CN106767364A - A kind of hydraulic support pose and Linearity surveying system and its method of work - Google Patents
A kind of hydraulic support pose and Linearity surveying system and its method of work Download PDFInfo
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- CN106767364A CN106767364A CN201611065965.4A CN201611065965A CN106767364A CN 106767364 A CN106767364 A CN 106767364A CN 201611065965 A CN201611065965 A CN 201611065965A CN 106767364 A CN106767364 A CN 106767364A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
- G01B7/31—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
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Abstract
The present invention relates to a kind of hydraulic support pose and Linearity surveying system and its method of work.Device of the present invention carries out the detection of the relatively full pose of adjacent hydraulic support by multiple stay-supported type displacement sensors, the real-time processing to multiple stay-supported type displacement sensor detection signals is realized simultaneously, miscellaneous displacement information is converted into simple position auto―control information, substantially reduce transinformation, reduce each hydraulic support top board position auto―control information, holding time of the base position auto―control information to pose signal transmission cable, reduce performance requirement of the information transfer to transmission equipment in hundreds of working surface hydraulic support pose detection process, reduce the stand-by period in message transmitting procedure, improve position auto―control information remote transmittability, hydraulic support pose is realized remotely to monitor.
Description
Technical field
The present invention relates to a kind of hydraulic support pose and Linearity surveying system and its method of work, belong to hydraulic support position
The technical field of appearance detection.
Background technology
Hydraulic support is the works for controlling coal-face mine pressure.Adopt the form effect carried beyond the ore deposit pressure of face
On hydraulic support.In hydraulic support with the mechanical system for adopting face country rock interaction, if each supporting member of hydraulic support is closed
The outer load that power and top board are acted on hydraulic support is made a concerted effort just same straight line, then that face country rock is adopted to this is very suitable for the hydraulic support
Should.
With the development of coal exploitation technology, stability and security requirement more and more higher to working surface hydraulic support,
Hydraulic support pose and Linearity surveying required precision more and more higher.Relative pose detection technique refers to, by relative pose
Real-time monitoring determines relative position relation and the relative attitude change between two discrete objects, to realize the control to object future pose
System.
Hydraulic support pose and Linearity surveying majority traditionally is to judge tool by angular transducer, displacement transducer
The relative pose of relevant each element of properties objects, also some is led to by laser, infrared ray, electromagnetic sensor
Cross judgement two articles relative distance and realize local posture information monitoring.For example, Chinese patent CN102661162B discloses one kind
Coal-face linearity control method, the method by the back timber of hydraulic support install rangefinder and angular transducer,
The attitude of the distance between measurement hydraulic support and rib and detection hydraulic support top beam.By angle, displacement transducer or
Laser, infrared ray, the detection method of electromagnetic sensor, implementation cost are typically higher, and are difficult to realize the full pose of two articles
Detection.
The content of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of hydraulic support pose and Linearity surveying system.
The present invention also provides the method for work of a kind of above-mentioned hydraulic support pose and Linearity surveying system.
The technical scheme is that：
A kind of hydraulic support pose and Linearity surveying system, including hydraulic support pose detecting system, pose signal are passed
Defeated cable and computer processing system；Hydraulic support pose detecting system is by pose signal transmission cable and computer disposal system
System connection；Hydraulic support pose detecting system is arranged between two adjacent hydraulic supports of coal-face；The hydraulic pressure branch
Frame pose detecting system, including relative pose detection means and installing plate, the installing plate are arranged on relative pose detection means
Two ends；Two installing plates are respectively fixedly disposed on two adjacent hydraulic supports；
The relative pose detection means, including elastic bellows, stay-supported sensor fixed case and steel cord ends are solid
Determine case；The stay-supported sensor fixed case and steel cord ends fixed case are arranged on the two ends of elastic bellows；The bracing wire
Opening is provided with the inside of formula sensor fixed case and steel cord ends fixed case；Set in the stay-supported sensor fixed case
Wear-preventive collection rope device fixed plate is equipped with, wear-preventive collection rope device is provided with wear-preventive collection rope device fixed plate；Steel cord ends are fixed
Collection rope device fixed plate is provided with case, collection rope device is provided with collection rope device fixed plate；
Stay-supported type displacement sensor is provided with the madial wall of stay-supported sensor fixed case；Steel cord ends fixed case
Wirerope fixing device is provided with madial wall；
The steel wire rope that stay-supported type displacement sensor is drawn is fixed after sequentially passing through wear-preventive collection rope device, collection rope device with steel wire rope
Device is fixedly connected.
Stay-supported type displacement sensor stretching motion inside elastic bellows, bellows and two tanks are played to be protected and dust-proof
Effect, prevents other objects from colliding, contacts steel wire rope.Bellows is more than 1mm using flexible rubber material or flexible plastic, thickness
(ensureing that it has certain impact resistance), maximal tensility is more than 1m, while having preferable crooking ability and cross section
Shape self-sustaining ability is (during bending, it is ensured that stay-supported type displacement sensor steel wire rope does not connect with elastic waveform stereoscopic pipe in detection process
Touch).
Preferably, the number of the stay-supported type displacement sensor is 9, and every 3 stay-supported type displacement sensors are one group；It is anti-
Three wear-preventive collection rope devices are provided with mill formula hub fixed plate, three collection rope devices are provided with collection rope device fixed plate；Every group
The same wear-preventive collection rope device of steel wire penetrating that stay-supported type displacement sensor is drawn, through the steel of same wear-preventive collection rope device
Cord is connected after being each passed through different collection rope devices from different Wirerope fixing devices.
Preferably, the wear-preventive collection rope device fixed plate be arranged in parallel with the side wall of stay-supported sensor fixed case；It is described
Collection rope device fixed plate be arranged in parallel with the side wall of steel cord ends fixed case.
Preferably, wear-preventive collection rope device is not arranged on same straight line；Collection rope device is not arranged on same straight line.
Preferably, the hydraulic support pose detecting system includes hydraulic support top beam pose detecting system and hydraulic support
Base pose detecting system；Hydraulic support top beam pose detecting system is arranged on the lower surface of hydraulic support top beam；Hydraulic support
Base pose detecting system is arranged on the upper surface of hydraulic support foundation.Hydraulic support top beam pose detecting system and hydraulic support
Base pose detecting system is respectively used to detect the back timber posture information and base posture information of two adjacent stents.
It is further preferred that the hydraulic support pose detecting system is horizontally disposed；Hydraulic support top beam pose detection system
System is less than 30cm apart from the distance of hydraulic support top beam lower surface；Hydraulic support foundation pose detecting system is apart from hydraulic support bottom
The distance of seat upper surface is less than 30cm.
Preferably, the hydraulic support pose and Linearity surveying system, including multigroup hydraulic support pose detecting system；
Multigroup hydraulic support pose detecting system is connected by same pose signal transmission cable with computer processing system.Computer
Processing system is arranged in return airway.
Preferably, the wear-preventive collection rope device includes that bottom covers and answers back；Bottom set inner side is provided with step through-hole, and the step leads to
Hole includes large diameter hole and small diameter bore；The socket of answering back is arranged in the large diameter hole；The small diameter bore inwall sets
It is equipped with multiple first annular flexible wear circles；Described answering back is provided with three rollers and small diameter bore between, and three rollers are from beginning to end
Connect setting triangular in shape；Step through-hole of answering back is provided with the inside of answering back, multiple second is provided with step through-hole of answering back flexible resistance to
Grinding ring.
It is further preferred that the small diameter bore inwall is provided with flexible wear circle mounting groove, flexible wear circle mounting groove
It surround the small diameter bore inwall one week；First annular flexible wear circle insertion is arranged in flexible wear circle mounting groove；
Answering back the second flexible wear circle mounting groove of be provided with step through-hole, the second flexible wear circle mounting groove is around described
Answer back step through-hole inwall one week；The insertion of second flexible wear circle is arranged in the second flexible wear circle mounting groove.
Still further preferably, the end face that the trough rim of outermost flexible wear circle mounting groove covers the bottom of with overlaps；Outermost
The trough rim of two flexible wear circle mounting grooves overlaps with the end face answered back.Annular flexible wear-resisting ring avoids steel wire rope from being socketed with metal bottom
Touch, cause friction serious.
It is further preferred that three rollers are arranged between two roller glands of mutual cooperation；Set in roller gland
There are roller mounting groove and bearing mounting groove；Roller insertion is arranged in roller mounting groove, and bearing is provided with bearing mounting groove, is rolled
The two ends of son are arranged in bearing.
It is further preferred that the roller is the cylindrical structural that middle part is provided with circular arc shaped guide slots；Circular arc is oriented to
The diameter with diameter greater than steel wire rope of groove；Circle where circular arc shaped guide slots is mutually circumscribed.Mechanism herein is by three steel wire ropes
Aggregation together, sliding friction is replaced using rolling friction, reduces the possibility of steel rope abrasion.Through the every of wear-preventive collection rope device
Steel cable is correspondingly arranged in a circular arc shaped guide slots for roller.
It is further preferred that described answering back is connected with bottom external threading.The advantage of threaded connection is, by answering back and bottom set
Coordinate, between two roller glands are pressed on bottom set and are answered back, degree is compressed by screw thread flexible modulation.
Preferably, wear-preventive collection rope device is threadedly coupled with wear-preventive collection rope device fixed plate.
Preferably, the hydraulic support pose detecting system also includes detection module；The detection module is believed by pose
Number transmission cable is connected with computer processing system；The detection module include displacement information collecting unit and respectively with power supply mould
Displacement information acquisition control unit, memory, processor and signal transmission module that block is connected；Power module is adopted with displacement information
Collection unit is connected by displacement information acquisition control unit；The memory respectively with displacement information collecting unit, processor and
Signal transmission module is connected；Conversion Mathematical Modeling and hydraulic support numbering are provided with the memory.Wherein, the conversion number
Learn model be used to describing each wear-preventive collection rope device location parameter, collection rope device location parameter, stay-supported type displacement sensor elongation with
Each stay-supported sensing that mathematical relationship displacement information collecting unit between two hydraulic support relative pose transformation matrixs is collected
The displacement information of device is saved directly in memory；The support that prestored in memory numbering, every road displacement information are believed with position auto―control
The conversion Mathematical Modeling of breath；Change Mathematical Modeling of the processor in memory will be processed into position auto―control per road displacement information
Information, and be saved in memory；Signal transmission module numbers and position auto―control information transfer to meter the support in memory
Calculation machine processing system.Displacement information acquisition control unit controls whether to be powered to displacement information collecting unit and power-on time.
It is further preferred that the displacement signal acquisition control unit includes the acceleration transducer, the signal that are sequentially connected
Modulate circuit, an A/D modular converters, signal acquisition identification module, information gathering controller and displacement signal acquisition power supply are opened
Close.The signal that acceleration transducer is collected successively through signal conditioning circuit, an A/D modular converters enter signal acquisition recognize
Module；Acceleration digital information is carried out noise reduction, filtering process by signal acquisition identification module, and by the acceleration information after treatment
Pass to signal acquisition controller；Shape of the signal acquisition controller according to residing for the size of acceleration information determines hydraulic support
State, when acceleration is larger, the embedded analysis process system of signal acquisition controller judges that hydraulic support has action, now signal
Acquisition controller sends to displacement signal acquisition power switch and switches off signal, forbids power module to gather single to displacement information
Unit's power supply, during when acceleration very little or without acceleration, the embedded analysis process system of signal acquisition controller judges hydraulic support
Attonity, now signal acquisition controller send switch closure signals to displacement signal acquisition power switch, it is allowed to power module
Powered to displacement information collecting unit, power-on time to the setting conduction time of signal acquisition controller by determining.
It is further preferred that described displacement signal acquisition unit includes the signal conditioning circuit, the 2nd A/D that are sequentially connected
Modular converter and signal acquisition module.Multiple stay-supported type displacement sensor letters share same signal conditioning circuit, the 2nd A/D conversions
Module, signal acquisition module, multichannel displacement signal are gone here and there in modulate circuit, the 2nd A/D modular converters, signal acquisition module
Row transmission, and the sample frequency of displacement information collecting unit is less than 1k Hz.
Preferably, described computer processing system includes coal-face straightness analysis module and coal-face liquid
Pressure scaffold three-dimensional reconstructed module.
A kind of method of work of above-mentioned hydraulic support pose and Linearity surveying system, including step is as follows：
1) Linearity surveying：During when hydraulic support movement so that adjacent hydraulic support is not on same linearity, elastic wave
Line pipe is stretched, and the steel wire rope in elastic bellows produces displacement, and stay-supported type displacement sensor produces electric signal；
2) acceleration transducer detects the electric signal, and calculates the corresponding acceleration of the electric signal, adds when described
Speed sends switch closure letter less than the acceleration rate threshold for setting, then signal acquisition controller to displacement signal acquisition power switch
Number, power module is powered for displacement information collecting unit；This step has the beneficial effect for saving electric energy, is one of the invention
Innovative point, i.e. special time are powered, and power-on time can voluntarily be judged and be determined by system --- and according to acceleration it is 0 or not
It is 0.
3) displacement information collecting unit starts to gather the electric signal that stay-supported type displacement sensor is produced；The electric signal is successively
By signal conditioning circuit, the 2nd A/D modules and signal acquisition module, displacement signal is obtained, displacement signal is by conversion mathematics
Model treatment, obtains hydraulic support position auto―control information；The hydraulic support position auto―control that all displacement information collecting units are produced
Hydraulic support numbering in information and memory is transferred to computer processing system by same pose signal transmission cable；
4) hydraulic support that the straightness analysis module of computer processing system is transmitted back to according to pose signal transmission cable
Numbering, hydraulic support position auto―control information are operated face straightness analysis, and the larger hydraulic support of display straightness error is compiled
Number and error amount；Hydraulic support numbering, hydraulic support that the three-dimensionalreconstruction module is transmitted back to according to pose signal transmission cable
Position auto―control information is operated the pose reconstruct of face hydraulic support threedimensional model, and hydraulic support is reproduced using virtual reality technology
Position and posture.
The operation principle of the stay-supported type displacement sensor：The function of dragline type sensor is that mechanical movement is converted into can
To measure, the electric signal of record or transmission.Stay-supported type displacement sensor by stretchable stainless steel cable be wound on one it is threaded
On wheel hub, this wheel hub links together with a precision rotation inductor, and inductor can be incremental encoder, absolute encoder
Device, mixing or conductive plastics rotating potentiometer, synchronizer or resolver.
In operation, draw-wire displacement sensor is arranged on fixed position, and drawstring is tied on mobile object.Drawstring straight line is transported
Dynamic and mobile object axis of movement alignment.When motion occurs, drawstring stretches and shrinks.One contained spring ensures the tensioning of drawstring
Degree is constant.Threaded wheel hub drives the rotation of precision rotation inductor, exports a telecommunications proportional to drawstring displacement
Number.Measurement output signal can draw displacement, direction or the speed of moving object.
The amount detection unit that stretches out is considered " precision rotation inductor " mentioned above.The auto-tensioning
Device may be considered " contained spring " mentioned above.Here spring can not only make the rate of tension of drawstring constant, may be used also
So as to drawstring stretches out end release rear-pulling rope backrush enter in stay-supported type displacement sensor.
Beneficial effects of the present invention are：
1. hydraulic support pose of the present invention and Linearity surveying system, by stay-supported type displacement sensor, by inspection
The anti-pose change for pushing away hydraulic support top beam and base of overhang of each stay-supported type displacement sensor steel wire rope is surveyed, hydraulic pressure is realized
The full pose detection of set cap and base the, it is achieved thereby that detection (note of hydraulic support entirety pose：Hydraulic support entirety position
Appearance is determined by back timber pose and base pose)；
2. elastic bellows of the present invention, ability of stretching is strong, and bending property is good, cheap for manufacturing cost, can be effective
Prevent stay-supported type displacement sensor steel wire rope to be collided and interfere, improve the service life of stay-supported type displacement sensor, keep away
Exempt from collision, interfere the detection error for causing；
3. wear-preventive collection rope device of the present invention avoid stay-supported type displacement sensor steel wire rope stretch out with springback process
Because contacted with hard objects and caused by abrasion, improve the service life of steel wire rope, so as to further increase stay-supported position
The service life of displacement sensor；
4. hydraulic support pose of the present invention and Linearity surveying system, realize to multiple stay-supported type displacement sensors
The real-time processing of detection signal, simple position auto―control information is converted to by miscellaneous displacement information, substantially reduces information biography
Throughput rate, reduces each hydraulic support top board position auto―control information, base position auto―control information to pose signal transmission cable
Holding time, information transfer is needed to the performance of transmission equipment in reducing hundreds of working surface hydraulic support pose detection process
Ask, reduce the stand-by period in message transmitting procedure, improve position auto―control information remote transmittability, realize hydraulic pressure branch
Frame pose is remotely monitored；
5. hydraulic support pose of the present invention and Linearity surveying system, displacement information collecting unit are only static in support
When work, reduce the working time of displacement information collecting unit, reduce because multiple stay-supported type displacement sensors work always
And the energy consumption for producing, further, since displacement information collecting unit uses service intermittent, increased stay-supported type displacement sensor
Service life, while eliminating the gatherer process of unnecessary information, it is to avoid unnecessary displacement information accounts for memory-aided storage
Space, reduces memory because of manufacturing cost increase caused by large space demand；
6. hydraulic support pose of the present invention and Linearity surveying system, structure and Cleaning Principle are simple, accuracy of detection
Height, it is easy to realize, with extensive promotional value.
Brief description of the drawings
The structural representation of Fig. 1 hydraulic support poses of the present invention and Linearity surveying system；
Fig. 2 is the structural representation of relative pose detection means of the present invention；
Fig. 3 is the structural representation of wear-preventive collection rope device of the present invention；
Fig. 4 is the axial, cross-sectional view of wear-preventive collection rope device of the present invention；
Fig. 5 is the structural representation of detection module of the present invention；
Fig. 6 is the information flow direction schematic diagram between detection module of the present invention and computer processing system.
Wherein, 1, hydraulic support top beam pose detecting system；2nd, relative pose detection means；3rd, installing plate；4th, computer
Processing system；5th, hydraulic support foundation pose detecting system；6th, pose signal transmission cable；2.1st, stay-supported type displacement sensor；
2.2nd, wear-preventive collection rope device fixed plate；2.3rd, elastic bellows；2.4th, collection rope device fixed plate；2.5th, Wirerope fixing device；2.6、
Stay-supported sensor fixed case；2.7th, wear-preventive collection rope device；2.8th, collection rope device；2.9th, steel cord ends fixed case；2.7.1, bottom
Set；2.7.2, roller gland；2.7.3, answer back；2.7.4, the first flexible wear circle；2.7.5, roller；
2.7.6, the second flexible wear circle；2.7.7, bearing.
Specific embodiment
With reference to embodiment and Figure of description, the present invention will be further described, but not limited to this.
Embodiment 1
As shown in Figure 1-2.
A kind of hydraulic support pose and Linearity surveying system, including hydraulic support pose detecting system, pose signal are passed
Defeated cable 6 and computer processing system 4；Hydraulic support pose detecting system passes through at pose signal transmission cable 6 and computer
Reason system 4 is connected；Hydraulic support pose detecting system is arranged between two adjacent hydraulic supports of coal-face；The liquid
Pressure support pose detecting system, including relative pose detection means and installing plate 3, the installing plate 3 are arranged on relative pose inspection
Survey the two ends of device；Two installing plates 3 are respectively fixedly disposed on two adjacent hydraulic supports；
The relative pose detection means, including elastic bellows 2.3, stay-supported sensor fixed case 2.6 and steel wire rope
End fixed case 2.9；The stay-supported sensor fixed case 2.6 and steel cord ends fixed case 2.9 are arranged on elastic bellows
2.3 two ends；The inner side of the stay-supported sensor fixed case 2.6 and steel cord ends fixed case 2.9 is provided with opening；Institute
State in stay-supported sensor fixed case 2.6 and be provided with wear-preventive collection rope device fixed plate 2.2, in wear-preventive collection rope device fixed plate 2.2
It is provided with wear-preventive collection rope device 2.7；Collection rope device fixed plate 2.4, collection rope device fixed plate are provided with steel cord ends fixed case 2.9
On be provided with collection rope device 2.8；
Stay-supported type displacement sensor 2.1 is provided with the madial wall of stay-supported sensor fixed case 2.6；Steel cord ends are consolidated
Wirerope fixing device 2.5 is provided with the madial wall for determining case 2.9；
Stay-supported type displacement sensor 2.1 draw steel wire rope sequentially pass through wear-preventive collection rope device 2.7, collection rope device 2.8 after with
Wirerope fixing device 2.5 is fixedly connected.
Embodiment 2
Hydraulic support pose as described in Example 1 and Linearity surveying system, except that, the stay-supported displacement
The number of sensor 2.1 is 9, and every 3 stay-supported type displacement sensors 2.1 are one group；Set in wear-preventive hub fixed plate 2.2
Three wear-preventive collection rope devices 2.7 are equipped with, 2.4 are provided with three collection rope devices 2.8 in collection rope device fixed plate；Every group of stay-supported displacement is passed
The same wear-preventive collection rope device 2.7 of steel wire penetrating that sensor 2.1 is drawn, through the steel wire of same wear-preventive collection rope device 2.7
Rope is connected after being each passed through different collection rope devices 2.8 from different Wirerope fixing devices 2.5.
Embodiment 3
Hydraulic support pose as described in Example 1 and Linearity surveying system, except that, the wear-preventive collection rope
Device fixed plate 2.2 be arranged in parallel with the side wall of stay-supported sensor fixed case 2.6；The collection rope device fixed plate 2.4 and steel wire rope
The side wall of end fixed case 2.9 be arranged in parallel.
Embodiment 4
Hydraulic support pose as described in Example 2 and Linearity surveying system, except that, wear-preventive collection rope device is not
It is arranged on same straight line；Collection rope device is not arranged on same straight line；I.e. the line of wear-preventive collection rope device 2.7 constitutes triangle
Shape；The line of collection rope device 2.8 is triangle.
Embodiment 5
Hydraulic support pose as described in Example 1 and Linearity surveying system, except that, the hydraulic support position
Appearance detecting system includes hydraulic support top beam pose detecting system 1 and hydraulic support foundation pose detecting system 5；Hydraulic support top
Beam pose detecting system 1 is arranged on the lower surface of hydraulic support top beam；Hydraulic support foundation pose detecting system 5 is arranged on hydraulic pressure
The upper surface of bracket base.Hydraulic support top beam pose detecting system 1 and hydraulic support foundation pose detecting system 5 are respectively used to
Detect the back timber posture information and base posture information of two adjacent stents.
Embodiment 6
Hydraulic support pose as described in Example 5 and Linearity surveying system, except that, the hydraulic support position
Appearance detecting system is horizontally disposed with；Hydraulic support top beam pose detecting system 1 is less than apart from the distance of hydraulic support top beam lower surface
30cm；Distance of the hydraulic support foundation pose detecting system 5 apart from hydraulic support foundation upper surface is less than 30cm.
Embodiment 7
Hydraulic support pose as described in Example 1 and Linearity surveying system, except that, the hydraulic support position
Appearance and Linearity surveying system, including multigroup hydraulic support pose detecting system；Multigroup hydraulic support pose detecting system passes through
Same pose signal transmission cable 6 is connected with computer processing system 4.Computer processing system 4 is arranged on return airway
It is interior.
Embodiment 8
As shown in Figure 3-4.
Hydraulic support pose as described in Example 1 and Linearity surveying system, except that, the wear-preventive collection rope
Device includes bottom set 2.7.1 and the 2.7.3 that answers back；Bottom set 2.7.1 inner sides are provided with step through-hole, and the step through-hole includes large diameter hole
And small diameter bore；The 2.7.3 sockets of answering back are arranged in the large diameter hole；The small diameter bore inwall is provided with multiple the
One annular flexible wear-resisting ring 2.7.4；Described answering back is provided with three rollers 2.7.5, three roller 2.7.5 and small diameter bore between
End to end setting triangular in shape；2.7.3 inner sides of answering back are provided with step through-hole of answering back, and multiple the are provided with step through-hole of answering back
Two flexible wear circle 2.7.6.
Embodiment 9
Hydraulic support pose as described in Example 8 and Linearity surveying system, except that, in the small diameter bore
Wall is provided with flexible wear circle mounting groove, and flexible wear circle mounting groove surround the small diameter bore inwall one week；It is first annular soft
Property wear-resisting ring 2.7.4 insertion be arranged in flexible wear circle mounting groove；
Answering back the second flexible wear circle mounting groove of be provided with step through-hole, the second flexible wear circle mounting groove is around described
Answer back step through-hole inwall one week；Second flexible wear circle 2.7.6 insertions are arranged in the second flexible wear circle mounting groove.
Embodiment 10
Hydraulic support pose as described in Example 9 and Linearity surveying system, except that, outermost flexible wear
The end face that the trough rim for enclosing mounting groove covers 2.7.1 the bottom of with overlaps；The trough rim of outermost the second flexible wear circle mounting groove with answer back
2.7.3 end face overlaps.Annular flexible wear-resisting ring avoids steel wire rope from being contacted with metal bottom set, causes friction serious.
Embodiment 11
Hydraulic support pose as described in Example 8 and Linearity surveying system, except that, three roller 2.7.5
It is arranged between two roller gland 2.7.2 of mutual cooperation；Roller mounting groove and bearing peace are provided with roller gland 2.7.2
Tankage；Roller 2.7.5 insertions are arranged in roller mounting groove, and bearing 2.7.7 is provided with bearing mounting groove, roller 2.7.5's
Two ends are arranged in bearing 2.7.7.
Embodiment 12
Hydraulic support pose as described in Example 8 and Linearity surveying system, except that, the roller 2.7.5
The cylindrical structural of circular arc shaped guide slots is provided with for middle part；The diameter with diameter greater than steel wire rope of circular arc shaped guide slots；Circular arc
Circle where shape gathering sill is mutually circumscribed.Three steel wire rope aggregations together, are replaced sliding by mechanism herein using rolling friction
Friction, reduces the possibility of steel rope abrasion.Every steel cable through wear-preventive collection rope device 2.7 is correspondingly arranged at a rolling
In the circular arc shaped guide slots of sub- 2.7.5.
Embodiment 13
Hydraulic support pose as described in Example 8 and Linearity surveying system, except that, the 2.7.3 that answers back
It is threadedly coupled with bottom set 2.7.1.The advantage of threaded connection is the cooperation of 2.7.1 to be covered the bottom of with by the 2.7.3 that answers back, by two rollers
Gland 2.7.2 be pressed on bottom set the 2.7.1 and 2.7.3 that answers back between, by screw thread flexible modulation compress degree.
Embodiment 14
Hydraulic support pose as described in Example 1 and Linearity surveying system, except that, wear-preventive collection rope device
2.7 are threadedly coupled with wear-preventive collection rope device fixed plate 2.2.
Embodiment 15
As shown in Figure 5.
Hydraulic support pose as described in Example 1 and Linearity surveying system, except that, the hydraulic support position
Appearance detecting system also includes detection module；The detection module is connected by pose signal transmission cable 6 with computer processing system 4
Connect；The detection module includes displacement information collecting unit and the displacement information acquisition control list being connected with power module respectively
Unit, memory, processor and signal transmission module；Power module passes through displacement information acquisition control with displacement information collecting unit
Unit is connected；The memory is connected with displacement information collecting unit, processor and signal transmission module respectively；The memory
Inside it is provided with conversion Mathematical Modeling and hydraulic support numbering.
Embodiment 16
Hydraulic support pose as described in Example 15 and Linearity surveying system, except that, institute's displacement signal
Acquisition control unit includes the acceleration transducer, signal conditioning circuit, an A/D modular converters, the signal acquisition that are sequentially connected
Identification module, information gathering controller and displacement signal acquisition power switch.
Embodiment 17
Hydraulic support pose as described in Example 15 and Linearity surveying system, except that, described displacement letter
Number collecting unit includes the signal conditioning circuit, the 2nd A/D modular converters and the signal acquisition module that are sequentially connected.
Embodiment 18
Hydraulic support pose as described in Example 1 and Linearity surveying system, except that, at described computer
Reason system 4 includes coal-face straightness analysis module and coal face hydraulic support three-dimensionalreconstruction module.
Embodiment 19
As shown in Figure 6.
The method of work of hydraulic support pose and Linearity surveying system as described in embodiment 1-18, including step is such as
Under：
1) Linearity surveying：During when hydraulic support movement so that adjacent hydraulic support is not on same linearity, elastic wave
Line pipe 2.3 is stretched, and the steel wire rope in elastic bellows 2.3 produces displacement, and stay-supported type displacement sensor 2.1 produces electric signal；
2) acceleration transducer detects the electric signal, and calculates the corresponding acceleration of the electric signal, adds when described
Speed sends switch closure letter less than the acceleration rate threshold for setting, then signal acquisition controller to displacement signal acquisition power switch
Number, power module is powered for displacement information collecting unit；
3) displacement information collecting unit starts to gather the electric signal that stay-supported type displacement sensor is produced；The electric signal is successively
By signal conditioning circuit, the 2nd A/D modules and signal acquisition module, displacement signal is obtained, displacement signal is by conversion mathematics
Model treatment, obtains hydraulic support position auto―control information；The hydraulic support position auto―control that all displacement information collecting units are produced
Hydraulic support numbering in information and memory is transferred to computer processing system 4 by same pose signal transmission cable 6；
4) the hydraulic pressure branch that the straightness analysis module of computer processing system 4 is transmitted back to according to pose signal transmission cable 6
Frame numbering, hydraulic support position auto―control information are operated face straightness analysis, the larger hydraulic support of display straightness error
Numbering and error amount；Hydraulic support numbering, hydraulic pressure branch that the three-dimensionalreconstruction module is transmitted back to according to pose signal transmission cable
Frame position auto―control information is operated the pose reconstruct of face hydraulic support threedimensional model, and hydraulic pressure branch is reproduced using virtual reality technology
Frame position and posture.
Claims (10)
1. a kind of hydraulic support pose and Linearity surveying system, it is characterised in that including hydraulic support pose detecting system, position
Appearance signal transmission cable and computer processing system；Hydraulic support pose detecting system is by pose signal transmission cable and calculating
Machine processing system is connected；Hydraulic support pose detecting system is arranged between two adjacent hydraulic supports of coal-face；Institute
Hydraulic support pose detecting system, including relative pose detection means and installing plate are stated, the installing plate is arranged on relative pose
The two ends of detection means；Two installing plates are respectively fixedly disposed on two adjacent hydraulic supports；
The relative pose detection means, including elastic bellows, stay-supported sensor fixed case and steel cord ends fixed case；
The stay-supported sensor fixed case and steel cord ends fixed case are arranged on the two ends of elastic bellows；The stay-supported sensing
Opening is provided with the inside of device fixed case and steel cord ends fixed case；It is provided with the stay-supported sensor fixed case anti-
Mill formula collection rope device fixed plate, wear-preventive collection rope device is provided with wear-preventive collection rope device fixed plate；Set in steel cord ends fixed case
Collection rope device fixed plate is equipped with, collection rope device is provided with collection rope device fixed plate；
Stay-supported type displacement sensor is provided with the madial wall of stay-supported sensor fixed case；The inner side of steel cord ends fixed case
Wirerope fixing device is provided with wall；
The steel wire rope that stay-supported type displacement sensor is drawn is consolidated after sequentially passing through wear-preventive collection rope device, collection rope device with Wirerope fixing device
Fixed connection.
2. hydraulic support pose according to claim 1 and Linearity surveying system, it is characterised in that the stay-supported position
The number of displacement sensor is 9, and every 3 stay-supported type displacement sensors are one group；Three are provided with wear-preventive hub fixed plate
Individual wear-preventive collection rope device, is provided with three collection rope devices in collection rope device fixed plate；The steel wire that every group of stay-supported type displacement sensor is drawn
Rope through same wear-preventive collection rope device, through same wear-preventive collection rope device steel wire rope be each passed through different collection rope devices after
Connected from different Wirerope fixing devices；The wear-preventive collection rope device fixed plate is parallel with the side wall of stay-supported sensor fixed case
Set；The collection rope device fixed plate be arranged in parallel with the side wall of steel cord ends fixed case；Wear-preventive collection rope device is not arranged in together
On one straight line；Collection rope device is not arranged on same straight line.
3. hydraulic support pose according to claim 1 and Linearity surveying system, it is characterised in that the hydraulic support
Pose detecting system includes hydraulic support top beam pose detecting system and hydraulic support foundation pose detecting system；Hydraulic support top
Beam pose detecting system is arranged on the lower surface of hydraulic support top beam；Hydraulic support foundation pose detecting system is arranged on hydraulic pressure branch
The upper surface of frame base；The hydraulic support pose and Linearity surveying system, including multigroup hydraulic support pose detecting system；
Multigroup hydraulic support pose detecting system is connected by same pose signal transmission cable with computer processing system.
4. hydraulic support pose according to claim 3 and Linearity surveying system, it is characterised in that the hydraulic support
Pose detecting system is horizontally disposed with；Hydraulic support top beam pose detecting system is less than apart from the distance of hydraulic support top beam lower surface
30cm；Distance of the hydraulic support foundation pose detecting system apart from hydraulic support foundation upper surface is less than 30cm.
5. hydraulic support pose according to claim 1 and Linearity surveying system, it is characterised in that the wear-preventive collection
Rope device includes that bottom covers and answers back；Bottom set inner side is provided with step through-hole, and the step through-hole includes large diameter hole and small diameter bore；Institute
Socket of answering back is stated to be arranged in the large diameter hole；The small diameter bore inwall is provided with multiple first annular flexible wear circles；
Described answering back is provided with three rollers and small diameter bore between, three end to end settings triangular in shape of roller；Opened on the inside of answering back
Answer back step through-hole, multiple second flexible wear circles are provided with step through-hole of answering back.
6. hydraulic support pose according to claim 5 and Linearity surveying system, it is characterised in that the small diameter bore
Inwall is provided with flexible wear circle mounting groove, and flexible wear circle mounting groove surround the small diameter bore inwall one week；It is first annular
The insertion of flexible wear circle is arranged in flexible wear circle mounting groove；
Answering back the second flexible wear circle mounting groove of be provided with step through-hole, the second flexible wear circle mounting groove is answered back around described
Step through-hole inwall one week；The insertion of second flexible wear circle is arranged in the second flexible wear circle mounting groove；Outermost flexibility is resistance to
The end face that the trough rim of grinding ring mounting groove covers the bottom of with overlaps；The trough rim and the end face answered back of outermost the second flexible wear circle mounting groove
Overlap；
Three rollers are arranged between two roller glands of mutual cooperation；Roller mounting groove and bearing are provided with roller gland
Mounting groove；Roller insertion is arranged in roller mounting groove, and bearing is provided with bearing mounting groove, and the two ends of roller are arranged on bearing
It is interior；
The roller is the cylindrical structural that middle part is provided with circular arc shaped guide slots；Circular arc shaped guide slots with diameter greater than steel wire rope
Diameter；Circle where circular arc shaped guide slots is mutually circumscribed.
7. hydraulic support pose according to claim 1 and Linearity surveying system, it is characterised in that the hydraulic support
Pose detecting system also includes detection module；The detection module is connected by pose signal transmission cable with computer processing system
Connect；The detection module includes displacement information collecting unit and the displacement information acquisition control list being connected with power module respectively
Unit, memory, processor and signal transmission module；Power module passes through displacement information acquisition control with displacement information collecting unit
Unit is connected；The memory is connected with displacement information collecting unit, processor and signal transmission module respectively；The memory
Inside it is provided with conversion Mathematical Modeling and hydraulic support numbering.
8. hydraulic support pose according to claim 7 and Linearity surveying system, it is characterised in that institute's displacement signal
Acquisition control unit includes the acceleration transducer, signal conditioning circuit, an A/D modular converters, the signal acquisition that are sequentially connected
Identification module, information gathering controller and displacement signal acquisition power switch；Described displacement signal acquisition unit is included successively
The signal conditioning circuit of connection, the 2nd A/D modular converters and signal acquisition module.
9. hydraulic support pose according to claim 1 and Linearity surveying system, it is characterised in that described computer
Processing system includes coal-face straightness analysis module and coal face hydraulic support three-dimensionalreconstruction module.
10. a kind of method of work of hydraulic support pose and Linearity surveying system as described in claim 1-9 any one, its
It is characterised by, including step is as follows：
1) Linearity surveying：During when hydraulic support movement so that adjacent hydraulic support is not on same linearity, elastic bellows
It is stretched, the steel wire rope in elastic bellows produces displacement, stay-supported type displacement sensor produces electric signal；
2) acceleration transducer detects the electric signal, and calculates the corresponding acceleration of the electric signal, when the acceleration
Less than setting acceleration rate threshold, then signal acquisition controller send switch closure signals to displacement signal acquisition power switch,
Power module is powered for displacement information collecting unit；
3) displacement information collecting unit starts to gather the electric signal that stay-supported type displacement sensor is produced；The electric signal is sequentially passed through
Signal conditioning circuit, the 2nd A/D modules and signal acquisition module, obtain displacement signal, and displacement signal is by conversion Mathematical Modeling
Treatment, obtains hydraulic support position auto―control information；The hydraulic support position auto―control information that all displacement information collecting units are produced
Computer processing system is transferred to by same pose signal transmission cable with the hydraulic support numbering in memory；
Hydraulic support numbering that 4) the straightness analysis module of computer processing system is transmitted back to according to pose signal transmission cable,
Hydraulic support position auto―control information is operated face straightness analysis, and the larger hydraulic support of display straightness error is numbered and missed
Difference；Hydraulic support numbering, hydraulic support pose square that the three-dimensionalreconstruction module is transmitted back to according to pose signal transmission cable
Battle array information is operated the pose reconstruct of face hydraulic support threedimensional model, and hydraulic support pose shape is reproduced using virtual reality technology
State.
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Application publication date: 20170531 Assignee: SHANDONG YUREIKES INTELLIGENT ELECTRONICS Co.,Ltd. Assignor: SHANDONG University OF SCIENCE AND TECHNOLOGY Contract record no.: X2023370010018 Denomination of invention: A hydraulic support position and straightness detection system and its working method Granted publication date: 20191231 License type: Common License Record date: 20230116 |