the both sides of large-scale coal column or small coal resource
Tunnel, is respectively used to the double transport of air intake and return air, then excavates approximately perpendicular lane at spacing intervals between these two tunnels
Road, and thus tunnel is helped to widen to reclaim coal to two.
In the prior art, CN203245983U discloses a kind of hydraulic support for wangeviry mining method technique, should
Set support equipment (six framves) be two column protected type hydraulic support, in three groups in the middle of one group act primarily as support tunnel in the middle part of top board and
Pushing away coal, gear coal effect, one group of left side is responsible for supporting and is newly widened top board on the left of tunnel, rib and push away coal, one group of right side on the left of supporting
Top board on the right side of tunnel is newly widened in responsible support, rib and push away coal on the right side of supporting.The side guard plate of middle pack support both sides is turning
Rise and strengthen roof timbering area.The left and right sides two pack support strengthens roof timbering near middle the most turning rise of side guard plate
Area, suitably lengthens near the side guard plate of wall supporting, strengthens wall supporting ability, three pack support front portions also with coal-pushing plate and spillplate,
It does not disclose that the mode of operation controlling hydraulic support is carried out wireless remote control by handheld terminal and support.And
CN202348307U then discloses a kind of hydraulic support control device of wireless, and illustrates to can be used for propping up of wangeviry mining method technique
During frame controls, but the detailed description of the invention not being controlled support is specifically described.
To sum up, prior art does not provide automatically control the coal mining support in Wangevili Coal Cutting Method complete
Technical scheme.
Summary of the invention
For above-mentioned technical problem, embodiments provide a kind of wangeviry mining method bracket control system and side
Method, to realize automatically controlling coal mining support according to stroke, pressure and the inclination angle of coal mining support.
On the one hand, embodiments providing a kind of wangeviry mining method bracket control system, described system is arranged at
In wangeviry mining method support group, described wangeviry mining method support group includes three coal mining supports, described wangeviry mining method
Bracket control system includes:
Bracket controller, is arranged on each coal mining support, controls for the value of feedback according to connected sensor
The action of described coal mining support；
Stroke sensor, is arranged in the support oil cylinder of described coal mining support, is connected with described bracket controller, be used for surveying
Measure the distance that single support runs forward；
Pressure transducer, is arranged on the column of described coal mining support, is connected with described bracket controller, is used for measuring institute
State the column supporting intensity for described top board；
Obliquity sensor, is arranged on wall supporting and the side guard plate of described coal mining support, is connected with described bracket controller, uses
In measuring described wall supporting and the angle of inclination of described side guard plate.
On the other hand, the embodiment of the present invention additionally provides a kind of wangeviry mining method support control method, described method bag
Include:
According to the value of feedback of obliquity sensor, perform wall supporting and the recovery of side guard plate；
According to the value of feedback of pressure transducer, perform side arm or the fall frame of after-frame；
According to the value of feedback of stroke sensor, perform side arm or the shifting frame of after-frame；
According to the value of feedback of described pressure transducer, perform side arm or the liter frame of after-frame；
According to stretching out of the value of feedback of described obliquity sensor, execution wall supporting and side guard plate.
The wangeviry mining method bracket control system of embodiment of the present invention offer and method, by arranging in support oil cylinder
Stroke sensor, arranges pressure transducer on column, arranges obliquity sensor, and prop up mining on wall supporting and side guard plate
Bracket controller is set on frame, it is achieved that according to automatic to the coal mining support of Wangevili Coal Cutting Method of stroke, pressure and inclination angle
Control.
Accompanying drawing explanation
By the detailed description that non-limiting example is made made with reference to the following drawings of reading, other of the present invention
Feature, purpose and advantage will become more apparent upon:
Fig. 1 is the wangeviry mining method support that the wangeviry mining method bracket control system that the embodiment of the present invention provides is arranged
The perspective view of group；
Fig. 2 is single side arm or after-frame in the wangeviry mining method bracket control system that first embodiment of the invention provides
Circuit structure diagram；
Fig. 3 is the integrated circuit structure chart of the wangeviry mining method bracket control system that second embodiment of the invention provides；
Fig. 4 is the flow chart of the wangeviry mining method support control method that second embodiment of the invention provides；
Fig. 5 is the flow chart of the wangeviry mining method support control method that third embodiment of the invention provides；
Fig. 6 is the flow chart of the wangeviry mining method support control method that fourth embodiment of the invention provides.
Detailed description of the invention
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just
Part related to the present invention is illustrate only rather than entire infrastructure in description, accompanying drawing.
First embodiment
Present embodiments provide a kind of technical scheme of wangeviry mining method bracket control system.In this technical scheme,
Described wangeviry mining method bracket control system is arranged in wangeviry mining method support group.Fig. 1 shows described Wangeviry
The three-dimensional view of coal mining support group.Seeing Fig. 1, described wangeviry mining method support group has three coal mining supports to constitute, and, often
Individual coal mining support is divided into side arm and after-frame, is also called fore-stock and after-poppet.
In operation process, in three coal mining supports, the locus of the coal mining support being in centre is the most forward, and
The locus of other two coal mining supports is the most rearward.Owing to the locus between each above-mentioned coal mining support is arranged,
Working space at three coal mining support driving parts is triangular in shape, is referred to as trigonum.
Seeing Fig. 2, described wangeviry mining method bracket control system includes: the support control being arranged on each coal mining support
Device 23 processed, stroke sensor 24, pressure transducer 25, and obliquity sensor 26, be also arranged on the pick of middle coal mining support
Enter the server 21 in part and wireless receiver 22.
Described server 21 and described wireless receiver 22 are arranged on position in three coal mining supports and are in one of centre
In the driving part of coal mining support.Further, electrically connect between described server 21 with described wireless receiver 22.Described server
21 is a server being made up of embedded system.The support arranged on it and fore-stock in each coal mining support and after-poppet
Controller 23 connects.Therefore, described server 21 can be mutual by the signal between described bracket controller 23, controls each
The action of individual coal mining support 23.
Described wireless receiver 22 electrically connects with described server 21, uses remote controller to send for receiving engineering staff
Wireless remote control signals.Described wireless receiver 22, after receiving described wireless remote control signals, forwards it to described service
Device 21, in order to described server 21 performs the control to described coal mining support group according to described wireless remote control signals.
On six front and back supports being respectively provided with, it is respectively arranged with stroke sensor 24, pressure transducer 25 and inclines
Angle transducer 26.Described stroke sensor 24, described pressure transducer 25 and described obliquity sensor 26 are the most corresponding
Bracket controller 23 electrically connects, by the electrical connection between described bracket controller 23, the phase that each sensor is sensed
The signal answered can be transferred to described bracket controller 23.
Described stroke sensor 24 is for sensing the stroke of its place support.It is set the support oil of corresponding support
In cylinder.Described stroke sensor 24 is for the distance sensing its set side arm or after-frame runs forward.
The described pressure transducer 25 pressure between column and the top board sensing its place support.It is arranged on it
On the column of corresponding support.Described pressure transducer 25 is for inductively measuring the described column supporting intensity for described top board.
Described obliquity sensor 26 is for sensing wall supporting and the angle of inclination of side guard plate of its place support.It is arranged on
On described wall supporting and described side guard plate.Described obliquity sensor 26 is for inductively measuring described wall supporting and the inclination of described side guard plate
Angle.
Fig. 3 show in described wangeviry mining method bracket control system each bracket controller and described server 31 and
Annexation between described wireless receiver 32.
Seeing Fig. 3, owing to described wangeviry mining method support group includes three coal mining supports, and each support includes again
Side arm and after-frame, so including six bracket controllers in described wangeviry mining method bracket control system altogether, be called
First to the 6th bracket controller.Described first to the 6th bracket controller 33,34,35,36,37,38 is sequentially connected in series, and with institute
State server 31 and described wireless receiver 32 connects.So, described wireless receiver 32 control instruction received just may be used
With the bracket controller transmitted to each side arm or after-frame by described server 31, thus realize the control to support.
The wangeviry mining method bracket control system that the present embodiment is provided so that the action of coal mining support is according to setting in advance
The Automatic Program of meter completes, but for complicated tunnel environment, in the case of there is roof fall and wall caving in top board and left and right rib,
Only generally cannot realize good supporting effect by the program that bracket controller is cured, operator now can pass through wireless remote
Control device carries out manual intervention and correction to said process, it is ensured that support group steadily can move in tunnel, the most also can be by this
Operational factor in secondary revised course of action preserves, in automatic control function next time.
Second embodiment
Present embodiments provide a kind of technical scheme of wangeviry mining method support control method.In this technical scheme,
Described wangeviry mining method support control method includes: according to the value of feedback of described obliquity sensor, performs wall supporting and side guard plate
Recovery；According to the value of feedback of pressure transducer, perform side arm or the fall frame of after-frame；According to the value of feedback of stroke sensor,
Perform the shifting frame of side arm the latter's after-frame；According to the value of feedback of described pressure transducer, perform side arm or the liter frame of after-frame.
Seeing Fig. 4, described wangeviry mining method support control method includes:
S41, according to the value of feedback of described obliquity sensor, performs wall supporting and the recovery of side guard plate.
Concrete, after starting the recovery action to wall supporting and side guard plate, according at described wall supporting and described side guard plate
The dip angle parameter of the feedback of the obliquity sensor that place is arranged, it is determined whether need to stop the recovery of wall supporting and side guard plate is moved
Make.
S42, according to the value of feedback of pressure transducer, performs side arm or the fall frame of after-frame.
During fall frame, for avoiding set cap to completely disengage from top board, support is caused to lose necessary support action,
Needing to set minimum fall frame pressure limit, during fall frame, under column, cavity pressure is less than set minimum fall frame pressure
During limit value, i.e. stop fall frame action, start and move frame action.
S43, according to the value of feedback of stroke sensor, performs side arm or the shifting frame of after-frame.
During moving frame, two coal mining supports needing coal mining support in the middle of ensureing can suitably be ahead of left and right sides enter
Row moves frame, to strengthen the supporting of top board trigonum.Simultaneously as the passage oil cylinder of after-frame is connected to the base rear end of side arm, and
The passage oil cylinder of side arm is connected to the equipment mechanism of driving part, therefore when after-frame passage side arm travels forward, needs side arm
Regain the passage oil cylinder between itself and coal pusher structure.For ensureing the coordinated operation between two passage oil cylinders, need two passage oil
The measured value of the stroke sensor installed in cylinder is monitored in real time, it is ensured that the overhang of after-frame passage oil cylinder and side arm passage oil
The withdrawal amount of cylinder consistent (to measure difference within the acceptable range, not damage corresponding mechanical part be as the criterion).When running
Journey is once measured difference and exceedes set " maximum difference ", then suspend corresponding support action.If i.e. after-frame passage oil
Cylinder stretches out too fast, then suspend after-frame cylinder action；If the passage oil cylinder of side arm is regained too fast, then suspend the dynamic of side arm oil cylinder
Make, after difference meets requirement, restart corresponding action again.By arranging the target stroke value of passage, when the passage of after-frame
After the outreach (or withdrawal distance of the passage oil cylinder of side arm) of oil cylinder reaches set target stroke value, side arm and after-frame
Stop the action of corresponding passage, and start the liter frame action of side arm.
S44, according to the value of feedback of described pressure transducer, performs side arm or the liter frame of after-frame.
Rise during frame at support, top board is crushed absciss layer drop, after needing liter frame for preventing support from excessively rising frame
Support setting load limits, and after column pressure reaches setting load limit value, support stops rising frame action.
S45, according to stretching out of the value of feedback of described obliquity sensor, execution wall supporting and side guard plate.
After the liter frame completing described side arm or described after-frame, need to stretch the wall supporting packed up and side guard plate
Go out.Performing wall supporting and when stretching out of side guard plate, need the dip angle parameter according to obliquity sensor detection judge described wall supporting and
Described side guard plate has extend out to suitable angle.
The present embodiment, by the value of feedback according to described obliquity sensor, performs wall supporting and the recovery of side guard plate, according to row
The value of feedback of journey sensor, performs side arm or the fall frame of after-frame, according to the value of feedback of stroke sensor, perform side arm or after
The shifting frame of frame, and the value of feedback according to described pressure transducer, perform side arm or the liter frame of after-frame, can be safely and effectively
Solve the control problem of wangeviry mining method technique hydraulic support, it is achieved supporting automatization, hydraulic bracket controller can be used to enter
Row controls on the spot, uses Digiplex remotely to control hydraulic support, has ensured personnel safety, passed through single action
Control, sequential control organized by list and logic control function completes the efficient manipulation to support automatically in groups, decreases workman's
Labor intensity, improves work efficiency.
3rd embodiment
Present embodiments provide the another kind of technical scheme of wangeviry mining method support control method.See Fig. 3, in this skill
In art scheme, described wangeviry mining method support control method is applied to the side arm in three coal mining supports.Concrete, described prosperous
Ge Weili coal mining support control method includes:
S501, the reach starting side arm controls program.
In the present embodiment, described reach control program controls for the reach controlling the side arm in three coal mining supports.
After starting and running above-mentioned reach control program, the side arm in three coal mining supports, namely the execution that three side arms synchronize
Wall supporting side guard plate reclaim, fall frame, move frame, rise frame, and the action that wall supporting side guard plate stretches out.
S502, starts wall supporting and the recovery of side guard plate.
S503, it is judged that the recovery angle of wall supporting and side guard plate, whether less than reclaiming angle limit value, if so, performs S504.
Described recovery angle limit value has fixing value.According to whether reclaiming angle less than reclaiming the fixing of angle limit value
Value, judges whether the recovery of wall supporting and side guard plate completes.
S504, stops wall supporting and the recovery of side guard plate, starts the fall frame of side arm.
S505, it is judged that whether the column pressure that pressure transducer measurement is arrived, less than fall frame pressure limit, if so, performs
S506。
S506, stops the fall frame of side arm, starts the shifting frame of side arm.
S507, it is judged that stroke sensor measurement obtains side arm and moves whether frame stroke reaches target stroke value, if so, performs
S508, if it is not, perform S511.
It should be noted that during the shifting frame performing three side arms, before needing to be guaranteed at of centre position
The locus of frame has certain advanced relative to the locus of other two side arms.It is to say, at three side arms
During moving frame, need to ensure the shape that three side arms spatially keep triangle.
S508, stops the shifting frame of side arm, starts the liter frame of side arm.
S509, it is judged that pressure transducer measurement to column pressure whether reach setting load limit value, if so, perform S510.
S510, stops stretching out of the liter frame of side arm, startup wall supporting and side guard plate.
S511, it is judged that wall supporting and side guard plate whether stretch out angle more than stretching out angle limit value, if so, perform S512.
Stretching out of S512, stopping wall supporting and side guard plate, the reach completing side arm controls program.
S513, it is judged that whether side arm exceeds the maximum difference set, if being carried out S512 with the passage stroke difference of after-frame.
At this in operation, by arranging maximum difference, it is judged that the shifting frame operation of side arm is the most too fast.
S514, stops the shifting frame of side arm.
During moving frame, the shifting frame that side arm once occurs is too fast, can make overhang and the side arm of after-frame passage oil cylinder
The withdrawal amount of passage oil cylinder is inconsistent, it is possible to cause the damage of corresponding mechanical part.
The present embodiment is by the stroke sensor being set in advance on side arm, pressure transducer and obliquity sensor, in real time
Obtain side arm operating state in moving frame, fall frame, liter frame and wall supporting and side guard plate recovery action, it is achieved that to side arm action
Automatically control.
4th embodiment
The present embodiment provides the yet another technique scheme of wangeviry mining method support control method.See Fig. 4, in this technology
In scheme, described wangeviry mining method support control method is applied to the after-poppet in three coal mining supports.Concrete, described prosperous
Ge Weili coal mining support control method includes:
S601, the reach starting after-frame controls program.
In the present embodiment, described reach control program controls for the reach controlling the after-frame in three coal mining supports.
After starting and running above-mentioned reach control program, the after-frame in three coal mining supports, namely the execution that three after-frames synchronize
Wall supporting side guard plate reclaim, fall frame, move frame, rise frame, and the action that wall supporting side guard plate stretches out.
S602, starts wall supporting and the recovery of side guard plate.
S603, it is judged that the recovery angle of wall supporting and side guard plate, whether less than reclaiming angle limit value, if book, performs S604.
S604, stops wall supporting and the recovery of side guard plate, starts the fall frame of after-frame.
S605, it is judged that whether the column pressure that pressure transducer measurement is arrived, less than fall frame pressure limit, if so, performs
S606。
S606, stops the fall frame of after-frame, starts the shifting frame of after-frame.
S607, it is judged that the after-frame that stroke sensor measurement obtains moves whether frame stroke reaches target stroke value, if so, performs
S608。
S608, stops the shifting frame of after-frame, starts the liter frame of after-frame.
S609, it is judged that pressure transducer measurement to column pressure whether reach setting load limit value, if so, perform S610.
Identical with the shifting frame process of three side arms, during the shifting frame of three after-frames, need to ensure middle after-frame
Locus is ahead of the locus of other two after-frames.
S610, stops stretching out of the liter frame of after-frame, startup wall supporting and side guard plate.
S611, it is judged that wall supporting and side guard plate whether stretch out angle more than stretching out angle limit value, if so, perform S612.
Stretching out of S612, stopping wall supporting and side guard plate, the reach completing after-frame controls program.
The present embodiment is by the stroke sensor being set in advance on after-frame, pressure transducer and obliquity sensor, in real time
Obtain after-frame operating state in moving frame, fall frame, liter frame and wall supporting and side guard plate recovery action, it is achieved that to after-frame action
Automatically control.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for those skilled in the art
For, the present invention can have various change and change.All made within spirit and principles of the present invention any amendment, equivalent
Replacement, improvement etc., should be included within the scope of the present invention.
Claims (9)
1. a wangeviry mining method bracket control system, it is characterised in that described wangeviry mining method bracket control system sets
Being placed in wangeviry mining method support group, described wangeviry mining method support group includes three coal mining supports, each coal mining support
Including fore-stock and after-poppet, described wangeviry mining method bracket control system includes:
Bracket controller, is arranged on each coal mining support, controls described for the value of feedback according to connected sensor
The action of coal mining support；
Stroke sensor, is arranged in the support oil cylinder of described coal mining support, is connected with described bracket controller, be used for measuring list
The distance that individual support runs forward；
Pressure transducer, is arranged on the column of described coal mining support, is connected with described bracket controller, is used for measuring described standing
Post is for the supporting intensity of described top board；
Obliquity sensor, is arranged on wall supporting and the side guard plate of described coal mining support, is connected with described bracket controller, be used for surveying
Measure described wall supporting and the angle of inclination of described side guard plate.
System the most according to claim 1, it is characterised in that also include:
Server, is arranged at the driving part of middle coal mining support, is connected respectively with the bracket controller of three coal mining supports, use
In the co-operating controlled between three coal mining supports；
Wireless receiver, is arranged at the driving part of middle coal mining support, is connected with described server, believes for direct remote control
Number, and the remote signal received is transmitted to described server.
3. a wangeviry mining method support control method, it is characterised in that including:
According to the value of feedback of obliquity sensor, perform wall supporting and the recovery of side guard plate；
According to the value of feedback of pressure transducer, perform side arm or the fall frame of after-frame；
According to the value of feedback of stroke sensor, perform side arm or the shifting frame of after-frame；
According to the value of feedback of described pressure transducer, perform side arm or the liter frame of after-frame；
According to stretching out of the value of feedback of described obliquity sensor, execution wall supporting and side guard plate.
Method the most according to claim 3, it is characterised in that according to the value of feedback of described obliquity sensor, performs wall supporting
And the recovery of side guard plate includes:
Start described wall supporting and the recovery of described side guard plate；
Whether the value of feedback according to described obliquity sensor is less than reclaiming angle limit value, it is determined whether stop described wall supporting and institute
State the recovery of side guard plate.
Method the most according to claim 3, it is characterised in that according to the value of feedback of pressure transducer, perform side arm or
The fall frame of after-frame includes:
Start side arm or the fall frame of after-frame；
Whether the value of feedback according to described pressure transducer is less than fall frame pressure limit, it is determined whether stop side arm or after-frame
Fall frame.
Method the most according to claim 3, it is characterised in that according to the value of feedback of stroke sensor, perform the shifting of side arm
Frame includes:
Start the shifting frame of side arm；
If the value of feedback of described stroke sensor reaches target stroke value, stop the shifting frame of side arm；
If the value of feedback miss the mark stroke value of described stroke sensor, it is judged that whether the passage stroke difference of side arm and after-frame
Exceed default maximum difference；
If side arm exceedes default maximum difference with the passage stroke difference of after-frame, stop the shifting frame of side arm.
Method the most according to claim 3, it is characterised in that according to the value of feedback of stroke sensor, perform the shifting of after-frame
Frame includes:
Start the shifting frame of after-frame；
If the value of feedback of described stroke sensor reaches target stroke value, stop the shifting frame of after-frame.
Method the most according to claim 3, it is characterised in that according to the value of feedback of described pressure transducer, performs side arm
Liter frame after or includes:
Start side arm or the liter frame of after-frame；
Setting load limit value whether is arrived, it is determined whether stop side arm or the liter of after-frame according to front post setting or rear post setting
Frame.
Method the most according to claim 3, it is characterised in that according to the value of feedback of described obliquity sensor, performs wall supporting
And stretching out of side guard plate includes:
Start and described wall supporting and described side guard plate are stretched out；
Whether the value of feedback according to described obliquity sensor is more than stretching out angle limit value, it is determined whether stop described wall supporting and described
Stretching out of side guard plate.
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| CN201610649586.3A CN106050287A (en) | 2016-08-09 | 2016-08-09 | System and method for controlling Wongawilli coal mining supports |
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| CN201610649586.3A CN106050287A (en) | 2016-08-09 | 2016-08-09 | System and method for controlling Wongawilli coal mining supports |
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Address after: Nanxiang three road, Science City high tech Industrial Development Zone, Guangzhou city of Guangdong Province, No. 2 510660 Applicant after: Hitachi building technologies (Guangzhou) Co. Ltd. Address before: Nanxiang three road, Science City high tech Industrial Development Zone, Guangzhou city of Guangdong Province, No. 2 510660 Applicant before: Guangzhou Ropente Science and Technology Development Co., Ltd. |
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