CN106401633A - Intelligent installation equipment for large-mining-height hydraulic support and application of intelligent installation equipment - Google Patents
Intelligent installation equipment for large-mining-height hydraulic support and application of intelligent installation equipment Download PDFInfo
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- CN106401633A CN106401633A CN201610860773.6A CN201610860773A CN106401633A CN 106401633 A CN106401633 A CN 106401633A CN 201610860773 A CN201610860773 A CN 201610860773A CN 106401633 A CN106401633 A CN 106401633A
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- 238000009434 installation Methods 0.000 title claims abstract description 117
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- 238000000034 method Methods 0.000 claims description 29
- 238000013500 data storage Methods 0.000 claims description 21
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- 238000003780 insertion Methods 0.000 claims description 9
- 230000037431 insertion Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 5
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- 238000003466 welding Methods 0.000 description 3
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 239000003245 coal Substances 0.000 description 2
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- 235000008434 ginseng Nutrition 0.000 description 2
- 238000011900 installation process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
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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
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- Conveying And Assembling Of Building Elements In Situ (AREA)
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Abstract
The invention relates to intelligent installation equipment for a large-mining-height hydraulic support and application of the intelligent installation equipment. The intelligent installation equipment comprises an installation implementation system, a hinge pin hole locating assembly and a control system. The control system is electrically connected with the installation implementation system and the hinge pin hole locating assembly and used for intelligently controlling operation of the installation implementation system and the hinge pin hole locating assembly. According to the intelligent installation equipment for the large-mining-height hydraulic support and application of the intelligent installation equipment, coordinate information of hinge-joint holes in a hydraulic support base, a front connection rod and a rear connection rod is obtained through a laser lamp module in the hinge pin hole locating assembly; centering of hinge-joint holes is completed by completing movement of the front connection rod and the rear connection rod in a preset coordinate system through the control system; and after hinge pins at specific positions are grabbed through mechanical arms in the installation implementation system, the hinge pins are inserted into the hinge-joint holes, so that installation of the front connection rod, the rear connection rod and the base as well as installation of a top beam and a shield beam are completed. By means of the intelligent installation equipment for the large-mining-height hydraulic support and application of the intelligent installation equipment, traditional hydraulic support installation modes are changed; manpower and material resources are saved; intelligentized control is achieved; installation precision is high; and installation efficiency is improved.
Description
Technical field
The present invention relates to a kind of high working face hydraulic support Intelligent Installation equipment and its application, belong to high working face hydraulic support group
Dress equipment technical field.
Background technology
Medium-thickness seam is always the main exploiting field of coal mining, as the hydraulic support of the important support apparatus in down-hole, to colliery
Safe working is significant with high-efficiency mining.With being continuously increased of seam mining thickness, the supporting height of hydraulic support
Also it is continuously increased with range of accommodation, it is especially big up to 8.8 meters that some enterprises of current China even have developed maximum support height
Mining height hydraulic support.Hydraulic support requires there is stronger bearing capacity, and generally ferrous materials Member Welding forms, therefore greatly
Mining height hydraulic support quality is very big, and its part typically also has larger quality, and this is to the installation of hydraulic support and installation
Transport afterwards brings difficulty.A lot of hydraulic support manufacturing enterprises are all after the completion of carriage assembly welding, are accomplished manually support
The assembling of whole frame, inefficiency, support with great mining height is bulky, heavy to lead to artificial operating error very big, support with great mining height pin
Axle to the heart, install and there are a lot of problem demanding prompt solutions, and the driving of some manufacturing enterprises can not meet support with great mining height
The requirement of whole frame lifting is it is impossible to realize whole frame transport entrucking.
Due to high working face hydraulic support size, weight is larger it is impossible to whole machine is directly gone into the well, and typically whole machine is resolved into bottom
Seat, caving shield, back timber and front-axle beam etc. three part, forms split and goes into the well and tunnel transport, when split hydraulic support roping is to coal mining
It is necessary to re-assembly in work surface porch behind face, work surface integral installation can be transported to.
For example, Chinese patent literature CN204419225U discloses a kind of high working face hydraulic support fast assembling machine, this group
Installation is by arranging guider, entablature assembly, mechanical arm, mechanical hand oil cylinder, chain wheel assembly, drawing cylinder, column, standing
Post base, operating valve set, push cylinder fixed frame, push cylinder, intermediate regulations oil cylinder, hydraulic lifting frame, entablature are adjusted
Oil cylinder, butterfly are buckled, hook, a chain sling, guide seats assembly, rail, the hydraulic support of base connector composition quickly assemble
Machine, installation difficulty is big at the scene, high working face hydraulic support and high-end hydraulic support can not to solve existing hydraulic support assembling machine
Enter the problem of the old mine that pit shaft is little, tunnel is narrow.
Chinese patent literature CN201696064U discloses a kind of hydraulic support assembling machine, and this technical scheme includes lifting and turns
Motivation structure includes base, back timber, bearing, folds armed lever, lifting hydraulic cylinder, leading screw conciliation bearing, lifting pivoted arm, fixed hoisting
Bar, slip lifting boom, rotating hydraulic cylinder；Be additionally provided with rotating mechanism, mechanism of shunting, bottom car elevating mechanism, lateral adjusting deviation device and
Many mechanisms such as bilateral operating board.
And existing hydraulic support assembling machine solves mostly is the installation question in fully-mechanized mining working for the hydraulic support, and
Existing installation device structure is relative complex, complex installation process, and installation accuracy and installation effectiveness are low.
Content of the invention
For the deficiencies in the prior art, the present invention provides a kind of high working face hydraulic support Intelligent Installation equipment, and this equipment is tied
Structure can achieve intelligent installation, and without manpower, and installation effectiveness is high, and installation accuracy is accurate.
The present invention also provides a kind of high working face hydraulic support bearing pin based on this Intelligent Installation equipment to the heart, installs and intelligence
Loading method.
Technical scheme is as follows：
A kind of high working face hydraulic support Intelligent Installation equipment, including installation execution system, pin shaft hole positioning component and control
System, control system is electrically connected with installation execution system, pin shaft hole positioning component and installs execution system, bearing pin for Based Intelligent Control
The operation of hole positioning component；
Described installation execution system includes mobile platform assembly, boom hoisting, clamping device and mechanical arm assembly；Mobile flat
Platform assembly is used for for hydraulic support foundation moving to target location, and boom hoisting is used for hydraulic support front rod, back link, top
Beam and caving shield are transplanted on target location, and mechanical arm assembly is used for the installation capturing bearing pin and completing bearing pin；
Described pin shaft hole positioning component includes laser lamp assembly and projection board component, the laser launched by laser lamp assembly
Through pin shaft hole projection board component upslide shadow, with obtain the coordinate information of pin shaft hole and by coordinate information be transferred to control system
System, for positioning to pin shaft hole；
Described control system includes central controller, data storage cell, signal acquisition process unit, display unit and ginseng
Number arranging units, data storage cell, signal acquisition process unit, display unit and parameter set unit are all and central controller
Connect, described signal acquisition process unit one end connection control system, the other end connects projection plate.This design is advantageous in that,
Pin shaft hole is passed through in projection board component upslide shadow by the laser that signal acquisition process unit can gather the transmitting of laser lamp assembly
The optical signal obtaining, is converted into control system and can identify and the signal of telecommunication that processes or digital signal, and will pass after signal processing
Deliver to inside control system.
Preferably, described mobile platform assembly includes middle part pedestal and mobile platform, and middle part pedestal is provided with three cunnings
Groove, three chutes are respectively left chute, middle chute and right rail, and the bottom of mobile platform is provided with movable block, and movable block is arranged
Slide can in middle chute and in middle chute；The bottom of laser lamp assembly and projection board component is slidably arranged in right rail respectively
In left chute.
Preferably, the upper surface of described mobile platform is provided with rear end fixture, left side to fixture and right side to fixture, rear end
In the chute that mobile platform upper surface postmedian opens up, the both sides of mobile platform upper surface are further opened with left and right and slide fixture
Groove, is respectively arranged with lateral fixture slide unit in the chute of left and right, and left side is located at the left and right sides to fixture and right side respectively to fixture
Lateral fixture slide unit in.This design is advantageous in that, when placing on a mobile platform hydraulic support foundation, by rear end
Fixture, left side to fixture and right side to fixture can effectively grip base it is ensured that base is steady in mobile platform running
Qualitative, accurate pin shaft hole coordinate information can be obtained simultaneously.
Preferably, described laser lamp assembly includes laser lamp bracing frame and is arranged on the laser on laser lamp bracing frame top
Lamp, the bottom of laser lamp bracing frame is slidably arranged in right rail.
Preferably, described projection board component includes the projection projecting plate bracing frame and being arranged on projection plate bracing frame top
Plate, the bottom of projection plate bracing frame is slidably arranged in left chute.
Preferably, described laser lamp bracing frame and projection plate bracing frame are symmetrical arranged and by control system Synchronization Control.
Preferably, described laser lamp bracing frame and projection plate bracing frame are all from multistage retractable rod.
Preferably, described boom hoisting includes driving frame, the first driving and the second driving, and the first driving and the second driving are flat
Row is arranged on driving frame, and the first driving and the second driving are provided with two groups of steel wire rope controllers, two groups of steel wire rope controllers
It is respectively the first steel wire rope controller and the second steel wire rope controller, on the first steel wire rope controller and the second steel wire rope controller
It is wound with steel wire rope, the bottom of steel wire rope is connected with steel hook.
Preferably, the both sides in middle part pedestal are symmetrical arranged described clamping device, and clamping device includes end pedestal, machine
Tool rubber sleeve platform, the first fixing device and the second fixing device, on the pedestal of end, two ends are respectively provided with the first bracing frame, first
It is arranged with the second bracing frame, the top of the second bracing frame connects mechanical hand slide unit, mechanical hand slide unit is provided with cunning in support
Road and side slideway；First support bar that first fixing device and the second fixing device all include being sequentially connected, second support bar, stretch
Contracting bar and fastening plates.
Preferably, described mechanical arm assembly includes sliding shoe and is arranged on mechanical hand on sliding shoe, the bottom of sliding shoe
In sliding way.This design is advantageous in that, mechanical hand has multiple degrees of freedom, can conveniently capture the bearing pin of fixed position, and
Complete the installation of bearing pin by the route that central controller sets.
Preferably, described high working face hydraulic support Intelligent Installation equipment also includes back link passage oil cylinder assembly, described after
Connecting rod passage oil cylinder assembly includes cylinder seat, passage plate, passage oil cylinder, passage cylinder seat and lift cylinders seat, slides and set in the bottom of cylinder seat
Put in middle chute, lift cylinders cover for seat is located in cylinder seat, the top of lift cylinders seat connects passage cylinder seat, is provided with passage cylinder seat
Passage oil cylinder, the piston rod of passage oil cylinder passes hinged with passage plate after passage cylinder seat.This design is advantageous in that, back link pushes away
Move removable, upper and lower liftable before and after cylinder component, and elapse the inclination that plate can achieve certain angle, can be real with back link
Now perfectly fit.
A kind of operational approach carrying out hydraulic support assembling using high working face hydraulic support Intelligent Installation equipment, including following
Step,
(1) first the caving shield of hydraulic support, front rod and back link are coupled together, form assembly, standby；To stand
Post is arranged on the base of hydraulic support, standby；
(2) open high working face hydraulic support Intelligent Installation equipment, reference frame is determined by control system, Intelligent Installation sets
Standby be in initial position, that is, mobile platform assembly be located at middle chute foremost, laser lamp assembly be located at right rail foremost,
Projection board component is located at left chute foremost, now can get each building block of Intelligent Installation equipment in reference frame
Initial position co-ordinates；Then the required initial parameter installing hydraulic support is passed through parameter set unit input control system, control
System processed calculates installation and operation track by being internally embedded algorithm；
(3) start boom hoisting to hang onto base on mobile platform, then by rear end fixture, left side to fixture and right side
Make base center axis face concordant with the middle axial plane of mobile platform to the mating reaction of fixture and three face clampings are carried out to base, by base
Fix on a mobile platform；
(4) after mobile platform assembly starts and move to the coordinate position that control system is specified, due to known to control system
The initial position co-ordinates of each building block of Intelligent Installation equipment, the path of mobile platform movement is it is known that just can obtain mobile flat
Platform reaches the coordinate of mobile platform after specified location, and the initial parameter of hydraulic support sets, and base is fixed on movement
Relative coordinates on platform it is also known that, so control system can calculate now base location in control system and sit
Mark, and then can get the preliminary coordinate value of each pin shaft hole K5, K6 on base；
(5) control system control laser lamp assembly and projection board component start simultaneously and run simultaneously, laser lamp assembly from
Initial position gradually moves to the preliminary coordinate value position of base pin shaft hole K5, when the laser that laser lamp sends passes through base bearing pin
When hole transmission is a circle on projection plate, control system controls laser lamp assembly out of service, by signal acquisition process list
Unit is by the coordinate K5 (X5, Y5) of control system record now pin shaft hole K5；Then laser lamp assembly continues to run with gradually to base
The preliminary coordinate value position of pin shaft hole K6 is moved, when the laser that laser lamp sends again passes through base pin shaft hole transmission in projection plate
When being above a circle, control system controls laser lamp assembly out of service, is remembered by control system by signal acquisition process unit
Record the coordinate K6 (X6, Y6) of now pin shaft hole K6, and the coordinate information of K5, K6 is stored in data storage cell；
(6) it is again started up boom hoisting, steel hook is passed through the hole for hoist on caving shield, boom hoisting runs step (1)
In assembly be transported to lifting initial position, the first steel wire rope controller, the adjustment of the second steel wire rope controller make caving shield
Top surface level, then control system stop operation until front rod and back link stop swinging and front rod and back link axle center
Perpendicular to horizontal plane；
(7) it is again started up laser lamp assembly and projection board component to front rod lower link point K3 Scan orientation, work as laser lamp
When the laser of transmitting passes through the pin shaft hole of front rod lower link point K3 to transmit circle on projection plate, control system controls laser
Lamp assembly stop motion, by signal acquisition process unit by control system record now K3 coordinate K3 (X3, Y3), and by K3
Coordinate information be stored in data storage cell；
(8) control system, according to the coordinate information of K3 and K5 of record in data storage cell, calculates boom hoisting band
The stroke that dynamic assembly is walked：X=X3-X5, Y=Y3-Y5；Control system controls boom hoisting to run X3- first in the X direction
X5, runs and treats that front rod and back link stop swinging after finishing, then the first steel wire rope controller and the second steel wire rope controller
Control steel wire rope decentralization assembly, decentralization distance is Y3-Y5, treats that front rod and back link stop swinging after the completion of decentralization simultaneously,
Complete the centering of front rod lower link point K3 and base pin joint K5；
(9) now control system controls the first fixing device clamping caving shield, and the second fixing device clamps front rod, then
Control system control machinery hand captures bearing pin, by motion in sliding way for the mechanical hand and upper and lower by the second bracing frame
Motion makes bearing pin reach the coordinate points of K5, and bearing pin is inserted K3, K5 pin joint by robot movement, and the distance of insertion is initial parameter
The depth of middle K5 pin shaft hole, so far completes the installation of front rod and base, and the first fixing device and the second fixing device are returned to
Home position；
(10) after completing the installation of front rod and base, then carry out the installation of back link and base, by the second steel wire rope
Controller controls steel wire rope decentralization, and first group of steel wire rope keeps constant, steel wire rope in decentralization process due to steel wire rope have soft
Property it may occur that deflection, need to calculate the length that steel wire rope transferred by the second steel wire rope controller；By the program setting in control system
After calculating the length that the second steel wire rope controller control steel wire rope need to be transferred, control system controls the second steel wire rope controller to move
Make decentralization steel wire rope to specified location, then part stopping to be assembled being rocked；
(11) control system controls the first fixing device clamping caving shield, the second fixing device clamping front rod, controls system
System master cylinder seat moves forward in middle chute and passes through to adjust lift cylinders seat to preset height, elapses cylinder seat inner piston rod and stretches out and will push away
Move plate to be fitted on back link, piston rod continues to advance the lower link point K4 and base pin joint K6 centering up to back link, so
Bearing pin is inserted K4, K6 pin joint by mechanical hand afterwards, and the distance of insertion is the depth of K6 pin shaft hole in initial parameter, so far after the completion of
Connecting rod and the installation of base；
(12) the steel hook of boom hoisting is deviate from from caving shield hole for hoist, and boom hoisting moves to initial position and by just
In beginning parameter back timber two hole for hoist distance values come to adjust between the first steel wire rope controller and the second steel wire rope controller away from
From then back timber being sling, back timber top surface is adjusted level by the first steel wire rope controller, the second steel wire rope controller, and waits to push up
Beam stops swinging；
(13) it is again started up laser lamp assembly and projection board component, it is obtained to the hinge hole Scan orientation of caving shield front end
Coordinate information simultaneously coordinate information is stored in data storage cell；Then laser lamp assembly and projection board component run again, right
The hinge hole Scan orientation of top beam rear end obtains its coordinate information and coordinate information is stored in data storage cell；
(14) boom hoisting starts, and the hinge hole of top beam rear end is adjusted to the coordinate information position of caving shield front end hinge hole
Put, mechanical hand runs the seat running to caving shield front end hinge hole after initial position captures bearing pin by control system mechanical hand
Mark information position, bearing pin is inserted caving shield and back timber corresponding bearing pin in the hole, the distance of insertion is caving shield in initial parameter
The depth of front end pin shaft hole, so far realizes the installation of back timber and caving shield；
(15) lead to liquid and back timber needling withstood in column rise, then the steel hook of boom hoisting is deviate from from back timber hole for hoist,
It is finally completed the installation of hydraulic support, boom hoisting, the first fixing device and the second fixing device are returned to initial position.
Preferably, described operational approach also includes step (16), and mobile platform assembly drives the hydraulic pressure after being completed to prop up
Frame slides into middle chute foremost, and boom hoisting is again started up Whole Hydraulic Support of slinging, and is placed in transport vehicle.
Preferably, in step (2), the initial parameter of described hydraulic support, refer to the outward appearance of each ingredient of hydraulic support
Physical dimension, i.e. base, front rod, back link, caving shield and the respective length and width of back timber.
Preferably, in step (6), described lifting initial position, refer to the first driving and second driving mid-plane with
The vertical that the central axis of base coincides, and the assembly X-direction lifted by crane is in front of mobile platform assembly.
The beneficial effects of the present invention is：
1. high working face hydraulic support Intelligent Installation equipment of the present invention, instead of the mode that Traditional Man installs hydraulic support,
Achieve do mechanization operation, save manpower, improve installation effectiveness.
2. Intelligent Installation equipment of the present invention can achieve Intelligent Installation, and without personnel's manipulation, and installation process is accurate, greatly
Improve installation accuracy greatly, be capable of quickly effectively installing.
3. Intelligent Installation equipment reliable design of the present invention, rational in infrastructure, runs safe and efficient, disclosure satisfy that hydraulic support is pacified
The demand of dress enterprise, has good economic worth and market value, is worthy of popularization.
Brief description
Fig. 1 is the annexation figure of each ingredient of Intelligent Installation equipment of the present invention；
Fig. 2 is the structural representation I of Intelligent Installation equipment of the present invention；
Fig. 3 is the structural representation II of Intelligent Installation equipment of the present invention；
Fig. 4 a is the partial structural diagram of Intelligent Installation equipment of the present invention；
Fig. 4 b is the front view of Intelligent Installation equipment partial structurtes；
Fig. 5 is the structural representation of pin shaft hole positioning component and mobile platform assembly in the present invention；
Fig. 6 a is the structural representation I of mechanical hand slide unit assembly in the present invention；
Fig. 6 b is the structural representation II of mechanical hand slide unit assembly in the present invention；
Fig. 7 is the structural representation of high working face hydraulic support；
Fig. 8 is the structural representation of assembly and base in high working face hydraulic support；
Fig. 9 a is front rod lower link point and structural representation during floor installation；
Fig. 9 b is the structural representation after front rod lower link point and floor installation；
Figure 10 a is the structural representation before back link lower link point and floor installation；
Figure 10 b is each inclination angle schematic diagram before back link lower link point and floor installation；
Figure 11 is that passage plate has just contacted the structural representation before passage with back link；
Figure 12 is back link lower link point and structural representation during floor installation；
Figure 13 is the structural representation before back timber is installed with caving shield；
Figure 14 is that back timber completes the structural representation after installing with caving shield；
Wherein：1- pin shaft hole positioning component；101- laser lamp assembly；102- projects board component；
2- control system；201- central controller；202- data storage cell；203- display unit；204- parameter setting
Unit；205- signal acquisition process unit；
3- installs execution system；301- mobile platform assembly；302- mechanical hand；303- back link passage oil cylinder assembly；
304- boom hoisting；305- mechanical hand slide unit；306- first fixing device；307- second fixing device；
4- pedestal；Pedestal in the middle part of 401-；402- end pedestal；7- movable block；8- mobile platform；Slide to fixture on the left of 9-
Platform；To fixture on the left of 10-；11- rear end fixture；12- first projects plate bracing frame；13- second projects plate bracing frame；14- the 3rd
Projection plate bracing frame；15- projection plate；16- cylinder seat；17- elapses plate；18- piston rod；19- elapses cylinder seat；20- lift cylinders seat；
21- laser lamp；22- the 3rd laser lamp bracing frame；23- second laser lamp bracing frame；24- first laser lamp bracing frame；25- first
Support bar；26- second support bar；27- expansion link；28- fastening plates；29- mechanical hand slide unit；30- second bracing frame；31- first
Bracing frame；32- driving frame；33- first drives a vehicle；34- second drives a vehicle；35- the first steel wire rope controller；36- steel wire rope；37-
Two steel wire rope controllers；38- steel hook.
ZJ1- base；ZJ2- back link；ZJ3- front rod；ZJ4- caving shield；ZJ5- back timber.
Specific embodiment
Below by embodiment and combine accompanying drawing the present invention will be further described, but not limited to this.
Embodiment 1：
As shown in Fig. 1 to Fig. 6 b, the present embodiment provides a kind of high working face hydraulic support Intelligent Installation equipment, holds including installation
Row system 3, pin shaft hole positioning component 1 and control system 2, control system 2 and installation execution system 3, pin shaft hole positioning component 1 electricity
It is connected to Based Intelligent Control and execution system 3, the operation of pin shaft hole positioning component 1 are installed；
Execution system 3 is installed and includes mobile platform assembly 301, boom hoisting 304, clamping device and mechanical arm assembly；Move
Moving platform assembly 301 is used for for hydraulic support foundation moving to target location, and boom hoisting 304 is used for connecting before hydraulic support
Bar, back link, back timber and caving shield are transplanted on target location, and mechanical arm assembly is used for the installation capturing bearing pin and completing bearing pin；
Pin shaft hole positioning component 1 includes laser lamp assembly 101 and projection board component 102, is launched by laser lamp assembly 101
Laser pass through pin shaft hole to project on projection board component 102, to obtain the coordinate information of pin shaft hole and to transmit coordinate information
To control system 2, for positioning to pin shaft hole；
Control system 2 includes central controller 201, data storage cell 202, signal acquisition process unit 205, display list
Unit 203 and parameter set unit 204；Data storage cell 202, signal acquisition process unit 205, display unit 203 and parameter
Arranging unit 204 is all electrically connected with central controller 201.
Wherein, mobile platform assembly 301 includes middle part pedestal 401 and mobile platform 8, and middle part pedestal 401 offers three
The parallel chute of bar, three chutes are respectively left chute, middle chute and right rail, and the bottom welding of mobile platform 8 has movable block
7, movable block 7 is arranged in middle chute and can slide in middle chute；Laser lamp assembly 101 and the bottom of projection board component 102
It is slidably arranged in respectively in right rail and left chute.
The upper surface of mobile platform 8 is provided with rear end fixture 11, left side to fixture 10 and right side to fixture, rear end fixture 11
In the chute that mobile platform 8 upper surface postmedian opens up, the both sides of mobile platform 8 upper surface are further opened with left and right chute,
Left and right chute is located at the both sides of rear end fixture 11, is respectively arranged with lateral fixture slide unit, lateral fixture slide unit in the chute of left and right
Can slide in the chute of left and right, left side is located at the left side of the left and right sides to fixture slide unit 9 to fixture 10 and right side respectively to fixture
With right side into fixture slide unit.When hydraulic support foundation is placed on mobile platform 8, by rear end fixture 11, left side to
Fixture 10 and right side to fixture can effectively grip base it is ensured that stability in mobile platform 8 running for the base, simultaneously
Accurate pin shaft hole coordinate information can be obtained.
Laser lamp assembly 101 includes laser lamp bracing frame and is arranged on the laser lamp 21 on laser lamp bracing frame top, laser
The bottom of lamp bracing frame is slidably arranged in right rail, and laser lamp bracing frame is two-stage expansion link, and it is included from bottom to top successively
The first laser lamp bracing frame 24 of socket, second laser lamp bracing frame 23 and the 3rd laser lamp bracing frame 22, laser lamp 21 is located at
The top of the 3rd laser lamp bracing frame 22.
Projection board component 102 includes the projection plate 15 projecting plate bracing frame and being arranged on projection plate bracing frame top, projection
The bottom of plate bracing frame is slidably arranged in left chute, and projection plate bracing frame is two-stage expansion link, and it is included from bottom to top successively
First projection plate bracing frame 12, second projection plate bracing frame 13 of socket and the 3rd projection plate bracing frame 14, projection plate 15 is located at
The top of the 3rd projection plate bracing frame 14.
Laser lamp bracing frame and projection plate bracing frame are symmetrical arranged and by control system 2 Synchronization Control, i.e. laser lamp 21 He
Projection plate 15 is on same level straight line all the time, is transmissive on projection plate 15 with the laser ensureing laser lamp 21 transmitting,
Ensure that accuracy during post laser lamp Scan orientation pin shaft hole and signal acquisition process unit 205 can gather and project throwing
Optical signal on shadow plate 15, and convert optical signal into control system 2 can identify and the signal of telecommunication that processes or digital signal after
It is sent to inside control system.
Boom hoisting includes driving frame 32, first driving 33 and the second driving 34, and the first driving 33 and the second driving 34 are flat
Row is arranged on driving frame 32, and the first driving 33 and the second driving 34 are provided with two groups of steel wire rope controllers, two groups of steel wire ropes
Controller is respectively the first steel wire rope controller 35 and the second steel wire rope controller 37, the first steel wire rope controller 35 and the second steel
Steel wire rope 36 is wound with cord controller 37, the bottom of steel wire rope 36 is connected with steel hook 38.Control system 2 can control the first row
Car 33 and the operation of the second driving 34, also control the first steel wire rope controller 35 and the fortune of the second steel wire rope controller 37 simultaneously
OK.
It is symmetrical arranged described clamping device in the both sides of middle part pedestal 401, clamping device includes end pedestal 402, machine
Tool rubber sleeve platform 305, the first fixing device 306 and the second fixing device 307, on end pedestal 402, two ends are respectively provided with first
Bracing frame 31, is arranged with the second bracing frame 30 in the first bracing frame 31, the top of the second bracing frame 30 connects mechanical hand slide unit 29,
Sliding way and side slideway are provided with mechanical hand slide unit 29；First fixing device 306 and the second fixing device 307 are all included successively
First support bar 25, second support bar 26, expansion link 27 and the fastening plates 28 connecting, the bottom of first support bar 25 is located at breaks away
Slidably reciprocate can in road and in side slideway, the first fixing device 306 and the second fixing device 307 are controlled by control system 2
Slide, lift, stretch, the first fixing device 306 is realized with this and the second fixing device 307 is clamping to caving shield.
Mechanical arm assembly includes sliding shoe and is arranged on mechanical hand 302 on sliding shoe, and the bottom of sliding shoe is located at upper cunning
Sliding shoe is controlled to slidably reciprocate in sliding way in road and by control system 2.Mechanical hand 302 has multiple degrees of freedom, can conveniently grab
Take the bearing pin of fixed position, and the route being set by central controller completes the installation of bearing pin.
Embodiment 2：
A kind of high working face hydraulic support Intelligent Installation equipment, as described in Example 1, its difference is structure：Adopt greatly
Height hydraulic support Intelligent Installation equipment also includes back link passage oil cylinder assembly 303, and back link passage oil cylinder assembly 303 includes cylinder
Seat 16, passage plate 17, passage oil cylinder, passage cylinder seat 19 and lift cylinders seat 20, the bottom of cylinder seat 16 is slidably arranged in middle chute,
Lift cylinders seat 20 is set in cylinder seat 16, and the top of lift cylinders seat 20 connects passage cylinder seat 19, is provided with and pushes away in passage cylinder seat 19
Move oil cylinder, the piston rod 18 of passage oil cylinder passes hinged with passage plate 17 after passage cylinder seat 19.Before back link passage oil cylinder assembly
Removable afterwards, upper and lower liftable, and elapse the inclination that plate can achieve certain angle, perfect patch can be realized with back link
Close, be easy to subsequently promote back link.
Embodiment 3：
A kind of operation carrying out hydraulic support assembling using the high working face hydraulic support Intelligent Installation equipment described in embodiment 2
Method, comprises the following steps,
(1) first the caving shield ZJ4 of hydraulic support, front rod ZJ3 and back link ZJ2 are coupled together, form assembly,
Standby；Column is arranged on the base of hydraulic support, standby；
(2) open high working face hydraulic support Intelligent Installation equipment, reference frame, Intelligent Installation are determined by control system 2
Equipment is in initial position, that is, mobile platform assembly 301 be located at middle chute foremost, laser lamp assembly 101 be located at right rail
Foremost, projection board component 102 be located at left chute foremost, now can get each building block of Intelligent Installation equipment ginseng
Examine the initial position co-ordinates in coordinate system；Then the required initial parameter installing hydraulic support is inputted by parameter set unit
Control system, control system calculates installation and operation track by being internally embedded algorithm；
(hydraulic support initial parameter here refers to the length and width of hydraulic support foundation or caving shield etc., length of connecting rod etc.
The preset parameter of some hydraulic supports, the parameter of the support of unit-frame type is not different, so installing different hydraulic supports to need pin
Initial value is set to this type support, according to these initial values, the programmed algorithm that control system passes through to implant inside calculates to be installed
During the position of each assembly of Intelligent Installation system or some parts need the path of walking, with support bracket fastened base be
Example, when the Initial parameter sets of certain frame type support are good, after base is placed on a mobile platform, rear end fixture, left side to fixture and
The path that right side calculates according to control system to fixture and sets is run, and carrys out grip base)
(3) start boom hoisting to hang onto base ZJ1 on mobile platform 8, then by rear end fixture 11, left side to fixture
10 make axial plane in base ZJ1 concordant with the middle axial plane of mobile platform with right side to the mating reaction of fixture and base ZJ1 are carried out
Three face clampings, base ZJ1 is fixed on mobile platform 8；
(4) after mobile platform assembly 301 starts and move to the coordinate position that control system 2 is specified, due to control system 2
Known smart installs the initial position co-ordinates of each building block of equipment, and the path of mobile platform 8 movement is it is known that just can be moved
Moving platform 8 reaches the coordinate of mobile platform 8 after specified location, and the initial parameter of hydraulic support sets, and base ZJ1 is solid
Fixed relative coordinates on a mobile platform it is also known that, so control system 2 can calculate now base ZJ1 in control system
Location coordinate, and then can get the preliminary coordinate value of each pin shaft hole K5, K6 on base；
(5) control system 2 controls laser lamp assembly 101 and projection board component 102 to start simultaneously and run simultaneously, laser lamp
Assembly 101 gradually moves to the preliminary coordinate value position of base ZJ1 pin shaft hole K5 from initial position, when swashing that laser lamp 21 sends
When light passes through base pin shaft hole transmission to be a circle on projection plate 15, control system 2 controls laser lamp assembly 101 to stop fortune
OK, by signal acquisition process unit 205 by control system record now pin shaft hole K5 coordinate K5 (X5, Y5)；Then laser
Lamp assembly 101 continues to run with and gradually moves to the preliminary coordinate value position of base pin shaft hole K6, the laser sending when laser lamp 21
Again pass through base pin shaft hole transmission on projection plate be one circular when, control system 2 controls laser lamp assembly 101 to stop fortune
OK, by signal acquisition process unit 205 by control system record now pin shaft hole K6 coordinate K6 (X6, Y6), and by K5, K6
Coordinate information be stored in data storage cell 202；
(6) it is again started up boom hoisting, steel hook 38 is passed through the hole for hoist on caving shield ZJ4, boom hoisting runs and will walk
Suddenly the assembly in (1) is transported to lifting initial position and (lifts initial position, refer to that the first driving and the centre of the second driving are put down
The vertical that the central axis of face and base coincides, and the assembly X-direction lifted by crane somewhere in front of mobile platform assembly, can
Its initial coordinate values is determined in control system), the first steel wire rope controller 35, the adjustment of the second steel wire rope controller 37 make to cover
Guard beam ZJ4 top surface level (length of guarantee the first steel wire rope controller and the second steel wire rope controller decentralization steel wire rope is consistent, this
Sample can make shielding top surface of the beam be in level all the time), then control system 2 stops operation and stops until front rod ZJ3 and back link ZJ2
Only the axis perpendicular of swing and front rod and back link is in horizontal plane；
(7) it is again started up laser lamp assembly 101 and projection board component 102 to front rod ZJ3 lower link point K3 Scan orientation,
When the laser of laser lamp 21 transmitting passes through the pin shaft hole of front rod lower link point K3 to transmit circle on projection plate 15, control
System 2 controls laser lamp assembly 101 stop motion, by signal acquisition process unit 205 by control system record now K3
Coordinate K3 (X3, Y3), and the coordinate information of K3 is stored in data storage cell 202；
(8) control system 2, according to the coordinate information of K3 and K5 of record in data storage cell 202, has calculated lifting
Put the stroke driving assembly to be walked：X=X3-X5, Y=Y3-Y5；Control system 2 controls boom hoisting to transport in the X direction first
Row X3-X5, runs and treats that front rod ZJ3 and back link ZJ2 stops swinging after finishing, then the first steel wire rope controller 35 and second
Steel wire rope controller 37 control simultaneously steel wire rope decentralization assembly, decentralization distance is Y3-Y5, after the completion of decentralization after front rod with after
Connecting rod stops swinging, and completes the centering of front rod lower link point K3 and base pin joint K5；
(9) now control system 2 controls the first fixing device 306 clamping caving shield ZJ4, and the second fixing device 307 clamps
Front rod ZJ3, then (bearing pin is placed on bearing pin inframe to control system 2 control machinery hand 302 crawl bearing pin in advance, and bearing pin frame
May be provided at the position of the convenient crawl of mechanical hand, bearing pin frame can determine its seat in system after control system unlatching simultaneously
Mark), make bearing pin reach K5's by motion in sliding way for the mechanical hand 302 and by the up and down motion of the second bracing frame 30
Coordinate points, mechanical hand 302 moves and for bearing pin to insert K3, K5 pin joint, and the distance of insertion is the depth of K5 pin shaft hole in initial parameter
Degree, so far completes front rod ZJ3 and the installation of base ZJ1, and the first fixing device 306 and the second fixing device 307 are returned to former
Beginning position；
(10) after completing the installation of front rod ZJ3 and base ZJ1, then carry out the installation of back link ZJ2 and base ZJ1, logical
Cross the second steel wire rope controller 37 and control steel wire rope decentralization, first group of steel wire rope keeps constant, steel wire rope in decentralization process by
There is flexibility it may occur that deflection in steel wire rope, need to calculate the length that steel wire rope transferred by the second steel wire rope controller 37；By control
After the program setting in system 2 processed calculates the length that the second steel wire rope controller 37 control steel wire rope need to be transferred, control system 2 is controlled
Make the second steel wire rope controller 37 action decentralization steel wire rope to specified location, part to be assembled stops rocking；
(11) control system 2 controls the first fixing device 306 clamping caving shield ZJ4, connects before the second fixing device 307 clamping
Bar ZJ3, control system 2 master cylinder seat 16 moves forward in middle chute and passes through to adjust lift cylinders seat 16 to preset height, elapses cylinder
Seat 19 inner piston rods 18 stretch out and passage plate 17 are fitted on back link ZJ2, and piston rod 18 continues propulsion up to back link ZJ2's
Lower link point K4 and base pin joint K6 centering, then mechanical hand 302 bearing pin is inserted K4, K6 pin joint, the distance of insertion is
The depth of K6 pin shaft hole in initial parameter, so far completes the installation of back link and base；
(12) the steel hook 38 of boom hoisting is deviate from from caving shield ZJ4 hole for hoist, and boom hoisting moves to initial position simultaneously
Adjust the first steel wire rope controller 35 and the second steel wire rope controller by back timber in initial parameter two hole for hoist distance values
The distance between 37, then back timber ZJ5 is sling, the first steel wire rope controller 35, the second steel wire rope controller 37 are by back timber ZJ5
Top surface adjusts level, and treats that back timber ZJ5 stops swinging；
(13) it is again started up laser lamp assembly 101 and projection board component 102, the hinge hole scanning to caving shield ZJ4 front end
Positioning obtains its coordinate information and coordinate information is stored in data storage cell 202；Then laser lamp assembly 101 and projection plate
Assembly 102 runs again, the hinge hole Scan orientation of back timber ZJ5 rear end is obtained with its coordinate information and coordinate information is stored in number
According in memory element 202；
(14) boom hoisting starts, and the hinge hole of back timber ZJ5 rear end is adjusted to the coordinate of caving shield ZJ4 front end hinge hole
Information position, mechanical hand 302 runs and runs to caving shield by control system 2 control machinery hand after initial position crawl bearing pin
The coordinate information position of ZJ4 front end hinge hole, bearing pin is inserted caving shield ZJ4 and back timber ZJ5 corresponding bearing pin in the hole, insertion
Distance is the depth of caving shield front end pin shaft hole in initial parameter, so far realizes back timber ZJ5 and the installation of caving shield ZJ4；
(15) lead to liquid and back timber needling is withstood in column rise, then the steel hook 38 of boom hoisting is de- from back timber hole for hoist
Go out, be finally completed the installation of hydraulic support, boom hoisting, the first fixing device 306 and the second fixing device 307 are returned to initially
Position.
(16) mobile platform assembly 301 drives the hydraulic support after being completed to slide into middle chute foremost, lifting
Device is again started up Whole Hydraulic Support of slinging, and is placed in transport vehicle.
In step (2), the initial parameter of described hydraulic support, refer to the surface structure chi of each ingredient of hydraulic support
Very little, i.e. base, front rod, back link, caving shield and the respective length and width of back timber.
In step (10), control system is set in length and the step (11) that program calculates the second steel wire rope decentralization by interior
The calculating process that piston rod continues propulsion back link forward travel distance is as follows：
As shown in figure 9b, hydraulic support Intelligent Installation system completes the installation of bearing pin between front rod and base, now screens
Top surface of the beam level, the length of initial two groups of steel wire ropes is lEG=l2, the distance of two groups of steel wire ropes is two hole for hoist axle center K1, K2
Apart from lGH=lEF=l1, in figure lFD、lEC、lCD、lBD、lAC、lAI、lIHIt is known quantity, angle All known.
When steel wire rope 36 transferred by second group of steel wire rope controller 37, because steel wire rope has flexibility, assembly occurs partially
Turn, to hydraulic support pose figure during destination locations as shown in Figure 10 a, now second group of rope capacity is changed into l3, corresponding
lIDLength be changed into lBD(lID=lBD), except angleConstant, remaining angle all changes, first group of steel wire rope and level
Angular separation is changed into θ8, second group of steel wire rope is θ with horizontal direction angle9, front rod and horizontal direction angle are θ10, lEF(or
Say be shielding top surface of the beam) with horizontal sextant angle be θ7, after change, other angles and angle corresponding relation before are：
Vector ring G-H-F-E and A-C-D-I and H-G-D-F is taken to build vector equation in hydraulic support pose Figure 10 b：
Numerical value equation is built according to vector equation, obtains：
-lEG·cosθ8+lGH=lEF·cosθ7-lFH·cosθ9
lEG·sinθ8=-lEF·sinθ7+lFH·sinθ9
-l2·cosθ8+l1=l1·cosθ7-l3·cosθ9
l2·sinθ8=-l1·sinθ7+l3·sinθ9
-l2·cosθ8+l1=l1·cosθ7-l3·cosθ9
l2·sinθ8=-l1·sinθ7+l3·sinθ9
-l1·cosθ7-l2·cosθ8+l3·cosθ9=l1
-l1·sinθ7-l2·sinθ8+l3·sinθ9=0
θ is calculated by said method6And l3Afterwards, obtain second group of steel wire rope controller 37 and transfer steel wire rope 36
Length (l3-l2), control system 2 controls the action of second group of steel wire rope controller 37 to specified location, treats that whole assembly stops shaking
Dynamic, carry out next step installation procedure.
In Figure 10 b, right side axis is the position of back link passage oil cylinder assembly somewhere X-direction.Wherein, piston rod 18 head
Axle center to now passage oil cylinder assembly somewhere X-direction distance be t1(known), piston rod Y-direction axis is to base ground
Distance is h1(known), the X-direction distance of axle center to the back link back plane of piston rod 18 head is h2(known), back link cuts with scissors
Connecing hole and being wired to the X-direction distance of back link back plane is m (known).As shown in figure 12, piston rod 18 head after elapsing
Axle center to now passage oil cylinder assembly somewhere X-direction distance be t2(unknown quantity).Assume back link upper pin hole AnchorPoint
It is h apart from the height of base end faceD(can be calculated by former calculating process or pin shaft hole positioning component measures
Go out, therefore be also known).
By Figure 11, the X-direction distance of passage oil cylinder assembly somewhere to back link hinge hole line is：
(t1+h2+ m),
By Figure 12, the X-direction distance of passage oil cylinder assembly somewhere to back link hinge hole line is：
[t2+(h2+m)/sinθ6],
Then：(t1+h2+m)+(hD-h1)·cotθ6=[t2+(h2+m)/sinθ6]
θ6Obtain above, bring above formula into, can get unknown quantity t2, then when obtaining back link installation further, if making
The back link lower bearing pin hole axle heart is alignd with the base upper pin hole axle heart, only need to control the piston of back link passage oil cylinder assembly 303
Bar 18 extends forward (t2-t1).
Claims (10)
1. a kind of high working face hydraulic support Intelligent Installation equipment is it is characterised in that include installing execution system, pin shaft hole positioning group
Part and control system, control system is electrically connected with installation execution system, pin shaft hole positioning component and installs execution for Based Intelligent Control
System, the operation of pin shaft hole positioning component；
Described installation execution system includes mobile platform assembly, boom hoisting, clamping device and mechanical arm assembly；Mobile platform group
Part be used for hydraulic support foundation is moved to target location, boom hoisting be used for by hydraulic support front rod, back link, back timber and
Caving shield is transplanted on target location, and mechanical arm assembly is used for the installation capturing bearing pin and completing bearing pin；
Described pin shaft hole positioning component includes laser lamp assembly and projection board component, is passed through by the laser that laser lamp assembly is launched
Pin shaft hole, in projection board component upslide shadow, to obtain the coordinate information of pin shaft hole and coordinate information is transferred to control system, is used
In positioning to pin shaft hole；
Described control system includes central controller, data storage cell, signal acquisition process unit, display unit and parameter and sets
Put unit, data storage cell, signal acquisition process unit, display unit and parameter set unit are all with central controller even
Connect, described signal acquisition process unit one end connection control system, the other end connects projection plate.
2. high working face hydraulic support Intelligent Installation equipment as claimed in claim 1 is it is characterised in that described mobile platform assembly
Including middle part pedestal and mobile platform, middle part pedestal is provided with three chutes, three chutes be respectively left chute, middle chute and
Right rail, the bottom of mobile platform is provided with movable block, and movable block is arranged in middle chute and can slide in middle chute；Laser
The bottom of lamp assembly and projection board component is slidably arranged in right rail and left chute respectively.
3. high working face hydraulic support Intelligent Installation equipment as claimed in claim 2 it is characterised in that described mobile platform upper
Surface is provided with rear end fixture, left side to fixture and right side to fixture, and rear end fixture is opened positioned at mobile platform upper surface postmedian
If chute in, the both sides of mobile platform upper surface are further opened with left and right chute, are respectively arranged with lateral folder in the chute of left and right
Tool slide unit, in the lateral fixture slide unit that left side is located at the left and right sides to fixture and right side respectively to fixture.
4. high working face hydraulic support Intelligent Installation equipment as claimed in claim 2 is it is characterised in that described laser lamp assembly bag
Include laser lamp bracing frame and the laser lamp being arranged on laser lamp bracing frame top, the bottom of laser lamp bracing frame is slidably arranged in the right side
In chute.
5. high working face hydraulic support Intelligent Installation equipment as claimed in claim 4 is it is characterised in that described projection board component bag
The projection plate including projection plate bracing frame and being arranged on projection plate bracing frame top, the bottom of projection plate bracing frame is slidably arranged in a left side
In chute.
6. high working face hydraulic support Intelligent Installation equipment as claimed in claim 5 is it is characterised in that described laser lamp bracing frame
It is symmetrical arranged and by control system Synchronization Control with projection plate bracing frame；
Described laser lamp bracing frame and projection plate bracing frame are all from multistage retractable rod.
7. high working face hydraulic support Intelligent Installation equipment as claimed in claim 1 is it is characterised in that described boom hoisting includes
Driving frame, the first driving and the second driving, the first driving and the second driving are set in parallel on driving frame, the first driving and second
Two groups of steel wire rope controllers are provided with driving, two groups of steel wire rope controllers are respectively the first steel wire rope controller and the second steel wire
Rope controller, the first steel wire rope controller and the second steel wire rope controller is wound with steel wire rope, the bottom of steel wire rope is connected with
Steel hook.
8. high working face hydraulic support Intelligent Installation equipment as claimed in claim 2 is it is characterised in that both sides in middle part pedestal
It is symmetrical arranged described clamping device, it is fixing that clamping device includes end pedestal, mechanical hand slide unit, the first fixing device and second
Device, on the pedestal of end, two ends are respectively provided with the first bracing frame, are arranged with the second bracing frame, the second support in the first bracing frame
The top of frame connects mechanical hand slide unit, and mechanical hand slide unit is provided with sliding way and side slideway；First fixing device and second is admittedly
Determine first support bar, second support bar, expansion link and fastening plates that device all includes being sequentially connected；
Described mechanical arm assembly includes sliding shoe and is arranged on mechanical hand on sliding shoe, and the bottom of sliding shoe is located at sliding way
Interior.
9. high working face hydraulic support Intelligent Installation equipment as claimed in claim 8 is it is characterised in that described high working face hydraulic pressure props up
Frame Intelligent Installation equipment also includes back link passage oil cylinder assembly, described back link passage oil cylinder assembly include cylinder seat, passage plate,
Passage oil cylinder, passage cylinder seat and lift cylinders seat, the bottom of cylinder seat is slidably arranged in middle chute, and lift cylinders cover for seat is located at cylinder seat
Interior, the top of lift cylinders seat connects passage cylinder seat, is provided with passage oil cylinder, the piston rod of passage oil cylinder passes and pushes away in passage cylinder seat
Hinged with passage plate after shifting cylinder seat.
10. the high working face hydraulic support Intelligent Installation equipment described in a kind of any one using claim 1-9 carries out hydraulic support
The operational approach of assembling, comprises the following steps,
(1) first the caving shield of hydraulic support, front rod and back link are coupled together, form assembly, standby；Column is pacified
It is contained on the base of hydraulic support, standby；
(2) open high working face hydraulic support Intelligent Installation equipment, reference frame is determined by control system, at Intelligent Installation equipment
In initial position, that is, mobile platform assembly be located at middle chute foremost, laser lamp assembly be located at right rail foremost, projection
Board component is located at left chute foremost, now can get each building block of Intelligent Installation equipment initial in reference frame
Position coordinateses；Then the required initial parameter installing hydraulic support is passed through parameter set unit input control system, control system
System calculates installation and operation track by being internally embedded algorithm；
(3) start boom hoisting to hang onto base on mobile platform, then by rear end fixture, left side to fixture and right side to folder
The mating reaction of tool makes base center axis face concordant with the middle axial plane of mobile platform and carries out three face clampings to base, and base is fixed
On a mobile platform；
(4) after mobile platform assembly starts and move to the coordinate position that control system is specified, due to control system known smart
The initial position co-ordinates of each building block of installation equipment, the path of mobile platform movement is arrived it is known that mobile platform just can be obtained
Reach the coordinate of mobile platform after specified location, and the initial parameter of hydraulic support sets, base is fixed on mobile platform
On relative coordinates it is also known that, so control system can calculate now base location coordinate in control system,
And then can get the preliminary coordinate value of each pin shaft hole K5, K6 on base；
(5) control system controls laser lamp assembly and projection board component to start simultaneously and run simultaneously, and laser lamp assembly is from initial
Position is gradually moved to the preliminary coordinate value position of base pin shaft hole K5, when the laser that laser lamp sends passes through base pin shaft hole saturating
Penetrate on projection plate be one circular when, control system controls laser lamp assembly out of service, by signal acquisition process unit by
The coordinate K5 (X5, Y5) of control system record now pin shaft hole K5；Then laser lamp assembly continues to run with gradually to base bearing pin
The preliminary coordinate value position of hole K6 is moved, and when the laser that laser lamp sends again passes through base pin shaft hole transmission on projection plate is
During one circle, control system controls laser lamp assembly out of service, records this by signal acquisition process unit by control system
When pin shaft hole K6 coordinate K6 (X6, Y6), and the coordinate information of K5, K6 is stored in data storage cell；
(6) it is again started up boom hoisting, steel hook is passed through the hole for hoist on caving shield, boom hoisting runs in step (1)
Assembly is transported to lifting initial position, and the first steel wire rope controller, the adjustment of the second steel wire rope controller make shielding top surface of the beam
Level, then control system stop operation until front rod and back link stop swinging and front rod and back link axis perpendicular
In horizontal plane；
(7) it is again started up laser lamp assembly and projection board component to front rod lower link point K3 Scan orientation, when laser lamp transmitting
Laser pass through the pin shaft hole of front rod lower link point K3 when transmiting circle on projection plate, control system controls laser lamp group
Part stop motion, by signal acquisition process unit by control system record now K3 coordinate K3 (X3, Y3), and the seat by K3
Mark information is stored in data storage cell；
(8) control system, according to the coordinate information of K3 and K5 of record in data storage cell, calculates boom hoisting drive group
The stroke that piece installing is walked：X=X3-X5, Y=Y3-Y5；Control system controls boom hoisting to run X3-X5 in the X direction first,
Operation treats after finishing that front rod and back link stop swinging, and then the first steel wire rope controller and the second steel wire rope controller be simultaneously
Control steel wire rope decentralization assembly, decentralization distance is Y3-Y5, treats that front rod and back link stop swinging, complete after the completion of decentralization
The centering of front rod lower link point K3 and base pin joint K5；
(9) now control system controls the first fixing device clamping caving shield, the second fixing device clamping front rod, then controls
System control machine tool handss capture bearing pin, by motion in sliding way for the mechanical hand and the up and down motion by the second bracing frame
Bearing pin is made to reach the coordinate points of K5, bearing pin is inserted K3, K5 pin joint by robot movement, and the distance of insertion is K5 in initial parameter
The depth of pin shaft hole, so far completes the installation of front rod and base, and the first fixing device and the second fixing device are returned to original
Position；
(10) after completing the installation of front rod and base, then carry out the installation of back link and base, by the second steel wire rope control
Device controls steel wire rope decentralization, and first group of steel wire rope keeps constant, and steel wire rope is in decentralization process because steel wire rope has flexibility, meeting
Glance off, need to calculate the length that steel wire rope transferred by the second steel wire rope controller；Calculated by the program setting in control system
After going out the length that the second steel wire rope controller control steel wire rope need to be transferred, control system controls under the second steel wire rope controller action
Put steel wire rope to specified location, then part stopping to be assembled being rocked；
(11) control system controls the first fixing device clamping caving shield, the second fixing device clamping front rod, control system control
Cylinder seat processed moves forward in middle chute and passes through to adjust lift cylinders seat to preset height, elapses cylinder seat inner piston rod and stretches out and will elapse plate
It is fitted on back link, piston rod continues to advance the lower link point K4 and base pin joint K6 centering up to back link, Ran Houji
Bearing pin is inserted K4, K6 pin joint by tool handss, and the distance of insertion is the depth of K6 pin shaft hole in initial parameter, so far completes back link
Installation with base；
(12) the steel hook of boom hoisting is deviate from from caving shield hole for hoist, and boom hoisting is moved to initial position and joined by initial
In number, back timber two hole for hoist distance values to be adjusting the distance between the first steel wire rope controller and the second steel wire rope controller, so
Afterwards back timber is sling, back timber top surface is adjusted level by the first steel wire rope controller, the second steel wire rope controller, and treat that back timber stops
Swing；
(13) it is again started up laser lamp assembly and projection board component, its coordinate is obtained to the hinge hole Scan orientation of caving shield front end
Information simultaneously coordinate information is stored in data storage cell；Then laser lamp assembly and projection board component run, again to back timber
The hinge hole Scan orientation of rear end obtains its coordinate information and coordinate information is stored in data storage cell；
(14) boom hoisting starts, and the hinge hole of top beam rear end is adjusted to the coordinate information position of caving shield front end hinge hole,
Mechanical hand runs the coordinate running to caving shield front end hinge hole after initial position captures bearing pin by control system mechanical hand
Information position, bearing pin is inserted caving shield and back timber corresponding bearing pin in the hole, before the distance of insertion is caving shield in initial parameter
The depth of end pin shaft hole, so far realizes the installation of back timber and caving shield；
(15) lead to liquid and back timber needling is withstood in column rise, then the steel hook of boom hoisting is deviate from from back timber hole for hoist, finally
Complete the installation of hydraulic support, boom hoisting, the first fixing device and the second fixing device are returned to initial position.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115781246A (en) * | 2022-11-08 | 2023-03-14 | 山东科技大学 | Pin shaft dismounting device and application and working method thereof in hydraulic support quick intelligent mounting system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115781246A (en) * | 2022-11-08 | 2023-03-14 | 山东科技大学 | Pin shaft dismounting device and application and working method thereof in hydraulic support quick intelligent mounting system |
| CN115781246B (en) * | 2022-11-08 | 2024-03-19 | 山东科技大学 | Pin shaft dismounting device and application and working method thereof in hydraulic support rapid intelligent mounting system |
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| CN106401633B (en) | 2017-09-26 |
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