CN111878078A - Automatic control method for coal mining machine and hydraulic support based on two-roadway data - Google Patents
Automatic control method for coal mining machine and hydraulic support based on two-roadway data Download PDFInfo
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- CN111878078A CN111878078A CN202010525863.6A CN202010525863A CN111878078A CN 111878078 A CN111878078 A CN 111878078A CN 202010525863 A CN202010525863 A CN 202010525863A CN 111878078 A CN111878078 A CN 111878078A
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- 239000003245 coal Substances 0.000 title claims abstract description 85
- 238000005065 mining Methods 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000009434 installation Methods 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 abstract description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/20—General features of equipment for removal of chippings, e.g. for loading on conveyor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
- E21D23/26—Hydraulic or pneumatic control
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- General Life Sciences & Earth Sciences (AREA)
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- Control Of Conveyors (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention relates to a coal mining machine and hydraulic support automatic control method based on two-roadway data, and belongs to the technical field of coal mine automation. The invention measures the height and the inclination angle of the coal beds at the head and the tail of the two roadways and the distance between the coal beds and the measuring points through the head sensor and the tail sensor, further obtains the height and the inclination angle of the unexplored coal beds at the head and the tail in advance, and can measure the change of the straightness of the scraper conveyer (commonly known as upward movement and downward movement in the industry), thereby controlling the coal mining machine and the hydraulic support to adjust the pitch angle and the rolling angle, adjusting the straightness and greatly improving the automation degree of the fully mechanized mining working face.
Description
Technical Field
The invention relates to a coal mining machine and hydraulic support automatic control method based on two-roadway data, and belongs to the technical field of coal mine automation.
Background
At present, in a coal mine, the shape of a coal seam is continuously changed under the influence of geological conditions, and when a coal miner operates equipment to mine coal, the pitch angle and the roll angle of a coal mining machine and a hydraulic support are changed along with the change of the geological conditions. Because the change of an unexplored area cannot be predicted, the pitch angle and the roll angle of the coal mining machine and the hydraulic support are difficult to be automatically controlled, and the technical progress of coal mine automation is greatly limited.
In view of the above-mentioned defects, the present designer actively makes research and innovation to create an automatic control method for coal mining machine and hydraulic support based on data of two roadways, so that the method has industrial utilization value.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide an automatic control method of a coal mining machine and a hydraulic support based on two-roadway data. The invention measures the height and the inclination angle of the coal beds at the head and the tail of the two roadways and the distance between the coal beds and the measuring points through the head sensor and the tail sensor, further obtains the height and the inclination angle of the unexplored coal beds at the head and the tail in advance, and can measure the change of the straightness of the scraper conveyer (commonly known as upward movement and downward movement in the industry), thereby controlling the coal mining machine and the hydraulic support to adjust the pitch angle and the rolling angle, adjusting the straightness and greatly improving the automation degree of the fully mechanized mining working face.
The invention discloses a coal mining machine and hydraulic support automatic control method based on two-roadway data, which comprises the following specific control methods:
(1) installing a machine head sensor on a reversed loader of an air inlet lane and measuring data;
(2) installing an installation support at the tail of the scraper conveyer in the return airway, installing a tail sensor on the installation support and measuring data;
(3) measuring the shortest straight-line distance from the head sensor and the tail sensor to the scraper conveyor and the height from the head sensor and the tail sensor to the bottom plate of the roadway in advance, and ensuring that the shortest straight-line distance from the mounted head sensor and the mounted tail sensor to the scraper conveyor and the height from the head sensor and the tail sensor to the bottom plate of the roadway are stable and unchanged;
(4) and the controllers of the coal mining machine and the hydraulic support adjust the bedding amount and the cutting height according to the data, so as to adjust the pitch angle and the roll angle of the coal mining machine and the hydraulic support.
Furthermore, the machine head sensor and the machine tail sensor are respectively fixed with the machine head and the machine tail of the scraper conveyer and move together with the machine head and the machine tail of the scraper conveyer.
Further, the data measured by the handpiece sensor in the step (1) are as follows:
(a) the distance from the machine head sensor to the coal wall to be mined;
(b) pitch angle and roll angle of the reversed loader;
(c) the distance between the machine head sensor and the top plate of the air inlet tunnel.
Further, the data measured by the tail sensor in the step (2) is as follows:
(a) the distance from the tail sensor to the coal wall to be mined;
(b) installing a pitch angle and a roll angle of the bracket;
(c) and the distance between the tail sensor and the top plate of the return airway.
Furthermore, the change of the straightness of the scraper conveyor can be measured according to the change of the distance between the mounting points of the head sensor and the tail sensor and the coal wall, and then the controller of the coal mining machine and the hydraulic support controls the coal mining machine and the hydraulic support to correct the straightness of the working face according to the data.
Furthermore, the controller of the coal mining machine and the controller of the hydraulic support can adjust the cutting point position of the coal mining machine according to the change of the flatness of the working surface, so that the coal mining machine is ensured to accurately cut through the coal wall, and accidents caused by the fact that the coal mining machine cannot cut through or does not stop after cutting through are prevented.
Furthermore, according to the heights of the top plates measured by the head sensor and the tail sensor, after data can be analyzed by controllers of the coal mining machine and the hydraulic support, the cutting heights of the coal mining machine at the head and the tail are accurately controlled, and the working face is ensured to be reasonably connected with two roadways.
Furthermore, the head sensor and the tail sensor can be replaced by an ultrasonic distance meter and a two-dimensional inclinometer, the ultrasonic distance meter is used for measuring the distance, and the two-dimensional inclinometer is used for measuring the pitch angle and the roll angle.
By the scheme, the invention at least has the following advantages:
(1) the automatic control method of the coal mining machine and the hydraulic support based on the data of the two roadways can measure the inclination angle and the height of the unexplored coal bed in the air inlet roadway and the air return roadway, so that the pitch angle and the roll angle of the coal mining machine and the hydraulic support can be controlled according to the inclination angle and the height of the unexplored coal bed in the air inlet roadway and the air return roadway;
(2) the automatic control method of the coal mining machine and the hydraulic support based on the data of the two roadways can measure the change of the straightness of the scraper conveyer (commonly known in the industry as upward movement and downward movement), and then control the coal mining machine and the hydraulic support to correct the straightness of a working surface;
(3) according to the automatic control method of the coal mining machine and the hydraulic support based on the data of the two roadways, the cutting point position of the coal mining machine is adjusted according to the change of the straightness, so that the coal mining machine can be ensured to accurately cut through the coal wall, and accidents caused by incomplete cutting or no stop after complete cutting are prevented.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate a certain embodiment of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic view of the mounting positions of the nose sensor and the tail sensor of the present invention;
in the figure, 1, a tail sensor; 2. a sensor mounting bracket; 3. a handpiece sensor.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Referring to fig. 1, a method for automatically controlling a coal mining machine and a hydraulic support based on two-roadway data according to a preferred embodiment of the present invention;
in the embodiment of the invention, the implementation process is as follows:
(1) install aircraft nose sensor and measured data on the elevating conveyor in air inlet lane, measured data includes:
(a) the distance from the machine head sensor to the coal wall to be mined;
(b) pitch angle and roll angle of the reversed loader;
(c) the distance between the machine head sensor and the top plate of the air inlet tunnel.
(2) And (3) a mounting bracket is made and is fixed at the tail of the scraper conveyor to move along with the scraper conveyor. Installing a sensor on the installation support, and measuring data, wherein the measured data is as follows:
(a) the distance from the sensor to the wall of the coal to be mined;
(b) installing a pitch angle and a roll angle of the bracket;
(c) the distance from the sensor to the top plate of the return airway.
(3) Measuring the shortest straight-line distance from the head sensor and the tail sensor to the scraper conveyor and the height from the head sensor and the tail sensor to the bottom plate of the roadway in advance, and ensuring that the shortest straight-line distance from the mounted head sensor and the mounted tail sensor to the scraper conveyor and the height from the head sensor and the tail sensor to the bottom plate of the roadway are stable and unchanged;
(4) and the controllers of the coal mining machine and the hydraulic support adjust the bedding amount and the cutting height according to the data, so as to adjust the pitch angle and the roll angle of the coal mining machine and the hydraulic support.
(5) The change of the straightness of the scraper conveyor can be measured according to the change of the distance between the mounting points of the head sensor and the tail sensor and the coal wall, and then the controller of the coal mining machine and the hydraulic support controls the coal mining machine and the hydraulic support to correct the straightness of the working face according to the data.
(6) The controller of the coal mining machine and the hydraulic support can adjust the cut-through point position of the coal mining machine according to the change of the flatness of the working surface, so that the coal mining machine is ensured to accurately cut through the coal wall, and accidents caused by the fact that the coal mining machine cannot cut through or does not stop after the cut-through is prevented.
(7) According to the heights of the top plates measured by the head sensor and the tail sensor, after data can be analyzed by controllers of the coal mining machine and the hydraulic support, the cutting heights of the coal mining machine at the head and the tail are accurately controlled, and the working face is guaranteed to be reasonably connected with two roadways.
In this embodiment, the distance is measured by an ultrasonic distance meter, and the pitch angle and the roll angle are measured by a two-dimensional inclinometer. Other types of sensors are possible as long as the distance and the pitch angle and the roll angle of two roadways can be measured, and the implementation effect is not influenced.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A coal mining machine and hydraulic support automatic control method based on two-roadway data is characterized in that: the specific control method comprises the following steps:
(1) installing a machine head sensor on a reversed loader of an air inlet lane and measuring data;
(2) installing an installation support at the tail of the scraper conveyer in the return airway, installing a tail sensor on the installation support and measuring data;
(3) measuring the shortest straight-line distance from the head sensor and the tail sensor to the scraper conveyor and the height from the head sensor and the tail sensor to the bottom plate of the roadway in advance, and ensuring that the shortest straight-line distance from the mounted head sensor and the mounted tail sensor to the scraper conveyor and the height from the head sensor and the tail sensor to the bottom plate of the roadway are stable and unchanged;
(4) and the controllers of the coal mining machine and the hydraulic support adjust the bedding amount and the cutting height according to the data, so as to adjust the pitch angle and the roll angle of the coal mining machine and the hydraulic support.
2. The automatic control method for the coal mining machine and the hydraulic support based on the two-roadway data according to claim 1, characterized in that:
the machine head sensor and the machine tail sensor are respectively fixed with the machine head and the machine tail of the scraper conveyer and move together with the machine head and the machine tail of the scraper conveyer.
3. The automatic control method for the coal mining machine and the hydraulic support based on the two-roadway data according to claim 1, characterized in that:
the data measured by the handpiece sensor in the step (1) are as follows:
(a) the distance from the machine head sensor to the coal wall to be mined;
(b) pitch angle and roll angle of the reversed loader;
(c) the distance between the machine head sensor and the top plate of the air inlet tunnel.
4. The automatic control method for the coal mining machine and the hydraulic support based on the two-roadway data according to claim 1, characterized in that:
the data measured by the machine tail sensor in the step (2) is as follows:
(a) the distance from the tail sensor to the coal wall to be mined;
(b) installing a pitch angle and a roll angle of the bracket;
(c) and the distance between the tail sensor and the top plate of the return airway.
5. The automatic control method for the coal mining machine and the hydraulic support based on the two-roadway data according to claim 3 or 4, characterized by comprising the following steps:
the change of the straightness of the scraper conveyor can be measured according to the change of the distance between the mounting points of the head sensor and the tail sensor and the coal wall, and then the controller of the coal mining machine and the hydraulic support controls the coal mining machine and the hydraulic support to correct the straightness of the working face according to the data.
6. The automatic control method for the coal mining machine and the hydraulic support based on the two-roadway data according to claim 5, characterized in that:
the controller of the coal mining machine and the hydraulic support can adjust the cut-through point position of the coal mining machine according to the change of the flatness of the working surface, so that the coal mining machine is ensured to accurately cut through the coal wall, and accidents caused by the fact that the coal mining machine cannot cut through or does not stop after the cut-through is prevented.
7. The automatic control method for the coal mining machine and the hydraulic support based on the two-roadway data according to claim 3 or 4, characterized by comprising the following steps:
according to the heights of the top plates measured by the head sensor and the tail sensor, after data can be analyzed by controllers of the coal mining machine and the hydraulic support, the cutting heights of the coal mining machine at the head and the tail are accurately controlled, and the working face is guaranteed to be reasonably connected with two roadways.
8. The automatic control method for the coal mining machine and the hydraulic support based on the two-roadway data according to claim 1, characterized in that:
the head sensor and the tail sensor can be replaced by an ultrasonic distance meter and a two-dimensional inclinometer, the ultrasonic distance meter is used for measuring the distance, and the two-dimensional inclinometer is used for measuring the pitch angle and the roll angle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010525863.6A CN111878078A (en) | 2020-06-10 | 2020-06-10 | Automatic control method for coal mining machine and hydraulic support based on two-roadway data |
| AU2020286316A AU2020286316B2 (en) | 2020-06-10 | 2020-12-11 | Automatic Control Method of the Coal Shearer and Powered Roof Support Based on the Data of Two Roadways |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010525863.6A CN111878078A (en) | 2020-06-10 | 2020-06-10 | Automatic control method for coal mining machine and hydraulic support based on two-roadway data |
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| CN111878078A true CN111878078A (en) | 2020-11-03 |
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| CN202010525863.6A Pending CN111878078A (en) | 2020-06-10 | 2020-06-10 | Automatic control method for coal mining machine and hydraulic support based on two-roadway data |
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| AU (1) | AU2020286316B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112360457A (en) * | 2020-12-11 | 2021-02-12 | 深圳市翌日科技有限公司 | Coal mining machine positioning method based on triangular coal cutting principle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112360457B (en) * | 2020-12-11 | 2022-11-08 | 深圳市翌日科技有限公司 | Coal mining machine positioning method based on triangular coal cutting principle |
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| AU2020286316B2 (en) | 2022-07-07 |
| AU2020286316A1 (en) | 2022-01-06 |
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