CN110681629B - Automatic flushing system for fully-mechanized mining hydraulic support and working method thereof - Google Patents
Automatic flushing system for fully-mechanized mining hydraulic support and working method thereof Download PDFInfo
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- CN110681629B CN110681629B CN201910973181.9A CN201910973181A CN110681629B CN 110681629 B CN110681629 B CN 110681629B CN 201910973181 A CN201910973181 A CN 201910973181A CN 110681629 B CN110681629 B CN 110681629B
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- hydraulic support
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- flushing
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- 238000005065 mining Methods 0.000 title claims abstract description 117
- 238000011010 flushing procedure Methods 0.000 title claims abstract description 91
- 238000000034 method Methods 0.000 title claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 71
- 238000005406 washing Methods 0.000 claims abstract description 70
- 238000007790 scraping Methods 0.000 claims abstract description 29
- 239000003245 coal Substances 0.000 claims abstract description 24
- 238000006073 displacement reaction Methods 0.000 claims description 33
- 239000003818 cinder Substances 0.000 claims description 30
- 230000009471 action Effects 0.000 claims description 20
- 238000004458 analytical method Methods 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 7
- 239000004744 fabric Substances 0.000 claims description 6
- 238000003860 storage Methods 0.000 claims description 6
- 238000011017 operating method Methods 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 22
- 239000002893 slag Substances 0.000 abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 238000001914 filtration Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
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- 230000008439 repair process Effects 0.000 description 1
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
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- B08B1/10—
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- B08B1/30—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention discloses an automatic flushing system for a fully mechanized mining hydraulic support and a working method thereof, and is characterized in that: the device comprises a base, two rails, an electric rail car, an identification station, a washing station and a control system; the base is provided with a channel, and the electric rail car is positioned right above the channel and travels along the two rails; the electric rail car is provided with a coal slag scraping mechanism for scraping coal slag in the channel; the identification station and the washing station are sequentially arranged along the length direction of the channel; the identification station comprises a first in-place sensor and an image acquisition unit; the washing station comprises a second in-place sensor and washing equipment; the electric rail car, the identification station and the washing station are in circuit connection with the control system. The invention solves the technical problem that the cleaning robot cannot determine the cleaning path and track because the existing cleaning equipment cannot ensure which type of fully mechanized coal mining hydraulic support enters the cleaning area.
Description
Technical Field
The invention relates to an automatic flushing system for a fully mechanized mining hydraulic support and a working method thereof.
Background
The reliability of the fully mechanized mining hydraulic support has great influence on the safety production of the fully mechanized mining working face. If the reliability of the fully-mechanized mining hydraulic support is poor, faults frequently occur in use, and a large amount of manpower and material resources are inevitably required to be invested for overhauling and maintaining.
At present, the repair units of the fully-mechanized mining hydraulic supports in China generally adopt manual cleaning of the fully-mechanized mining hydraulic supports, and because the fully-mechanized mining hydraulic supports are complex in structure and have more cleaning surfaces, the method needs 2-5 persons to work together in a coordinated manner, and has the defects of high labor intensity of workers, high water consumption, low efficiency, unsatisfactory cleaning effect and the like.
The research has disclosed a flushing device (publication number CN209287818U) for fully mechanized hydraulic support, it can place the fully mechanized hydraulic support on this rack platform when washing, adopt the washing robot who sets up in rack platform both sides again to carry out the washing of omnidirectional, no longer need the manual work to operate, cleaning efficiency can be improved greatly, cinder and debris can scatter to all around and drop to the platform in the drainage frame all around simultaneously, big cinder and debris can be collected in the drainage frame, little coal slime then can be discharged through the drainage hole on the drainage frame, the cinder can once only be carried away with the driving after the collection through the drainage frame, change new drainage frame and carry out cleaning work again, cleaning efficiency has been improved greatly. But still has the following further room for improvement and analysis:
first, since the two-sided washing robot is used to control the movement trajectories of the two washing heads, respectively, the washing of the two washing heads in all directions is achieved, but since the washing robot is controlled by a program set by an editor, a predetermined trajectory operation of the washing heads is controlled. The fully mechanized mining hydraulic supports of different types have different structures, different shapes, different sizes and the like, and accordingly the washing positions and the washing ranges of the fully mechanized mining hydraulic supports are changed; the manual identification is only relied on, and due to the fact that the models are too many or the judgment error and other human factors, an operator is easy to misjudge, meanwhile, manual program modification is needed, the operation is troublesome, and the working efficiency is influenced; therefore, the existing cleaning equipment has the technical problem that the cleaning robot cannot determine the cleaning path and track because the type of the fully mechanized coal mining hydraulic support cannot enter the cleaning area;
secondly, as the coal slag and the sundries collected in the water filtering frame are lifted away by the travelling crane, the water dropping, coal slag leakage and sundries in the water filtering frame can fall from the high altitude in the water filtering hole due to the swinging of the lifting rope of the water filtering frame during the transportation of the travelling crane, and the water filtering frame is scattered and dangerous, and needs to be hooked and unhooked manually, so that the operation is troublesome;
thirdly, as the flushing equipment is not protected, the problem that the flushing equipment cannot prevent moisture when not working exists, and all mechanical parts are easy to rust, have working performance and have service life; especially for washing robots, special protection is required due to the high precision and the high cost of the transmission.
Disclosure of Invention
In order to overcome one or more defects in the prior art, the invention provides an automatic flushing system for a fully mechanized mining hydraulic support.
In order to achieve the aim, the invention provides an automatic flushing system for a fully mechanized mining hydraulic support, which is characterized in that: comprises a base (1), two rails (2), an electric rail car (3), an identification station (4), a washing station (5) and a control system; the base (1) is provided with a channel (1-1), and the two rails (2) are respectively positioned on two sides of the channel (1-1) in parallel and are relatively fixed with the base (1); the electric rail car (3) is positioned right above the channel (1-1) and travels along the two rails (2); a cinder scraping mechanism (6) for scraping cinder in the channel (1-1) is arranged on the electric rail car (3); the identification station (4) and the washing station (5) are sequentially arranged along the length direction of the channel (1-1); the identification station (4) comprises a first in-place sensor (4-1) and an image acquisition unit (4-2), the first in-place sensor (4-1) is used for detecting whether the electric rail car (3) is in place at a fixed-point acquisition position of the image acquisition unit (4-2), and the image acquisition unit (4-2) is used for acquiring image parameters of a fully mechanized mining hydraulic support (N) loaded on the electric rail car (3) when the electric rail car (3) is in the fixed-point acquisition position; the flushing station (5) comprises a second in-place sensor (5-1) and a flushing device (5-2), the second in-place sensor (5-1) is used for detecting whether the electric railcar (3) is in a fixed-point flushing position of the flushing device (5-2), and the flushing device (5-2) is used for flushing the fully mechanized mining hydraulic support (N) loaded on the electric railcar (3) when the electric railcar (3) is in the fixed-point flushing position; the washing equipment (5-2) comprises two flow guide baffles (5-21), two guide rails (5-22), two driving mechanisms (5-23), two robot installation seats (5-24) and two washing robots (5-25), wherein the two flow guide baffles (5-21) are symmetrically positioned at two sides of the channel (1-1), the two flow guide baffles (5-21) are distributed in a V shape, the two guide rails (5-22) are respectively and fixedly arranged on the base (1) and are positioned at two sides of the channel (1-1) in parallel, the two robot installation seats (5-24) are respectively and slidably connected with the two guide rails (5-22), and the two driving mechanisms (5-23) are respectively connected with the two robot installation seats (5-24), the two driving mechanisms (5-23) are respectively used for driving the two robot mounting seats (5-24) to move along the guide rails (5-22), and the execution ends of the two washing robots (5-25) are respectively provided with two washing guns (5-26); the electric rail car (3), the identification station (4) and the washing station (5) are in circuit connection with a control system; the control system comprises a storage unit, a control unit and a control unit, wherein the storage unit is used for prestoring image parameters of the fully-mechanized mining hydraulic supports of different models and prestoring an application program of an action instruction executed by flushing equipment when flushing the fully-mechanized mining hydraulic supports of different models; the analysis unit is used for comparing the image parameters of the current fully mechanized mining hydraulic support acquired by the image acquisition unit with the prestored image parameters and determining the actual model of the current fully mechanized mining hydraulic support; and the control unit is used for controlling the flushing equipment to execute actions according to an application program corresponding to the actual model of the current fully mechanized mining hydraulic support.
Preferably, the image acquisition unit (4-2) comprises a first camera (4-21), a second camera (4-22), a first two-axis displacement mechanism (4-23) and a second two-axis displacement mechanism (4-24); the first two-axis displacement mechanism (4-23) and the second two-axis displacement mechanism (4-24) are respectively positioned at two sides of the channel (1-1), the first camera (4-21) is arranged on the first two-axis displacement mechanism (4-23), and the first two-axis displacement mechanism (4-23) can be used for displacing the position coordinates of the first camera (4-21); the second camera (4-22) is arranged on the second two-axis displacement mechanism (4-24), and the second two-axis displacement mechanism (4-24) can be used for displacing the position coordinates of the second camera (4-22).
Further, the identification station (4) further comprises a shading room (4-3) and a lighting device (4-4); the lighting device (4-4), the first in-place sensor (4-1) and the image acquisition unit (4-2) are positioned in the shading room (4-3), and an entrance door and an exit door for the two tracks (2) to pass through simultaneously are respectively arranged on two sides of the shading room (4-3).
Preferably, the cinder scraping mechanism (6) comprises a connecting frame (6-1), a bucket (6-2), a swinging shaft (6-3), a driving cylinder (6-4) and a connecting rod (6-5), the connecting frame (6-1) is fixedly arranged on the electric rail car (3), the bucket (6-2) is positioned in the channel (1-1), the swinging shaft (6-3) is rotatably arranged on the connecting frame (6-1), the upper end of the bucket (6-2) is fixedly connected with the swinging shaft (6-3), the driving cylinder (6-4) is positioned above the bucket (6-2), the tail seat of the driving cylinder (6-4) is hinged with the connecting frame (6-1), the output end of the driving cylinder (6-4) faces downwards and is hinged with one end of the connecting rod (6-5), the other end of the connecting rod (6-5) is fixedly connected with the swinging shaft (6-3).
Preferably, the two driving mechanisms (5-23) each comprise a first motor (5-231), a gear (5-232) and a rack (5-233), the rack (5-233) is parallel to and relatively fixed with the guide rail (5-22), the first motor (5-231) is fixedly installed on the robot mounting seat (5-24), the output end of the first motor (5-231) is connected with the gear (5-232), and the gear (5-232) is meshed with the rack (5-233).
Furthermore, the washing machine also comprises a telescopic tent (8), and the telescopic tent (8) can completely cover the washing station (5) after being extended and unfolded.
Preferably, the telescopic tent (8) comprises a telescopic arch frame (8-1), a piece of tent cloth (8-2) and a traction machine head (8-3), the tent cloth (8-2) covers the telescopic arch frame (8-1), the lower end of the telescopic arch frame (8-1) is provided with a caster (8-4), and the traction machine head (8-3) is arranged at the front end of the telescopic arch frame (8-1) and used for driving the telescopic arch frame (8-1) to extend or contract.
The invention also discloses a working method of the fully mechanized mining hydraulic support automatic flushing system, which is characterized by comprising the following steps:
s10, presetting image parameters of the fully mechanized mining hydraulic supports of different models and presetting an application program of an action instruction executed by flushing equipment when flushing the fully mechanized mining hydraulic supports of different models;
s20, loading the current fully mechanized mining hydraulic support (N) to be washed on the electric rail car (3);
s30, starting the electric rail car (3) to work and move forward along the rail (2), and controlling the electric rail car (3) to stop moving immediately when the first in-place sensor (4-1) is used for detecting the fixed point acquisition position of the electric rail car (3) in place on the image acquisition unit (4-2);
s40, starting an image acquisition unit (4-2) to work, acquiring image parameters of the current fully mechanized mining hydraulic support (N) loaded on the electric railcar (3), and sending the image parameters to an analysis unit;
s50, the analysis unit compares the acquired image parameters of the current fully mechanized mining hydraulic support (N) with preset image parameters of the fully mechanized mining hydraulic support to determine the model of the current fully mechanized mining hydraulic support;
s60, the electric rail car (3) is restarted to work and continues to move forwards along the rail (2); when the second in-place sensor (5-1) is used for detecting that the electric rail car (3) is in the fixed-point flushing position of the flushing device (5-2), controlling the electric rail car (3) to immediately stop moving;
s70, starting the flushing equipment (5-2), and controlling the flushing equipment to execute actions according to an application program corresponding to the actual model of the current fully mechanized mining hydraulic support;
s80, starting the electric rail car (3) to work, moving backwards along the rail (2) and resetting to the initial position;
and S90, repeating the steps S20-S80, and realizing the flushing operation of the next fully mechanized mining hydraulic support (N).
Preferably, the analyzing unit specifically compares the image parameters of the current fully-mechanized mining hydraulic support acquired by the image acquisition unit with the prestored image parameters one by one, and finds out the prestored image parameters with the highest similarity to the acquired image parameters, so as to obtain and determine the actual model of the current fully-mechanized mining hydraulic support.
The invention has the beneficial effects that:
firstly, the fully-mechanized mining hydraulic support can be automatically washed, and the model of the fully-mechanized mining hydraulic support can be identified by adopting the identification station, so that the fully-mechanized mining hydraulic support of which model can enter the washing station can be ensured, and then the washing path and track of the washing station of the corresponding model can be started according to the actual fully-mechanized mining hydraulic support entering the washing station, so that the technical problem that the washing robot cannot determine the washing path and track because the fully-mechanized mining hydraulic support of which model can not enter the washing area can be solved;
secondly, the flushing system can realize that the time for flushing one fully-mechanized coal mining hydraulic support is less than 10 minutes, and the cleanness of coal slime can reach more than 98%;
thirdly, the system can realize that the washing range of the fully-mechanized mining hydraulic support comprises an upright post, a post nest, a side guard plate, a base, a top beam and the like, and can avoid washing blind areas;
fourthly, the type of the fully-mechanized mining hydraulic support is identified in advance, the robot washing program of the fully-mechanized mining hydraulic support corresponding to the type is automatically called, and after the robot washing is finished, the electric rail car is automatically controlled to send the fully-mechanized mining hydraulic support out, and coal cinder generated by washing is scraped away, so that full-automatic washing operation can be realized.
Fifthly, the coal slag scraping mechanism is arranged on the electric rail car and moves synchronously with the electric rail car, when the electric rail car moves forwards or backwards, the coal slag scraping mechanism is automatically scraped away by the coal slag scraping mechanism and is taken away from the washing station, so that the coal slag can be prevented from being accumulated at the washing station, manual auxiliary operation is not needed, and the electric rail car is safer to work;
sixth, the telescopic tent can completely cover the washing station after extending outwards and expanding, so that the damp-proof protection of mechanical parts of the washing station can be realized, the rusting of all the mechanical parts can be reduced or avoided, the working performance of the telescopic tent is ensured, and the service life of the telescopic tent is prolonged.
Drawings
Fig. 1 is a right side view of the automatic flushing system of the fully mechanized mining hydraulic support of the present invention.
Fig. 2 is a perspective view of the automatic flushing system of the fully mechanized mining hydraulic support.
Fig. 3 is an enlarged view of a in fig. 2.
Fig. 4 is a partial perspective view of the automatic flushing system for the fully mechanized mining hydraulic support of the present invention.
Fig. 5 is a perspective view of the electric railcar.
Fig. 6 is a perspective view of the cinder scraping mechanism.
Fig. 7 is a view showing the telescopic canopy after it is extended.
Fig. 8 is a perspective view of the identification station when the light blocking room is not provided.
Fig. 9 is a perspective view of the identification station when a light-shielding room is provided.
Fig. 10 is a displacement reference diagram when the camera one acquires images separately for 4 area ranges.
Fig. 11 is a schematic circuit diagram of an automatic flushing system of a fully mechanized mining hydraulic support.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
the first embodiment is as follows: referring to fig. 1-11, an automatic flushing system for a fully mechanized mining hydraulic support comprises a base 1, two rails 2, an electric rail car 3, an identification station 4, a flushing station 5 and a control system.
The base 1 is provided with a channel 1-1, and the two rails 2 are respectively positioned on two sides of the channel 1-1 in parallel and are fixed relative to the base 1.
The electric rail car 3 is positioned right above the channel 1-1 and runs along the two rails 2.
Referring to fig. 3, in particular, the electric rail car 3 includes a bearing plate 3-1, four rail wheels 3-2, and a servo motor 3-3, the four rail wheels 3-2 are rotatably installed at a lower portion of the bearing plate 3-1, the four rail wheels 3-2 are respectively engaged with the two rails 2, and the servo motor 3-3 can realize traveling along the two rails 2 by driving the rail wheels 3-2 to rotate. And the servo motor 3-3 is in communication connection with the control system. The control system can control the servo motor 3-3 to start and stop, rotate forward and backward, and further control the electric rail car 3 to start and stop or move forward and backward along the rail 2.
Referring to fig. 4, the electric rail car 3 is provided with a cinder scraping mechanism 6 for scraping cinder in the channel 1-1. The cinder scraping mechanism 6 is fixedly arranged on the bearing plate 3-1 of the electric railcar 3, so that the cinder scraping mechanism 6 moves along with the electric railcar 3. When the electric rail car 3 moves forwards or backwards along the rail 2, the cinder scraping mechanism 6 can automatically scrape cinder in the channel 1-1 away from the washing station 5, so that manual operation is not needed.
The identification station 4 and the flushing station 5 are arranged in sequence along the length direction of the channel 1-1.
The identification station 4 comprises a first arrival sensor 4-1 and an image acquisition unit 4-2, the first arrival sensor 4-1 is used for detecting whether the electric railcar 3 is in the fixed point acquisition position of the image acquisition unit 4-2, and the image acquisition unit 4-2 is used for acquiring image parameters of the fully mechanized hydraulic support N loaded on the electric railcar 3 when the electric railcar 3 is in the fixed point acquisition position.
Specifically, the first in-place sensor 4-1 may be a conventional in-place sensor such as a touch switch, a proximity switch, or a photoelectric switch. .
The flushing station 5 comprises a second in-place sensor 5-1 and a flushing device 5-2, the second in-place sensor 5-1 is used for detecting whether the electric railcar 3 is in place at a fixed-point flushing position of the flushing device 5-2, and the flushing device 5-2 is used for flushing the fully mechanized mining hydraulic support N loaded on the electric railcar 3 when the electric railcar 3 is in the fixed-point flushing position.
Specifically, the second in-position sensor 5-1 may employ a conventional in-position sensor such as a touch switch, a proximity switch, or a photoelectric switch.
Referring to fig. 1-4, the washing device 5-2 includes two diversion baffles 5-21, two guide rails 5-22, two driving mechanisms 5-23, two robot mounts 5-24, and two washing robots 5-25, the two diversion baffles 5-21 are symmetrically located on both sides of the channel 1-1, the two diversion baffles 5-21 are distributed in a V shape, the two guide rails 5-22 are respectively and fixedly disposed on the base 1 and are located on both sides of the channel 1-1 in parallel, the two robot mounts 5-24 are respectively and slidably connected with the two guide rails 5-22, the two driving mechanisms 5-23 are respectively connected with the two robot mounts 5-24, the two driving mechanisms 5-23 are respectively used for driving the two robot mounts 5-24 to move along the two guide rails 5-22, two flushing guns 5-26 are respectively arranged on the execution ends of the two flushing robots 5-25.
Referring to fig. 3, preferably, each of the two driving mechanisms 5-23 includes a first motor 5-231, a gear 5-232, and a rack 5-233, the rack 5-233 is parallel to and fixed relative to the guide rail 5-22, specifically, the rack 5-233 is fixed on the base 1, the first motor 5-231 is fixedly installed on the robot mounting seat 5-24, the output end of the first motor 5-231 is connected with the gear 5-232, and the gear 5-232 is engaged with the rack 5-233. In the present embodiment, the two drive mechanisms 5-23 are identical in construction.
Referring to fig. 3, when the driving mechanism 5-23 is operated, the first motor 5-231 is started to operate, the first motor 5-231 drives the gear 5-232 to rotate, the gear 5-232 and the rack 5-233 are meshed to move, and because the rack 5-233 is parallel to and fixed on the guide rail 5-22, the robot mounting seat 5-24 correspondingly slides along the guide rail 5-22 in sliding connection in a matched and guided manner, and the washing robot 5-25 on the robot mounting seat 5-24 moves along with the washing robot, and the washing gun 5-26 on the washing robot 5-25 also moves along with the washing robot.
Preferably, the first motor 5-231 is a servo motor.
In an embodiment, the robot may be a model ER100 (six joint robot), as manufactured or sold by south kyoton automation inc.
Referring to fig. 1, 2 and 4, because the two diversion baffles 5-21 are distributed in a V shape, the cinder dropped from the flushing device 5-2 at the fixed flushing position to flush the fully mechanized hydraulic support N loaded on the electric railcar 3 is guided by the two diversion baffles 5-21 to flow down into the channel 1-1, and then is automatically scraped away by the cinder scraping mechanism 6 on the electric railcar 3 and taken away from the flushing station 5 due to the forward or backward movement of the electric railcar 3, so that the cinder is prevented from accumulating at the flushing station 5, and a collecting box is arranged at the end of the channel 1-1, so that the cinder scraped by the cinder scraping mechanism 6 is collected.
The electric rail car 3, the recognition station 4 and the washing station 5 are in circuit connection with the control system.
Referring to fig. 11, the control system includes a storage unit (e.g. a memory) for pre-storing image parameters of different types of fully mechanized mining hydraulic supports and pre-storing an application program of an action instruction executed by the flushing device when flushing the different types of fully mechanized mining hydraulic supports; the analysis unit (such as a processor or image analysis equipment or MCU) is used for comparing the image parameters of the current fully mechanized mining hydraulic support acquired by the image acquisition unit with the prestored image parameters and determining the actual model of the current fully mechanized mining hydraulic support; and the control unit (such as a controller or a PLC) is used for controlling the flushing equipment to perform actions according to an application program corresponding to the actual model of the current fully mechanized mining hydraulic support.
Referring to fig. 8-9, preferably, the image capturing unit 4-2 includes a first camera 4-21, a second camera 4-22, a first two-axis displacement mechanism 4-23, and a second two-axis displacement mechanism 4-24; the first two-axis displacement mechanism 4-23 and the second two-axis displacement mechanism 4-24 are respectively positioned at two sides of the channel 1-1, the first two-axis displacement mechanism 4-21 is arranged at the execution end of the first two-axis displacement mechanism 4-23, and the first two-axis displacement mechanism 4-23 can be used for displacing the position coordinates of the first two-axis displacement mechanism 4-21; the second camera 4-22 is mounted on the actuator side of the second two-axis displacement mechanism 4-24, and the second two-axis displacement mechanism 4-24 is operable to displace the position coordinates of the second camera 4-22.
Specifically, the second two-axis displacement mechanism adopts a double-axis manipulator, and double-axis displacement adjustment of coordinates of a horizontal axis and a vertical axis can be realized.
In particular, the horizontal axis is parallel to the rail 2.
Referring to fig. 8-10, in particular, the dual-axis robot includes a support on which a horizontal driving mechanism and a vertical driving mechanism are disposed. The horizontal driving mechanism comprises a horizontal guide rail, a horizontal sliding seat and a horizontal driving electric cylinder, wherein the horizontal guide rail is fixed on a support, the horizontal sliding seat is in sliding connection with the horizontal guide rail, and the output end of the horizontal driving electric cylinder is connected with the horizontal sliding seat and used for driving the horizontal sliding seat to slide along the horizontal guide rail. The vertical driving mechanism comprises a vertical guide rail, a vertical sliding seat and a vertical driving electric cylinder, wherein the vertical guide rail is fixed on a horizontal sliding seat, the vertical sliding seat is connected with the vertical guide rail in a sliding manner, the output end of the vertical driving electric cylinder is connected with the vertical sliding seat and used for driving the vertical sliding seat to slide along the vertical guide rail, and a camera 4-21 is fixedly installed on the vertical sliding seat.
Referring to fig. 8-10, the first two-axis displacement mechanism 4-23 and the second two-axis displacement mechanism 4-24 have the same structure, and the first camera 4-21 and the second camera 4-22 operate on the same principle. The first camera 4-21 and the second camera 4-22 are used for respectively carrying out image acquisition on two lateral sides of the fully mechanized coal mining hydraulic support. Referring to fig. 10, during collection, the fully mechanized mining hydraulic support is laterally divided into four collection area ranges, the first camera 4-21 can be driven by the first two-axis displacement mechanism 4-23 to displace along the four collection area ranges respectively, and then image collection is performed, and the four image collections are combined to obtain the lateral overall image parameters of the fully mechanized mining hydraulic support, which is particularly suitable for being applied when the fully mechanized mining hydraulic support is large in size.
In addition, the identification station 4 further comprises a shading room 4-3 and a lighting device 4-4; the lighting device 4-4, the first arrival sensor 4-1 and the image acquisition unit 4-2 are positioned in the shading room 4-3, and an entrance door and an exit door for the two tracks 2 to pass through simultaneously are respectively arranged at two sides of the shading room 4-3; meanwhile, the entry door and the exit door can also be used for the safe entry and exit of the electric rail car 3 and the fully mechanized hydraulic support N loaded on the electric rail car.
The shading room 4-3 can avoid the interference problem of the external light to the image acquisition of the image acquisition unit 4-2.
Preferably, the lighting device 4-4 is a shadowless lamp. The lighting device 4-4 can be prevented from irradiating the fully mechanized mining hydraulic support N to generate a shadow to interfere and influence an image acquisition result.
Preferably, the coal cinder scraping mechanism 6 comprises a connecting frame 6-1, a bucket 6-2, a swinging shaft 6-3, a driving cylinder 6-4 and a connecting rod 6-5, the connecting frame 6-1 is fixedly arranged on the electric rail car 3, the bucket 6-2 is positioned in the channel 1-1, the upper end of the bucket 6-2 is fixedly connected with the swinging shaft 6-3, the swinging shaft 6-3 is rotatably arranged on the connecting frame 6-1, the driving cylinder 6-4 is positioned above the bucket 6-2, the tail seat of the driving cylinder 6-4 is hinged with the connecting frame 6-1, the output end of the driving cylinder 6-4 faces downwards and is hinged with one end of the connecting rod 6-5, and the other end of the connecting rod 6-5 is fixedly connected with the swinging shaft 6-3. Preferably, the driving cylinder 6-4 can adopt a pneumatic telescopic cylinder or a hydraulic telescopic cylinder or an electric cylinder.
Referring to fig. 6, when the output end of the driving cylinder 6-4 moves upward, the output end of the driving cylinder 6-4 drives one end of the connecting rod 6-5 to move upward, and drives the swinging shaft 6-3 to rotate on the connecting frame 6-1 by a certain angle through the other end of the connecting rod 6-5, and the swinging shaft 6-3 drives the bucket 6-2 to rotate by a certain angle along the axis of the swinging shaft 6-3, the lower edge of the bucket 6-2 is separated from contact with the inner bottom surface of the channel 1-1 and a certain gap is left, and at this time, the coal slag scraping mechanism 6 is in a state of not scraping coal slag.
Conversely, when the output end of the driving cylinder 6-4 moves downwards, the output end of the driving cylinder 6-4 drives one end of the connecting rod 6-5 to move downwards, and drives the swinging shaft 6-3 to rotate reversely on the connecting frame 6-1 for a certain angle through the other end of the connecting rod 6-5, and the swinging shaft 6-3 drives the bucket 6-2 to rotate reversely for a certain angle along the axis of the swinging shaft 6-3, the lower edge of the bucket 6-2 is close to and contacts with the inner bottom surface of the chute 1-1, and the bucket 6-2 of the coal slag scraping mechanism 6 is in a state of being capable of scraping coal slag.
Therefore, when the electric rail car 3 drives the cinder scraping mechanism 6 to be positioned from the identification station 4 to the washing station 5, the cinder scraping mechanism 6 can be controlled to be in a cinder non-scraping state through the driving cylinder 6-4, so that cinder in the channel 1-1 and in a non-working area of the washing station 5 can be prevented from being scraped back to a working area of the washing station 5; meanwhile, the friction times and time between the lower edge of the bucket 6-2 and the inner bottom surface of the channel 1-1 can be reduced, and the service life of the cinder scraping mechanism 6 is prolonged.
In other embodiments, the cinder scraping mechanism 6 may be a scraper conveyor.
In addition, the invention also comprises a telescopic tent 8, and the telescopic tent 8 can completely cover the washing station 5 after extending and expanding. Preferably, the retractable awning 8 comprises a retractable arch 8-1, a piece of awning cloth 8-2 and a traction machine head 8-3, the piece of awning cloth 8-2 covers the retractable arch 8-1, the lower end of the retractable arch 8-1 is provided with a caster 8-4, and the traction machine head 8-3 is arranged at the front end of the retractable arch 8-1 and is used for driving the retractable arch 8-1 to extend or retract.
The fully-mechanized mining hydraulic support automatic flushing device can realize automatic flushing of the fully-mechanized mining hydraulic support, and simultaneously solves the technical problem that the cleaning robot cannot determine a cleaning path and a cleaning track because the existing cleaning equipment cannot ensure the fully-mechanized mining hydraulic support of which type enters a cleaning area.
The flushing system can realize that the time for flushing one fully-mechanized coal mining hydraulic support is less than 10 minutes, and the cleanness of coal slime can reach more than 98%;
the system can realize that the washing range of the fully-mechanized mining hydraulic support comprises the upright post, the post nest, the side guard plate, the base, the top beam and the like, and can avoid washing blind areas.
The model of the fully-mechanized mining hydraulic support is identified in advance, the robot washing program of the fully-mechanized mining hydraulic support with the corresponding model is automatically called, and after the robot washing is finished, the electric rail car 3 is automatically controlled to send the fully-mechanized mining hydraulic support N out, and coal cinder generated by washing is scraped, so that full-automatic washing operation can be realized.
Example two: a working method of an automatic flushing system of a fully mechanized mining hydraulic support is characterized by comprising the following steps:
and S10, presetting image parameters of the fully mechanized mining hydraulic supports of different models and presetting an application program of an action instruction executed by the flushing equipment when the fully mechanized mining hydraulic supports of different models are flushed. For example, the fully mechanized mining hydraulic support has models of A, B and C; the image parameters of the type A fully mechanized mining hydraulic support, the type B fully mechanized mining hydraulic support and the type C fully mechanized mining hydraulic support can be collected in advance and stored in a storage device; and presetting an application program A, an application program B and an application program C of action instructions executed by the flushing equipment 5-2 when the flushing equipment is respectively used for cleaning actions of the fully mechanized mining hydraulic support A, the fully mechanized mining hydraulic support B and the fully mechanized mining hydraulic support C to act on a path and a track.
S20, loading the current fully mechanized mining hydraulic support N to be washed on the electric railcar 3;
s30, starting the electric rail car 3 to work and move forward along the rail 2, and controlling the electric rail car 3 to stop moving immediately when the first arrival sensor 4-1 is used for detecting the fixed point acquisition position of the electric rail car 3 in the image acquisition unit 4-2;
s40, starting the image acquisition unit 4-2 to work, acquiring image parameters of the current fully mechanized mining hydraulic support N loaded on the electric railcar 3, and sending the image parameters to the analysis unit;
s50, the analysis unit compares the acquired image parameters of the current fully mechanized mining hydraulic support N with preset image parameters of the fully mechanized mining hydraulic support to determine the model (such as model A fully mechanized mining hydraulic support) of the current fully mechanized mining hydraulic support;
s60, restarting the electric rail car 3 to work and continuing to move forwards along the rail 2; when the second in-place sensor 5-1 is used for detecting that the electric rail car 3 is in place at the fixed-point flushing position of the flushing device 5-2, controlling the electric rail car 3 to immediately stop moving;
s70, starting the flushing equipment 5-2, and controlling the flushing equipment to execute actions according to an application program corresponding to the actual model of the current fully mechanized mining hydraulic support; the analysis unit determines that the type of the current fully-mechanized mining hydraulic support is the type A fully-mechanized mining hydraulic support, so that the control unit calls an application program A of an action instruction executed by the type A fully-mechanized mining hydraulic support, and the flushing equipment 5-2 executes cleaning work according to the action instruction of the application program A;
s80, starting the electric rail car 3 to work, moving backwards along the rail 2 and resetting to the initial position;
and S90, repeating the steps S20-S80, and realizing the flushing operation of the next fully mechanized mining hydraulic support N.
Preferably, the analyzing unit specifically compares the image parameters of the current fully-mechanized mining hydraulic support acquired by the image acquisition unit with the prestored image parameters one by one, and finds out the prestored image parameters with the highest similarity to the acquired image parameters, so as to obtain and determine the actual model of the current fully-mechanized mining hydraulic support.
Specifically, the executing action command at least comprises a command of the path and the track of the cleaning action performed by the two washing robots 5-25.
Preferably, in addition, the executing action command can also comprise a command for controlling the displacement action of the two driving mechanisms 5-23 or/and a command for controlling the opening or closing of the two flushing guns 5-26.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (9)
1. The utility model provides a combine and adopt automatic rinse-system of hydraulic support which characterized in that: comprises a base (1), two rails (2), an electric rail car (3), an identification station (4), a washing station (5) and a control system;
the base (1) is provided with a channel (1-1), and the two rails (2) are respectively positioned on two sides of the channel (1-1) in parallel and are relatively fixed with the base (1);
the electric rail car (3) is positioned right above the channel (1-1) and travels along the two rails (2);
a cinder scraping mechanism (6) for scraping cinder in the channel (1-1) is arranged on the electric rail car (3);
the identification station (4) and the washing station (5) are sequentially arranged along the length direction of the channel (1-1);
the identification station (4) comprises a first in-place sensor (4-1) and an image acquisition unit (4-2), the first in-place sensor (4-1) is used for detecting whether the electric rail car (3) is in place at a fixed-point acquisition position of the image acquisition unit (4-2), and the image acquisition unit (4-2) is used for acquiring image parameters of a fully mechanized mining hydraulic support (N) loaded on the electric rail car (3) when the electric rail car (3) is in the fixed-point acquisition position;
the flushing station (5) comprises a second in-place sensor (5-1) and a flushing device (5-2), the second in-place sensor (5-1) is used for detecting whether the electric railcar (3) is in a fixed-point flushing position of the flushing device (5-2), and the flushing device (5-2) is used for flushing the fully mechanized mining hydraulic support (N) loaded on the electric railcar (3) when the electric railcar (3) is in the fixed-point flushing position;
the washing equipment (5-2) comprises two flow guide baffles (5-21), two guide rails (5-22), two driving mechanisms (5-23), two robot installation seats (5-24) and two washing robots (5-25), wherein the two flow guide baffles (5-21) are symmetrically positioned at two sides of the channel (1-1), the two flow guide baffles (5-21) are distributed in a V shape, the two guide rails (5-22) are respectively and fixedly arranged on the base (1) and are positioned at two sides of the channel (1-1) in parallel, the two robot installation seats (5-24) are respectively and slidably connected with the two guide rails (5-22), and the two driving mechanisms (5-23) are respectively connected with the two robot installation seats (5-24), the two driving mechanisms (5-23) are respectively used for driving the two robot mounting seats (5-24) to move along the guide rails (5-22), and the execution ends of the two washing robots (5-25) are respectively provided with two washing guns (5-26);
the electric rail car (3), the identification station (4) and the washing station (5) are in circuit connection with a control system;
the control system comprises a storage unit, a control unit and a control unit, wherein the storage unit is used for prestoring image parameters of the fully-mechanized mining hydraulic supports of different models and prestoring an application program of an action instruction executed by flushing equipment when flushing the fully-mechanized mining hydraulic supports of different models; the analysis unit is used for comparing the image parameters of the current fully mechanized mining hydraulic support acquired by the image acquisition unit with the prestored image parameters and determining the actual model of the current fully mechanized mining hydraulic support; and the control unit is used for controlling the flushing equipment to execute actions according to an application program corresponding to the actual model of the current fully mechanized mining hydraulic support.
2. The automatic flushing system of the fully mechanized mining hydraulic support of claim 1, wherein: the image acquisition unit (4-2) comprises a first camera (4-21), a second camera (4-22), a first two-axis displacement mechanism (4-23) and a second two-axis displacement mechanism (4-24);
the first two-axis displacement mechanism (4-23) and the second two-axis displacement mechanism (4-24) are respectively positioned at two sides of the channel (1-1), the first camera (4-21) is arranged on the first two-axis displacement mechanism (4-23), and the first two-axis displacement mechanism (4-23) can be used for displacing the position coordinates of the first camera (4-21); the second camera (4-22) is arranged on the second two-axis displacement mechanism (4-24), and the second two-axis displacement mechanism (4-24) can be used for displacing the position coordinates of the second camera (4-22).
3. An automatic flushing system for a fully mechanized mining hydraulic support according to claim 1 or 2, characterized in that: the identification station (4) further comprises a shading room (4-3) and a lighting device (4-4);
the lighting device (4-4), the first in-place sensor (4-1) and the image acquisition unit (4-2) are positioned in the shading room (4-3), and an entrance door and an exit door for the two tracks (2) to pass through simultaneously are respectively arranged on two sides of the shading room (4-3).
4. The automatic flushing system of the fully mechanized mining hydraulic support of claim 1, wherein: the coal cinder scraping mechanism (6) comprises a connecting frame (6-1), a bucket (6-2), a swinging shaft (6-3), a driving cylinder (6-4) and a connecting rod (6-5), the connecting frame (6-1) is fixedly arranged on the electric rail car (3), the bucket (6-2) is positioned in the channel (1-1), the swinging shaft (6-3) is rotatably arranged on the connecting frame (6-1), the upper end of the bucket (6-2) is fixedly connected with the swinging shaft (6-3), the driving cylinder (6-4) is positioned above the bucket (6-2), the tail seat of the driving cylinder (6-4) is hinged with the connecting frame (6-1), the output end of the driving cylinder (6-4) faces downwards and is hinged with one end of the connecting rod (6-5), the other end of the connecting rod (6-5) is fixedly connected with the swinging shaft (6-3).
5. The automatic flushing system of the fully mechanized mining hydraulic support of claim 1, wherein: the two driving mechanisms (5-23) respectively comprise a first motor (5-231), a gear (5-232) and a rack (5-233), the rack (5-233) is parallel to and relatively fixed with the guide rail (5-22), the first motor (5-231) is fixedly installed on the robot installation seat (5-24), the output end of the first motor (5-231) is connected with the gear (5-232), and the gear (5-232) is meshed with the rack (5-233).
6. The automatic flushing system of the fully mechanized mining hydraulic support of claim 1, wherein: the washing machine further comprises a telescopic tent (8), and the telescopic tent (8) can completely cover the washing station (5) after extending outwards and expanding.
7. The automatic flushing system of the fully mechanized mining hydraulic support of claim 6, wherein: the retractable tent (8) comprises a retractable arch frame (8-1), a piece of tent cloth (8-2) and a traction machine head (8-3), the tent cloth (8-2) covers the retractable arch frame (8-1), the lower end of the retractable arch frame (8-1) is provided with a caster (8-4), and the traction machine head (8-3) is arranged at the front end of the retractable arch frame (8-1) and used for driving the retractable arch frame (8-1) to extend or contract.
8. An operating method of an automatic flushing system for a fully mechanized mining hydraulic support according to any one of claims 1 to 7, characterized by comprising the following steps:
s10, presetting image parameters of the fully mechanized mining hydraulic supports of different models and presetting an application program of an action instruction executed by flushing equipment when flushing the fully mechanized mining hydraulic supports of different models;
s20, loading the current fully mechanized mining hydraulic support (N) to be washed on the electric rail car (3);
s30, starting the electric rail car (3) to work and move forward along the rail (2), and controlling the electric rail car (3) to stop moving immediately when the first in-place sensor (4-1) is used for detecting the fixed point acquisition position of the electric rail car (3) in place on the image acquisition unit (4-2);
s40, starting an image acquisition unit (4-2) to work, acquiring image parameters of the current fully mechanized mining hydraulic support (N) loaded on the electric railcar (3), and sending the image parameters to an analysis unit;
s50, the analysis unit compares the acquired image parameters of the current fully mechanized mining hydraulic support (N) with preset image parameters of the fully mechanized mining hydraulic support to determine the model of the current fully mechanized mining hydraulic support;
s60, the electric rail car (3) is restarted to work and continues to move forwards along the rail (2); when the second in-place sensor (5-1) is used for detecting that the electric rail car (3) is in the fixed-point flushing position of the flushing device (5-2), controlling the electric rail car (3) to immediately stop moving;
s70, starting the flushing equipment (5-2), and controlling the flushing equipment to execute actions according to an application program corresponding to the actual model of the current fully mechanized mining hydraulic support;
s80, starting the electric rail car (3) to work, moving backwards along the rail (2) and resetting to the initial position;
and S90, repeating the steps S20-S80, and realizing the flushing operation of the next fully mechanized mining hydraulic support (N).
9. The method of operation of claim 8, wherein: the analysis unit specifically compares the image parameters of the current fully mechanized mining hydraulic support acquired by the image acquisition unit with the prestored image parameters one by one, and finds out the prestored image parameters with the highest similarity to the acquired image parameters, so as to obtain and determine the actual model of the current fully mechanized mining hydraulic support.
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| JP2003001195A (en) * | 2001-06-22 | 2003-01-07 | Hirohiko Ezaki | Washing unit for a variety of boxes |
| CN202707114U (en) * | 2012-07-18 | 2013-01-30 | 三一重型综采成套装备有限公司 | Visible support control system and coal extraction support with the same |
| CN102911799B (en) * | 2012-10-25 | 2014-03-26 | 高碑店市中煤神海科技发展有限公司 | Cleaning agent for electrohydraulic control system of fully-mechanized mining hydraulic support and preparation method thereof |
| CN203076244U (en) * | 2013-02-05 | 2013-07-24 | 沈阳仪表科学研究院 | Vertical stepping mechanism |
| CN103161498B (en) * | 2013-03-20 | 2016-01-06 | 中国矿业大学 | Half-edge coal seam section coal pillar roadside packing method |
| CN103433226B (en) * | 2013-08-23 | 2015-09-16 | 山西汾西矿业（集团）有限责任公司设备修造厂 | Coal mine hydraulic supporting high pressure water-jet cleaner device people |
| KR101602327B1 (en) * | 2015-10-30 | 2016-03-10 | 김성호 | Rail type vacuum cleaner for controlled horticulture |
| CN109365373A (en) * | 2018-12-05 | 2019-02-22 | 贵州盘江矿山机械有限公司 | A kind of flusher for comprehensive mining hydraulic bracket |
| CN209156627U (en) * | 2018-12-14 | 2019-07-26 | 梁红瑞 | A kind of fully-mechanized mining working pipeline dust-extraction unit of adjustable dimension |
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