CN106767364B - Hydraulic support pose and straightness detection system and working method thereof - Google Patents
Hydraulic support pose and straightness detection system and working method thereof Download PDFInfo
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- CN106767364B CN106767364B CN201611065965.4A CN201611065965A CN106767364B CN 106767364 B CN106767364 B CN 106767364B CN 201611065965 A CN201611065965 A CN 201611065965A CN 106767364 B CN106767364 B CN 106767364B
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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 invention relates to a hydraulic support pose and straightness detection system and a working method thereof. The device provided by the invention detects the relative full pose of the adjacent hydraulic supports by virtue of the pull-wire type displacement sensors, simultaneously realizes the real-time processing of detection signals of the pull-wire type displacement sensors, converts redundant displacement information into simple pose matrix information, greatly reduces the information transmission quantity, reduces the occupation time of roof pose matrix information and base pose matrix information of each hydraulic support on pose signal transmission cables, reduces the performance requirements of information transmission on transmission equipment in the process of detecting the pose of hundreds of working surfaces of the hydraulic supports, reduces the waiting time in the process of information transmission, improves the remote transmission capacity of the pose matrix information, and realizes the remote monitoring of the pose of the hydraulic supports.
Description
Technical Field
The invention relates to a hydraulic support pose and straightness detection system and a working method thereof, and belongs to the technical field of hydraulic support pose detection.
Background
The hydraulic support is a structure used for controlling the mine pressure of the coal face. The mining face mine pressure acts on the hydraulic support in the form of external load. In the mechanical system of the interaction of the hydraulic support and the mining face surrounding rock, if the resultant force of all the supporting pieces of the hydraulic support and the resultant force of the external load of the top plate acting on the hydraulic support are exactly in the same straight line, the hydraulic support is very suitable for the mining face surrounding rock.
Along with the development of coal development technology, the requirements on the stability and the safety of a hydraulic support on a working surface are higher and higher, and the requirements on the detection precision of the pose and the straightness of the hydraulic support are higher and higher. The relative pose detection technology is used for determining the relative position relation and the relative posture change between two independent objects through the real-time monitoring of the relative pose so as to realize the control of the future pose of the object.
In the traditional hydraulic support pose and straightness detection, the relative pose of each component of an object with correlation properties is mostly judged through an angle sensor and a displacement sensor, and partial pose information monitoring is realized by judging the relative distance between two objects through a laser sensor, an infrared sensor and an electromagnetic sensor. For example, chinese patent CN102661162B discloses a coal face straightness control method, which is to install a distance meter and an angle sensor on the top beam of a hydraulic support, measure the distance between the hydraulic support and the coal wall, and detect the posture of the top beam of the hydraulic support. The detection method by the angle and displacement sensor or the laser, infrared ray and electromagnetic sensor has high implementation cost, and the full-position posture detection of the two objects is difficult to realize.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a hydraulic support pose and straightness detection system.
The invention also provides a working method of the hydraulic support pose and straightness detection system.
The technical scheme of the invention is as follows:
a hydraulic support pose and straightness detection system comprises a hydraulic support pose detection system, a pose signal transmission cable and a computer processing system; the hydraulic support pose detection system is connected with the computer processing system through a pose signal transmission cable; the hydraulic support pose detection system is arranged between two adjacent hydraulic supports on the coal face; the hydraulic support pose detection system comprises a relative pose detection device and mounting plates, wherein the mounting plates are arranged at two ends of the relative pose detection device; the two mounting plates are respectively fixedly arranged on the two adjacent hydraulic supports;
the relative pose detection device comprises an elastic corrugated pipe, a stay wire type sensor fixing box and a steel wire rope tail end fixing box; the stay wire type sensor fixing box and the steel wire rope tail end fixing box are arranged at two ends of the elastic corrugated pipe; openings are formed in the inner sides of the stay wire type sensor fixing box and the inner side of the steel wire rope tail end fixing box; an anti-abrasion rope collector fixing plate is arranged in the stay wire type sensor fixing box, and an anti-abrasion rope collector is arranged on the anti-abrasion rope collector fixing plate; a rope collector fixing plate is arranged in the steel wire rope tail end fixing box, and a rope collector is arranged on the rope collector fixing plate;
a stay wire type displacement sensor is arranged on the inner side wall of the stay wire type sensor fixing box; a steel wire rope fixer is arranged on the inner side wall of the steel wire rope tail end fixing box;
and a steel wire rope led out by the stay wire type displacement sensor sequentially passes through the anti-abrasion type rope collector and the rope collector and then is fixedly connected with the steel wire rope fixer.
The stay wire type displacement sensor performs telescopic motion in the elastic corrugated pipe, and the corrugated pipe and the two box bodies play a role in protection and dust prevention, so that other objects are prevented from colliding and contacting the steel wire rope. The corrugated pipe is made of flexible rubber materials or flexible plastic materials, the thickness of the corrugated pipe is larger than 1mm (certain impact resistance is guaranteed), the maximum elongation is larger than 1m, and the corrugated pipe has good bending capability and self-holding capability of the cross section shape (when the corrugated pipe is bent, the steel wire rope of the stay wire type displacement sensor is guaranteed not to be in contact with the elastic corrugated pipe in the detection process).
Preferably, the number of the stay wire type displacement sensors is 9, and each 3 stay wire type displacement sensors form a group; three anti-abrasion rope collectors are arranged on the anti-abrasion type concentrator fixing plate, and three rope collectors are arranged on the rope collector fixing plate; and the steel wire rope led out by each group of stay wire type displacement sensors passes through the same anti-abrasion type rope collector, and the steel wire rope passing through the same anti-abrasion type rope collector respectively passes through different rope collectors and then is connected with different steel wire rope fixing devices.
Preferably, the anti-abrasion type rope collector fixing plate is arranged in parallel with the side wall of the stay wire type sensor fixing box; the rope collector fixing plate is arranged in parallel with the side wall of the steel wire rope tail end fixing box.
Preferably, the anti-abrasion rope collectors are not arranged on the same straight line; the rope collectors are not arranged on the same straight line.
Preferably, the hydraulic support posture detection system comprises a hydraulic support top beam posture detection system and a hydraulic support base posture detection system; the hydraulic support top beam pose detection system is arranged on the lower surface of the hydraulic support top beam; the hydraulic support base pose detection system is arranged on the upper surface of the hydraulic support base. The hydraulic support top beam pose detection system and the hydraulic support base pose detection system are respectively used for detecting top beam pose information and base pose information of two adjacent supports.
Further preferably, the hydraulic support pose detection system is horizontally arranged; the distance between the hydraulic support top beam pose detection system and the lower surface of the hydraulic support top beam is less than 30 cm; the distance between the hydraulic support base pose detection system and the upper surface of the hydraulic support base is less than 30 cm.
Preferably, the hydraulic support pose and straightness detection system comprises a plurality of groups of hydraulic support pose detection systems; the multiple groups of hydraulic support pose detection systems are connected with a computer processing system through the same pose signal transmission cable. The computer processing system is arranged in the working surface gateway.
Preferably, the wear-resistant rope collector comprises a bottom sleeve and a top nozzle; the inner side of the bottom sleeve is provided with a step through hole, and the step through hole comprises a large-diameter hole and a small-diameter hole; the top nozzle is sleeved in the large-diameter hole; a plurality of first annular flexible wear-resistant rings are arranged on the inner wall of the small-diameter hole; three rollers are arranged between the ejection nozzle and the small-diameter hole, and are connected end to form a triangle; the inner side of the top nozzle is provided with a top nozzle step through hole, and a plurality of second flexible wear-resistant rings are arranged in the top nozzle step through hole.
Preferably, the inner wall of the small-diameter hole is provided with a flexible wear-resistant ring mounting groove, and the flexible wear-resistant ring mounting groove surrounds the inner wall of the small-diameter hole for a circle; the first annular flexible wear-resistant ring is embedded in the flexible wear-resistant ring mounting groove;
a second flexible wear-resistant ring mounting groove is formed in the top nozzle step through hole and surrounds the inner wall of the top nozzle step through hole for a circle; the second flexible wear-resisting ring is embedded in the second flexible wear-resisting ring mounting groove.
Preferably, the groove edge of the mounting groove of the outermost flexible wear-resistant ring is overlapped with the end face of the bottom sleeve; the groove edge of the second flexible wear-resistant ring mounting groove on the outermost side is superposed with the end face of the top nozzle. The annular flexible wear-resisting ring avoids the steel wire rope from contacting the metal bottom sleeve, so that the friction is serious.
Further preferably, three rollers are arranged between two mutually cooperating roller glands; a roller mounting groove and a bearing mounting groove are formed in the roller gland; the roller embedding sets up in the roller mounting groove, is provided with the bearing in the bearing mounting groove, and the both ends setting of roller is in the bearing.
Preferably, the roller is of a cylindrical structure with a circular arc-shaped guide groove in the middle; the diameter of the arc-shaped guide groove is larger than that of the steel wire rope; the circles of the circular arc-shaped guide grooves are externally tangent with each other. The mechanism gathers three steel wire ropes together, and rolling friction is adopted to replace sliding friction, so that the possibility of abrasion of the steel wire ropes is reduced. Each steel wire rope penetrating through the anti-abrasion type rope collector is correspondingly arranged in the circular arc-shaped guide groove of one roller.
Further preferably, the top nozzle is in threaded connection with the bottom sleeve. The threaded connection has the advantages that the two roller pressing covers are pressed between the bottom sleeve and the top nozzle through the matching of the top nozzle and the bottom sleeve, and the pressing degree is flexibly adjusted through threads.
Preferably, the anti-abrasion rope collector is in threaded connection with the anti-abrasion rope collector fixing plate.
Preferably, the hydraulic support pose detection system further comprises a detection module; the detection module is connected with a computer processing system through a pose signal transmission cable; the detection module comprises a displacement information acquisition unit, a displacement information acquisition control unit, a memory, a processor and a signal transmission module, wherein the displacement information acquisition control unit, the memory, the processor and the signal transmission module are respectively connected with the power supply module; the power supply module is connected with the displacement information acquisition unit through the displacement information acquisition control unit; the memory is respectively connected with the displacement information acquisition unit, the processor and the signal transmission module; and a transformation mathematical model and a hydraulic support serial number are arranged in the memory. The transformation mathematical model is used for describing position parameters of each anti-wear rope collector, the position parameters of the rope collector, the elongation of the stay wire type displacement sensors and the displacement information of each stay wire type sensor acquired by the displacement information acquisition unit of the mathematical relationship between the relative pose transformation matrixes of the two hydraulic supports and directly storing the displacement information into the memory; a transformation mathematical model of the bracket number, the displacement information of each path and the pose matrix information is prestored in the memory; the processor processes each path of displacement information into pose matrix information according to the change mathematical model in the memory and stores the pose matrix information into the memory; and the signal transmission module transmits the support number and the pose matrix information in the memory to a computer processing system. The displacement information acquisition control unit controls whether to supply power to the displacement information acquisition unit and the power supply time.
Preferably, the displacement signal acquisition control unit comprises an acceleration sensor, a signal conditioning circuit, a first a/D conversion module, a signal acquisition identification module, an information acquisition controller and a displacement signal acquisition power switch which are connected in sequence. Signals acquired by the acceleration sensor enter the signal acquisition and identification module through the signal conditioning circuit and the first A/D conversion module in sequence; the signal acquisition and identification module carries out noise reduction and filtering processing on the acceleration digital information and transmits the processed acceleration information to the signal acquisition controller; the signal acquisition controller determines the state of the hydraulic support according to the magnitude of acceleration information, when the acceleration is large, an analysis processing system embedded in the signal acquisition controller judges that the hydraulic support acts, the signal acquisition controller sends a switch off signal to a displacement signal acquisition power switch at the moment, the power supply module is forbidden to supply power to the displacement information acquisition unit, when the acceleration is small or no acceleration exists, the analysis processing system embedded in the signal acquisition controller judges that the hydraulic support does not act, the signal acquisition controller sends a switch on signal to the displacement signal acquisition power switch at the moment, the power supply module is allowed to supply power to the displacement information acquisition unit, and the power supply time is determined by the set power-on time of the signal acquisition controller.
Further preferably, the displacement signal acquisition unit comprises a signal conditioning circuit, a second a/D conversion module and a signal acquisition module which are connected in sequence. The pull-wire type displacement sensor signal shares the same signal conditioning circuit, the second A/D conversion module and the signal acquisition module, multiple paths of displacement signals are transmitted in series in the conditioning circuit, the second A/D conversion module and the signal acquisition module, and the sampling frequency of the displacement information acquisition unit is less than 1k Hz.
Preferably, the computer processing system comprises a coal face straightness analysis module and a coal face hydraulic support three-dimensional reconstruction module.
A working method of the hydraulic support pose and straightness detection system comprises the following steps:
1) and (3) detecting the straightness: when the hydraulic supports move to enable the adjacent hydraulic supports not to be on the same straightness, the elastic corrugated pipe is stretched, the steel wire rope in the elastic corrugated pipe generates displacement, and the stay wire type displacement sensor generates an electric signal;
2) the acceleration sensor detects the electric signal and calculates the acceleration corresponding to the electric signal, when the acceleration is smaller than a set acceleration threshold value, the signal acquisition controller sends a switch closing signal to the displacement signal acquisition power switch, and the power module supplies power to the displacement information acquisition unit; the step has the beneficial effect of saving electric energy, and is an innovative point of the invention, namely, the power is supplied at a specific time, and the power supply time can be automatically judged and determined by the system, namely, the acceleration is 0 or not 0.
3) The displacement information acquisition unit starts to acquire electric signals generated by the stay wire type displacement sensor; the electric signals sequentially pass through a signal conditioning circuit, a second A/D module and a signal acquisition module to obtain displacement signals, and the displacement signals are processed through a transformation mathematical model to obtain position and attitude matrix information of the hydraulic support; the hydraulic support position and posture matrix information generated by all the displacement information acquisition units and the hydraulic support serial numbers in the memory are transmitted to a computer processing system through the same position and posture signal transmission cable;
4) a straightness analysis module of the computer processing system analyzes the straightness of the working face according to the hydraulic support serial number and the hydraulic support position and posture matrix information transmitted back by the position and posture signal transmission cable, and displays the hydraulic support serial number with larger straightness error and the error value; and the three-dimensional reconstruction module reconstructs the pose of the three-dimensional model of the hydraulic support on the working surface according to the hydraulic support serial number and the hydraulic support pose matrix information transmitted back by the pose signal transmission cable, and reproduces the pose state of the hydraulic support by using a virtual reality technology.
The working principle of the stay wire type displacement sensor is as follows: the function of the pull-cord sensor is to convert mechanical motion into an electrical signal that can be metered, recorded or transmitted. The pull-wire type displacement sensor is made of a stretchable stainless steel cable wound around a threaded hub which is coupled to a precision rotary sensor which may be an incremental encoder, absolute encoder, hybrid or conductive plastic rotary potentiometer, synchronizer or resolver.
In operation, the pull-cord type displacement sensor is mounted in a fixed position and the pull cord is tied to a moving object. The linear motion of the pull rope is aligned with the motion axis of the moving object. As the motion occurs, the drawstring expands and contracts. An internal spring ensures constant tension in the pull cord. The hub with the thread drives the precise rotary inductor to rotate, and an electric signal proportional to the moving distance of the pull rope is output. The displacement, direction or speed of the moving object can be obtained by measuring the output signal.
The protrusion amount detecting unit may be regarded as the above-mentioned "precision rotation sensor". The automatic tensioning device may be considered an "internal spring" as mentioned above. The spring not only can keep the tension degree of the pull rope unchanged, but also can make the pull rope drawn back into the pull-wire type displacement sensor after the extending tail end of the pull rope is loosened.
The invention has the beneficial effects that:
1. the hydraulic support position and straightness detection system realizes full position and posture detection of the hydraulic support top beam and the base by detecting the extension of the steel wire rope of each stay wire type displacement sensor and reversely pushing the position and posture change of the hydraulic support top beam and the base by the stay wire type displacement sensors, thereby realizing the detection of the whole position and posture of the hydraulic support (note that the whole position and posture of the hydraulic support is determined by the position and posture of the top beam and the position and posture of the base);
2. the elastic corrugated pipe is strong in expansion capacity, good in bending performance and low in manufacturing cost, and can effectively prevent a steel wire rope of a stay wire type displacement sensor from being collided and interfered, so that the service life of the stay wire type displacement sensor is prolonged, and detection errors caused by collision and interference are avoided;
3. the wear-resistant rope collector avoids the wear caused by the contact with a hard object in the processes of stretching out and rebounding of the steel wire rope of the stay-supported displacement sensor, and prolongs the service life of the steel wire rope, thereby further prolonging the service life of the stay-supported displacement sensor;
4. the hydraulic support pose and straightness detection system provided by the invention realizes real-time processing of detection signals of a plurality of stay-supported displacement sensors, converts redundant displacement information into simple pose matrix information, greatly reduces the information transmission amount, reduces the occupation time of the pose matrix information of a top plate and a base of each hydraulic support on pose signal transmission cables, reduces the performance requirements of information transmission on transmission equipment in hundreds of working surface hydraulic support pose detection processes, reduces the waiting time in the information transmission processes, improves the remote transmission capability of the pose matrix information, and realizes remote monitoring of the pose of the hydraulic support;
5. according to the hydraulic support pose and straightness detection system, the displacement information acquisition unit only works when the support is static, so that the working time of the displacement information acquisition unit is shortened, the energy consumption caused by the fact that a plurality of stay-supported displacement sensors work all the time is reduced, in addition, the displacement information acquisition unit works intermittently, the service life of the stay-supported displacement sensors is prolonged, meanwhile, the acquisition process of unnecessary information is eliminated, the storage space of a storage device occupied by the unnecessary displacement information is avoided, and the increase of the manufacturing cost of the storage device caused by the large space requirement is reduced;
6. the hydraulic support pose and straightness detection system is simple in structure and detection principle, high in detection precision, easy to achieve and wide in popularization value.
Drawings
FIG. 1 is a schematic structural diagram of a hydraulic support pose and straightness detection system of the present invention;
fig. 2 is a schematic structural view of the relative pose detection apparatus of the present invention;
FIG. 3 is a schematic structural view of the anti-abrasion rope collector of the present invention;
FIG. 4 is an axial cross-sectional view of the wear-resistant cord collector of the present invention;
FIG. 5 is a schematic structural diagram of the detection module according to the present invention;
FIG. 6 is a schematic flow chart of information between the detection module and a computer processing system according to the present invention.
The method comprises the following steps that 1, a hydraulic support top beam pose detection system is adopted; 2. a relative pose detecting means; 3. mounting a plate; 4. a computer processing system; 5. a hydraulic support base pose detection system; 6. a pose signal transmission cable; 2.1, a stay wire type displacement sensor; 2.2, an anti-abrasion rope collector fixing plate; 2.3, an elastic corrugated pipe; 2.4, fixing a rope collector plate; 2.5, a steel wire rope fixer; 2.6, a stay wire type sensor fixing box; 2.7, an anti-abrasion rope collector; 2.8, a rope collector; 2.9, fixing a box at the tail end of the steel wire rope; 2.7.1, a bottom sleeve; 2.7.2, a roller gland; 2.7.3, top mouth; 2.7.4, a first flexible wear ring; 2.7.5, rollers;
2.7.6, a second flexible wear ring; 2.7.7, and a bearing.
Detailed Description
The invention is further described below, but not limited thereto, with reference to the following examples and the accompanying drawings.
Example 1
As shown in fig. 1-2.
A hydraulic support pose and straightness detection system comprises a hydraulic support pose detection system, a pose signal transmission cable 6 and a computer processing system 4; the hydraulic support pose detection system is connected with the computer processing system 4 through a pose signal transmission cable 6; the hydraulic support pose detection system is arranged between two adjacent hydraulic supports on the coal face; the hydraulic support pose detection system comprises a relative pose detection device and mounting plates 3, wherein the mounting plates 3 are arranged at two ends of the relative pose detection device; the two mounting plates 3 are respectively fixedly arranged on the two adjacent hydraulic supports;
the relative pose detection device comprises an elastic corrugated pipe 2.3, a stay wire type sensor fixing box 2.6 and a steel wire rope tail end fixing box 2.9; the stay wire type sensor fixing box 2.6 and the steel wire rope tail end fixing box 2.9 are arranged at two ends of the elastic corrugated pipe 2.3; openings are formed in the inner sides of the stay wire type sensor fixing box 2.6 and the steel wire rope tail end fixing box 2.9; an anti-abrasion rope collector fixing plate 2.2 is arranged in the stay wire type sensor fixing box 2.6, and an anti-abrasion rope collector 2.7 is arranged on the anti-abrasion rope collector fixing plate 2.2; a rope collector fixing plate 2.4 is arranged in the steel wire rope tail end fixing box 2.9, and a rope collector 2.8 is arranged on the rope collector fixing plate;
a stay wire type displacement sensor 2.1 is arranged on the inner side wall of the stay wire type sensor fixing box 2.6; a steel wire rope fixer 2.5 is arranged on the inner side wall of the steel wire rope tail end fixing box 2.9;
the steel wire rope led out by the stay wire type displacement sensor 2.1 sequentially passes through the anti-abrasion type rope collector 2.7 and the rope collector 2.8 and then is fixedly connected with the steel wire rope fixer 2.5.
Example 2
The hydraulic support posture and straightness detection system according to embodiment 1, except that the number of the stay wire type displacement sensors 2.1 is 9, and each 3 stay wire type displacement sensors 2.1 form a group; three anti-abrasion rope collectors 2.7 are arranged on the anti-abrasion type concentrator fixing plate 2.2, and three rope collectors 2.8 are arranged on the rope collector fixing plate 2.4; the steel wire rope led out from each group of stay wire type displacement sensors 2.1 passes through the same anti-abrasion type rope collector 2.7, and the steel wire rope passing through the same anti-abrasion type rope collector 2.7 respectively passes through different rope collectors 2.8 and then is connected with different steel wire rope fixers 2.5.
Example 3
The hydraulic support posture and straightness detection system according to embodiment 1, except that the wear-resistant rope collector fixing plate 2.2 is arranged in parallel with the side wall of the pull-wire sensor fixing box 2.6; the rope collector fixing plate 2.4 is arranged in parallel with the side wall of the steel wire rope tail end fixing box 2.9.
Example 4
The hydraulic support pose and straightness detection system of embodiment 2, except that the anti-wear rope collector is not arranged on the same straight line; the rope collectors are not arranged on the same straight line; namely, the connecting lines of the anti-abrasion rope collector 2.7 form a triangle; the connecting lines of the rope collectors 2.8 form a triangle.
Example 5
The hydraulic support posture and straightness detection system of embodiment 1 is different in that the hydraulic support posture detection system comprises a hydraulic support top beam posture detection system 1 and a hydraulic support base posture detection system 5; the hydraulic support top beam pose detection system 1 is arranged on the lower surface of a hydraulic support top beam; the hydraulic support base pose detection system 5 is arranged on the upper surface of the hydraulic support base. The hydraulic support top beam pose detection system 1 and the hydraulic support base pose detection system 5 are respectively used for detecting top beam pose information and base pose information of two adjacent supports.
Example 6
The hydraulic support pose and straightness detection system of embodiment 5, except that the hydraulic support pose detection system is horizontally arranged; the distance between the hydraulic support top beam pose detection system 1 and the lower surface of the hydraulic support top beam is less than 30 cm; the distance between the hydraulic support base pose detection system 5 and the upper surface of the hydraulic support base is less than 30 cm.
Example 7
The hydraulic support pose and straightness detection system of embodiment 1, except that the hydraulic support pose and straightness detection system comprises a plurality of groups of hydraulic support pose detection systems; the multi-group hydraulic support pose detection system is connected with the computer processing system 4 through the same pose signal transmission cable 6. The computer processing system 4 is arranged in the working surface gateway.
Example 8
As shown in fig. 3-4.
The hydraulic support posture and straightness detection system of embodiment 1, except that the wear-resistant rope collector comprises a bottom sleeve 2.7.1 and a top nozzle 2.7.3; the inner side of the bottom sleeve 2.7.1 is provided with a step through hole which comprises a large-diameter hole and a small-diameter hole; the top nozzle 2.7.3 is sleeved in the large-diameter hole; a plurality of first annular flexible wear-resistant rings 2.7.4 are arranged on the inner wall of the small-diameter hole; three rollers 2.7.5 are arranged between the ejection nozzle and the small-diameter hole, and the three rollers 2.7.5 are connected end to end and are arranged in a triangle; the inner side of the top nozzle 2.7.3 is provided with a top nozzle step through hole, and a plurality of second flexible wear-resistant rings 2.7.6 are arranged in the top nozzle step through hole.
Example 9
The hydraulic support pose and straightness detection system of embodiment 8, except that the inner wall of the small diameter hole is provided with a flexible wear-resistant ring installation groove, and the flexible wear-resistant ring installation groove surrounds the inner wall of the small diameter hole for a circle; the first annular flexible wear-resistant ring 2.7.4 is embedded in the flexible wear-resistant ring mounting groove;
a second flexible wear-resistant ring mounting groove is formed in the top nozzle step through hole and surrounds the inner wall of the top nozzle step through hole for a circle; a second flexible wear ring 2.7.6 is disposed in embedded relation within the second flexible wear ring mounting slot.
Example 10
The hydraulic support pose and straightness detection system of embodiment 9, except that the groove edge of the outermost flexible wear-resistant ring mounting groove coincides with the end face of the bottom sleeve 2.7.1; the groove edge of the outermost second flexible wear-resistant ring mounting groove is overlapped with the end face of the top nozzle 2.7.3. The annular flexible wear-resisting ring avoids the steel wire rope from contacting the metal bottom sleeve, so that the friction is serious.
Example 11
The hydraulic support posture and straightness detection system of embodiment 8, except that three rollers 2.7.5 are disposed between two cooperating roller glands 2.7.2; a roller mounting groove and a bearing mounting groove are arranged in the roller gland 2.7.2; the rollers 2.7.5 are disposed embedded in a roller mounting groove, a bearing 2.7.7 is disposed in the bearing mounting groove, and both ends of the roller 2.7.5 are disposed in the bearing 2.7.7.
Example 12
The hydraulic support posture and straightness detection system of embodiment 8, except that the roller 2.7.5 is a cylindrical structure with a circular arc-shaped guide groove in the middle; the diameter of the arc-shaped guide groove is larger than that of the steel wire rope; the circles of the circular arc-shaped guide grooves are externally tangent with each other. The mechanism gathers three steel wire ropes together, and rolling friction is adopted to replace sliding friction, so that the possibility of abrasion of the steel wire ropes is reduced. Each steel wire rope passing through the wear-resistant rope collector 2.7 is correspondingly arranged in the circular arc-shaped guide groove of one roller 2.7.5.
Example 13
The hydraulic support posture and straightness detection system of embodiment 8, except that the top nozzle 2.7.3 is threadedly connected to the bottom sleeve 2.7.1. The threaded connection has the advantages that the two roller glands 2.7.2 are tightly pressed between the bottom sleeve 2.7.1 and the top nozzle 2.7.3 through the matching of the top nozzle 2.7.3 and the bottom sleeve 2.7.1, and the pressing degree is flexibly adjusted through threads.
Example 14
The hydraulic support posture and straightness detection system of embodiment 1 is different in that an anti-abrasion rope collector 2.7 is in threaded connection with an anti-abrasion rope collector fixing plate 2.2.
Example 15
As shown in fig. 5.
The hydraulic support pose and straightness detection system of embodiment 1, except that the hydraulic support pose detection system further comprises a detection module; the detection module is connected with the computer processing system 4 through a pose signal transmission cable 6; the detection module comprises a displacement information acquisition unit, a displacement information acquisition control unit, a memory, a processor and a signal transmission module, wherein the displacement information acquisition control unit, the memory, the processor and the signal transmission module are respectively connected with the power supply module; the power supply module is connected with the displacement information acquisition unit through the displacement information acquisition control unit; the memory is respectively connected with the displacement information acquisition unit, the processor and the signal transmission module; and a transformation mathematical model and a hydraulic support serial number are arranged in the memory.
Example 16
The hydraulic support pose and straightness detection system of embodiment 15, except that the displacement signal acquisition control unit comprises an acceleration sensor, a signal conditioning circuit, a first a/D conversion module, a signal acquisition identification module, an information acquisition controller and a displacement signal acquisition power switch, which are connected in sequence.
Example 17
The hydraulic support pose and straightness detection system according to embodiment 15, except that the displacement signal acquisition unit includes a signal conditioning circuit, a second a/D conversion module, and a signal acquisition module, which are connected in sequence.
Example 18
The hydraulic support pose and straightness detection system according to embodiment 1 is different in that the computer processing system 4 includes a coal face straightness analysis module and a coal face hydraulic support three-dimensional reconstruction module.
Example 19
As shown in fig. 6.
The working method of the hydraulic support pose and straightness detection system according to embodiments 1 to 18 includes the steps of:
1) and (3) detecting the straightness: when the hydraulic supports move to enable the adjacent hydraulic supports not to be on the same straightness, the elastic corrugated pipe 2.3 is stretched, the steel wire rope in the elastic corrugated pipe 2.3 generates displacement, and the stay wire type displacement sensor 2.1 generates an electric signal;
2) the acceleration sensor detects the electric signal and calculates the acceleration corresponding to the electric signal, when the acceleration is smaller than a set acceleration threshold value, the signal acquisition controller sends a switch closing signal to the displacement signal acquisition power switch, and the power module supplies power to the displacement information acquisition unit;
3) the displacement information acquisition unit starts to acquire electric signals generated by the stay wire type displacement sensor; the electric signals sequentially pass through a signal conditioning circuit, a second A/D module and a signal acquisition module to obtain displacement signals, and the displacement signals are processed through a transformation mathematical model to obtain position and attitude matrix information of the hydraulic support; the hydraulic support position and posture matrix information generated by all the displacement information acquisition units and the hydraulic support serial number in the memory are transmitted to the computer processing system 4 through the same position and posture signal transmission cable 6;
4) a straightness analysis module of the computer processing system 4 analyzes the straightness of the working face according to the hydraulic support serial number and the hydraulic support position and posture matrix information transmitted back by the position and posture signal transmission cable 6, and displays the hydraulic support serial number and the error value with larger straightness error; and the three-dimensional reconstruction module reconstructs the pose of the three-dimensional model of the hydraulic support on the working surface according to the hydraulic support serial number and the hydraulic support pose matrix information transmitted back by the pose signal transmission cable, and reproduces the pose state of the hydraulic support by using a virtual reality technology.
Claims (9)
1. A hydraulic support pose and straightness detection system is characterized by comprising a hydraulic support pose detection system, a pose signal transmission cable and a computer processing system; the hydraulic support pose detection system is connected with the computer processing system through a pose signal transmission cable; the hydraulic support pose detection system is arranged between two adjacent hydraulic supports on the coal face; the hydraulic support pose detection system comprises a relative pose detection device and mounting plates, wherein the mounting plates are arranged at two ends of the relative pose detection device; the two mounting plates are respectively fixedly arranged on the two adjacent hydraulic supports;
the relative pose detection device comprises an elastic corrugated pipe, a stay wire type sensor fixing box and a steel wire rope tail end fixing box; the stay wire type sensor fixing box and the steel wire rope tail end fixing box are arranged at two ends of the elastic corrugated pipe; openings are formed in the inner sides of the stay wire type sensor fixing box and the inner side of the steel wire rope tail end fixing box; an anti-abrasion rope collector fixing plate is arranged in the stay wire type sensor fixing box, and an anti-abrasion rope collector is arranged on the anti-abrasion rope collector fixing plate; a rope collector fixing plate is arranged in the steel wire rope tail end fixing box, and a rope collector is arranged on the rope collector fixing plate;
a stay wire type displacement sensor is arranged on the inner side wall of the stay wire type sensor fixing box; a steel wire rope fixer is arranged on the inner side wall of the steel wire rope tail end fixing box;
a steel wire rope led out by the stay wire type displacement sensor sequentially passes through the anti-abrasion type rope collector and the rope collector and then is fixedly connected with the steel wire rope fixer;
the number of the stay wire type displacement sensors is 9, and each 3 stay wire type displacement sensors form a group; three anti-abrasion rope collectors are arranged on the anti-abrasion rope collector fixing plate, and three rope collectors are arranged on the rope collector fixing plate; the steel wire rope led out by each group of stay wire type displacement sensors passes through the same anti-abrasion type rope collector, and the steel wire rope passing through the same anti-abrasion type rope collector respectively passes through different rope collectors and then is connected with different steel wire rope fixing devices; the anti-abrasion rope collector fixing plate is arranged in parallel with the side wall of the stay wire type sensor fixing box; the rope collector fixing plate is arranged in parallel with the side wall of the steel wire rope tail end fixing box; the anti-abrasion rope collectors are not arranged on the same straight line; the rope collectors are not arranged on the same straight line.
2. The hydraulic support pose and straightness detection system according to claim 1, wherein the hydraulic support pose detection system comprises a hydraulic support top beam pose detection system and a hydraulic support base pose detection system; the hydraulic support top beam pose detection system is arranged on the lower surface of the hydraulic support top beam; the hydraulic support base pose detection system is arranged on the upper surface of the hydraulic support base; the hydraulic support pose and straightness detection system comprises a plurality of groups of hydraulic support pose detection systems; the multiple groups of hydraulic support pose detection systems are connected with a computer processing system through the same pose signal transmission cable.
3. The hydraulic support pose and straightness detection system of claim 2, wherein the hydraulic support pose detection system is horizontally disposed; the distance between the hydraulic support top beam pose detection system and the lower surface of the hydraulic support top beam is less than 30 cm; the distance between the hydraulic support base pose detection system and the upper surface of the hydraulic support base is less than 30 cm.
4. The hydraulic support pose and straightness detection system according to claim 1, wherein the anti-wear rope collector comprises a bottom sleeve and a top nozzle; the inner side of the bottom sleeve is provided with a step through hole, and the step through hole comprises a large-diameter hole and a small-diameter hole; the top nozzle is sleeved in the large-diameter hole; a plurality of first annular flexible wear-resistant rings are arranged on the inner wall of the small-diameter hole; three rollers are arranged between the ejection nozzle and the small-diameter hole, and are connected end to form a triangle; the inner side of the top nozzle is provided with a top nozzle step through hole, and a plurality of second flexible wear-resistant rings are arranged in the top nozzle step through hole.
5. The hydraulic support pose and straightness detection system according to claim 4, wherein the inner wall of the small-diameter hole is provided with a flexible wear-resistant ring mounting groove, and the flexible wear-resistant ring mounting groove surrounds the inner wall of the small-diameter hole for a circle; the first annular flexible wear-resistant ring is embedded in the flexible wear-resistant ring mounting groove;
a second flexible wear-resistant ring mounting groove is formed in the top nozzle step through hole and surrounds the inner wall of the top nozzle step through hole for a circle; the second flexible wear-resistant ring is embedded in the second flexible wear-resistant ring mounting groove; the groove edge of the mounting groove of the outermost flexible wear-resistant ring is superposed with the end face of the bottom sleeve; the groove edge of the second flexible wear-resistant ring mounting groove on the outermost side is superposed with the end face of the top nozzle;
the three rollers are arranged between the two mutually matched roller glands; a roller mounting groove and a bearing mounting groove are formed in the roller gland; the roller is embedded in the roller mounting groove, a bearing is arranged in the bearing mounting groove, and two ends of the roller are arranged in the bearing;
the roller is of a cylindrical structure, the middle part of the roller is provided with an arc-shaped guide groove; the diameter of the arc-shaped guide groove is larger than that of the steel wire rope; the circles of the circular arc-shaped guide grooves are externally tangent with each other.
6. The hydraulic support pose and straightness detection system of claim 1, further comprising a detection module; the detection module is connected with a computer processing system through a pose signal transmission cable; the detection module comprises a displacement information acquisition unit, a displacement information acquisition control unit, a memory, a processor and a signal transmission module, wherein the displacement information acquisition control unit, the memory, the processor and the signal transmission module are respectively connected with the power supply module; the power supply module is connected with the displacement information acquisition unit through the displacement information acquisition control unit; the memory is respectively connected with the displacement information acquisition unit, the processor and the signal transmission module; and a transformation mathematical model and a hydraulic support serial number are arranged in the memory.
7. The hydraulic support pose and straightness detection system according to claim 6, wherein the displacement signal acquisition control unit comprises an acceleration sensor, a signal conditioning circuit, a first A/D conversion module, a signal acquisition identification module, an information acquisition controller and a displacement signal acquisition power switch which are sequentially connected; the displacement signal acquisition unit comprises a signal conditioning circuit, a second A/D conversion module and a signal acquisition module which are sequentially connected.
8. The hydraulic support pose and straightness detection system according to claim 1, wherein the computer processing system comprises a coal face straightness analysis module and a coal face hydraulic support three-dimensional reconstruction module.
9. The working method of the hydraulic support pose and straightness detection system according to claim 8, characterized by comprising the following steps:
1) and (3) detecting the straightness: when the hydraulic supports move to enable the adjacent hydraulic supports not to be on the same straightness, the elastic corrugated pipe is stretched, the steel wire rope in the elastic corrugated pipe generates displacement, and the stay wire type displacement sensor generates an electric signal;
2) the acceleration sensor detects the electric signal and calculates the acceleration corresponding to the electric signal, when the acceleration is smaller than a set acceleration threshold value, the signal acquisition controller sends a switch closing signal to the displacement signal acquisition power switch, and the power module supplies power to the displacement information acquisition unit;
3) the displacement information acquisition unit starts to acquire electric signals generated by the stay wire type displacement sensor; the electric signals sequentially pass through a signal conditioning circuit, a second A/D module and a signal acquisition module to obtain displacement signals, and the displacement signals are processed through a transformation mathematical model to obtain position and attitude matrix information of the hydraulic support; the hydraulic support position and posture matrix information generated by all the displacement information acquisition units and the hydraulic support serial numbers in the memory are transmitted to a computer processing system through the same position and posture signal transmission cable;
4) a straightness analysis module of the computer processing system analyzes the straightness of the working face according to the hydraulic support serial number and the hydraulic support position and posture matrix information transmitted back by the position and posture signal transmission cable, and displays the hydraulic support serial number with larger straightness error and the error value; and the three-dimensional reconstruction module reconstructs the pose of the three-dimensional model of the hydraulic support on the working surface according to the hydraulic support serial number and the hydraulic support pose matrix information transmitted back by the pose signal transmission cable, and reproduces the pose state of the hydraulic support by using a virtual reality technology.
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| CN108518221B (en) * | 2018-05-10 | 2024-02-20 | 天地科技股份有限公司 | Automatic coal mining system and method based on multidimensional positioning and deep learning |
| CN109883318B (en) * | 2019-03-07 | 2020-11-03 | 山东科技大学 | Method for detecting plane relative deflection state |
| CN109781036A (en) * | 2019-03-07 | 2019-05-21 | 山东科技大学 | A kind of hydraulic support linearity testing apparatus and detection method |
| CN109781054B (en) * | 2019-03-07 | 2020-11-06 | 山东科技大学 | Direction angle detection device and hydraulic support straightness detection method |
| CN109883373B (en) * | 2019-03-07 | 2020-11-03 | 山东科技大学 | Space point relative coordinate detection device and application method |
| CN110702003A (en) * | 2019-09-10 | 2020-01-17 | 山东科技大学 | Space point coordinate detection device |
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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 |
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