CN114017078B - Control method and device for unmanned full-automatic self-adaptive installation of roadway support - Google Patents
Control method and device for unmanned full-automatic self-adaptive installation of roadway support Download PDFInfo
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- CN114017078B CN114017078B CN202111194560.1A CN202111194560A CN114017078B CN 114017078 B CN114017078 B CN 114017078B CN 202111194560 A CN202111194560 A CN 202111194560A CN 114017078 B CN114017078 B CN 114017078B
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- 238000000034 method Methods 0.000 title claims abstract description 33
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- 230000005641 tunneling Effects 0.000 description 2
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/14—Telescopic props
- E21D15/44—Hydraulic, pneumatic, or hydraulic-pneumatic props
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/14—Telescopic props
- E21D15/46—Telescopic props with load-measuring devices; with alarm devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/50—Component parts or details of props
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/50—Component parts or details of props
- E21D15/54—Details of the ends of props
- E21D15/55—Details of the ends of props of prop heads or feet
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Abstract
The invention provides a control method and a device for roadway support, wherein the method comprises the following steps: the supporting shed frame is grabbed and lifted upwards, so that the contact pressure value between a top beam of the supporting shed frame and a roadway top plate reaches a first pressure threshold, the supporting shed frame is moved towards a specified direction, the pressure value between an upper supporting leg of a supporting column in the supporting shed frame and a roadway side wall reaches a second pressure threshold, a shank hook finger of the supporting shed frame is separated from a fixed column of the supporting shed frame, one end, far away from a shoulder beam of the supporting shed frame, of the supporting column is connected with a shank, and the contact pressure value between a grounding foot of the shank and a roadway bottom plate is controlled to reach a third pressure threshold.
Description
Technical Field
The invention relates to the technical field of roadway support, in particular to a control method and a corresponding control device for unmanned full-automatic self-adaptive mounting of a support shed frame.
Background
At present, a tunnel needs to be excavated by a heading machine in coal mining, and an anchor rod needs to be supported during tunneling, but the anchor rod supporting technical process is complex, the geological conditions of a coal mine are variable, a mature automatic scheme is not provided, and manual supporting is generally adopted. However, the manual supporting efficiency is low, the production efficiency is slowed, and in addition, the working environment of workers is extremely severe in the coal mine tunneling process, so that the body health of the workers is seriously influenced.
In order to solve the above problems, currently, support is performed based on a roadway support device. However, in the related art, the supporting control of the roadway supporting device is not ideal, the supporting of the roadway supporting device is a certain distance away from the height and the width of the roadway, and the supporting needs to be adjusted manually.
Disclosure of Invention
The invention provides a control method and a control device for roadway support.
Therefore, an embodiment of the present invention provides a method for controlling roadway support, including: grabbing the supporting shed frame, lifting the supporting shed frame upwards to enable the contact pressure value between the top beam of the supporting shed frame and the roadway top plate to reach a first pressure threshold value, moving the supporting shed frame towards a specified direction to enable the pressure value between the upper supporting leg of the supporting column in the supporting shed frame and the roadway side wall to reach a second pressure threshold value, enabling the shank hooking finger of the supporting shed frame to be separated from the fixing column of the supporting shed frame, connecting the shank to one end, far away from the shoulder beam of the supporting shed frame, of the supporting column, and controlling the contact pressure value between the grounding foot of the shank and the roadway bottom plate to reach a third pressure threshold value.
According to the control method for the roadway support, disclosed by the embodiment of the invention, in the process of installing the support shed frame by the roadway support device, the contact pressure value between the top beam of the support shed frame and the top plate of the roadway reaches the first pressure threshold value, and the contact pressure value between the upper supporting leg of the supporting column in the support shed frame and the side wall of the roadway reaches the second pressure threshold value, so that the height and the width of the installed support shed frame and the roadway can be self-adapted, meanwhile, the roadway support device can be automatically installed on the support shed frame under the condition of no human supervision, the unmanned operation of the roadway support is realized, the labor cost is reduced, and the control method has the characteristics of self-adaptability, high safety, simplicity and flexibility.
In some embodiments, the roadway support device comprises a mounting arm, the mounting arm comprises a large arm and a small arm, a first end of the large arm is hinged to the rack mounting vehicle, a first end of the small arm is hinged to a second end of the large arm, a first support rod and a second support rod are arranged on the small arm, the first support rod and the second support rod are respectively fixed at two ends of the small arm, and the grabbing and supporting rack comprises:
and adjusting the angles and the positions of the large arm and the small arm so as to insert the first support rod and the second support rod into the first hollow hinge pin and the second hollow hinge pin respectively to grab the supporting shed frame, wherein the first hollow hinge pin is arranged on a support column of the supporting shed frame, and the second hollow hinge pin is arranged at one end, close to the support column, of the shank.
In some embodiments, before the controlling the value of the contact pressure between the ground foot of the support column and the roadway floor reaches the third pressure threshold, the method further comprises:
and controlling the second support rod to rotate to drive the lower leg to rotate downwards, so that the grounding foot is parallel to the roadway bottom plate.
In some embodiments, the disengaging the hooking finger of the lower leg of the support shed from the fixing post of the support shed comprises:
controlling the small arm to stretch so as to enable the hook finger of the shank of the supporting shed frame to be separated from the fixing column of the supporting shed frame;
controlling a contact pressure value between a ground foot of the shank and a roadway floor to reach a third pressure threshold, comprising:
controlling the small arm to stretch so that the contact pressure value between the grounding foot of the small leg and the roadway floor reaches a third pressure threshold value.
In some embodiments, the roadway support apparatus further comprises a sliding table fixed with the canopy frame mounting car, and before the adjusting the angles and positions of the upper arm and the lower arm, the method further comprises:
and the mounting arm is moved along the advancing direction of the shed frame mounting vehicle through the sliding table so as to move the mounting arm to the specified position of the roadway.
In some embodiments, another embodiment of the present invention provides a control device for installing a roadway support canopy, the control device being applied in a roadway support device provided on a canopy installation vehicle, the control device including a memory and a processor, wherein:
a memory for storing a computer program;
a processor for reading the computer program in the memory and performing the following:
grabbing a supporting shed frame;
lifting the supporting shed frame upwards to enable the contact pressure value between the top beam of the supporting shed frame and the roadway top plate to reach a first pressure threshold value;
moving the supporting shed frame to a specified direction so that the contact pressure value between the upper supporting leg of the supporting column in the supporting shed frame and the roadway side wall reaches a second pressure threshold value;
separating hook fingers of shanks of the supporting shed frame from fixing columns of supporting columns of the supporting shed frame, wherein one ends of the supporting columns, far away from shoulder beams of the supporting shed frame, are connected with the shanks;
and controlling the contact pressure value between the grounding foot of the shank and the roadway bottom plate to reach a third pressure threshold value.
According to the control device for roadway support provided by the embodiment of the invention, the support canopy frame is grabbed and lifted upwards, so that the contact pressure value between the top beam of the support canopy frame and the roadway top plate reaches a first pressure threshold, the support canopy frame is moved towards the specified direction, so that the contact pressure value between the upper supporting leg of the supporting column in the support canopy frame and the roadway side wall reaches a second pressure threshold, the hook finger of the shank of the support canopy frame is separated from the fixed column of the supporting column of the support canopy frame, and the contact pressure value between the grounding foot of the shank and the roadway bottom plate reaches a third pressure threshold. Therefore, in the process of installing the supporting shed frame by the roadway supporting device, the contact pressure value between the top beam of the supporting shed frame and the roadway top plate reaches a first pressure threshold value, and the contact pressure value between the upper supporting leg of the supporting column in the supporting shed frame and the roadway side wall reaches a second pressure threshold value, so that the roadway supporting device can automatically install the supporting shed frame under the condition of unattended monitoring, the height and the width of the installed supporting shed frame and the roadway can be self-adapted, the unmanned operation of roadway supporting is realized, the labor cost is reduced, and the roadway supporting device has the characteristics of self-adaptability, high safety, simplicity and flexibility.
In some embodiments, the roadway support device comprises a mounting arm, the mounting arm comprises a large arm and a small arm, a first end of the large arm is hinged to the canopy frame mounting vehicle, a first end of the small arm is hinged to a second end of the large arm, a first support rod and a second support rod are arranged on the small arm, the first support rod and the second support rod are respectively fixed at two ends of the small arm, and the processor is further configured to perform the following operations:
and adjusting the angles and the positions of the large arm and the small arm so as to insert the first support rod and the second support rod into the first hollow hinge pin and the second hollow hinge pin respectively to realize the grabbing of the supporting shed frame, wherein the first hollow hinge pin is arranged on a support column of the supporting shed frame, and the second hollow hinge pin is arranged at one end, close to the support column, of the shank.
In some embodiments, the processor is further configured to:
and controlling the second support rod to rotate to drive the shank to rotate downwards, so that the grounding foot is parallel to the roadway bottom plate.
And controlling the small arm to stretch so that the hook finger of the shank of the supporting shed frame is separated from the fixing column of the supporting shed frame.
The processor is further configured to perform the following operations: and controlling the small arm to stretch so that the contact pressure value between the grounding foot of the small leg and the roadway floor reaches a third pressure threshold value.
In some embodiments, the roadway support apparatus further comprises a sliding table fixed with the canopy frame mounting vehicle, and the processor is further configured to:
and the mounting arm is moved along the advancing direction of the shed mounting vehicle through the sliding table, so that the mounting arm is moved to the specified position of the roadway.
It should be noted that the self-adaptability in this embodiment means that the entire device implements logic closed-loop control, and can adaptively adjust the position of the support shed frame according to the change of the width and height of the roadway in an actual scene. The whole set of control device realizes a control closed loop through the oil cylinder → the supporting shed frame → the force sensor → the controller → the oil cylinder, the pressure sensor can feed back the contact condition of the supporting shed frame and the roadway in time, and when the supporting shed frame is fully contacted with the roadway and is tightly pressed, a signal is fed back to the controller to control the pressure of the oil cylinder. And finally, completing the self-adaptive support process through a sensor-controller-actuator (oil cylinder).
Drawings
Fig. 1 is a flowchart of a control method for roadway support according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a roadway supporting device provided in an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a supporting shed frame according to an embodiment of the invention.
Fig. 4 is a logic flow diagram of a control method according to an embodiment of the present invention.
Fig. 5 is a schematic block diagram of a control device according to an embodiment of the present invention.
Fig. 6 is a control schematic diagram of a branch processor according to an embodiment of the present invention.
Reference numerals:
19. a sliding table; 20. a large arm; 21. a large arm tilting cylinder; 22. a first stay bar; 23. a small arm tilting cylinder; 24. a small arm; 25. a second stay bar; 28. a top beam; 29. a shoulder beam; 30. an upper support leg; 31. fixing a column; 32. a lower leg; 33. a first hollow hinge pin; 34. a second hollow hinge pin; 35. a lower leg; 36. A ground pin; 37. hooking the fingers.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A control method and a control apparatus according to an embodiment of the present invention are described below with reference to the drawings.
Fig. 1 is a flowchart of a control method for roadway support according to an embodiment of the present invention, and as shown in fig. 1, the method includes the following steps:
and step 101, grabbing the support shed frame.
It should be noted that the control method for roadway support in this embodiment may be executed by a control device, where the control device may be implemented by hardware and/or software, and the control device may be configured in the roadway support device.
In some embodiments, the roadway support device in this embodiment, as shown in fig. 2, includes a mounting arm, the mounting arm includes a large arm 20 and a small arm 24, a first end of the large arm 20 is hinged to the canopy frame mounting vehicle, a first end of the small arm 24 is hinged to a second end of the large arm 20, the small arm 24 is provided with a first stay bar 22 and a second stay bar 25, and the first stay bar 22 and the second stay bar 25 are respectively fixed at two ends of the small arm 24.
Specifically, the angles and positions of the large arm 20 and the small arm 24 can be adjusted through the large arm tilting cylinder 21 and the small arm tilting cylinder 23, so that the first support rod 22 and the second support rod 25 are respectively inserted into the first hollow hinge pin 33 and the second hollow hinge pin 34, and the support shed frame is grabbed, wherein the first hollow hinge pin 33 is arranged on a support column of the support shed frame, and one end of the small leg 35, which is close to the support column, is provided with the second hollow hinge pin 34. The structure of the supporting shed frame is schematically shown in figure 3. In some embodiments, the angle and position of the upper arm 20 and the lower arm 24 may be adjusted to align the first brace 22 with the first hollow hinge pin 33 and the second brace 25 with the second hollow hinge pin 34, and to control the insertion of the first brace 22 and the second brace 25 into the first hollow hinge pin 33 and the second hollow hinge pin 34, respectively, to achieve the grasping of the supporting canopy frame.
Wherein, the first stay bar 22 and the second stay bar 25 are controlled to be respectively inserted into the first hollow hinge pin 33 and the second hollow hinge pin 34, and one possible implementation manner for realizing the grabbing of the supporting shed frame is as follows: the solenoid valve controlling the translation cylinder is signaled again, moving the slide 19 so that the first 22 and second 25 struts are inserted in the first 33 and second 34 hollow hinge pins, respectively.
In some embodiments, in order to control the roadway support device to accurately reach the designated position, the roadway support device further comprises a sliding table 19, the sliding table 19 is fixed with the shed mounting vehicle, and the mounting arm can also be moved along the advancing direction of the shed mounting vehicle through the sliding table 19 before the angles and positions of the large arm 20 and the small arm 24 are adjusted, so that the mounting arm can be moved to the designated position of the roadway.
Wherein, the appointed position is the position of the supporting shed frame to be installed in the roadway.
And 102, lifting the supporting shed frame upwards to enable the contact pressure value between the top beam 28 of the supporting shed frame and the roadway roof to reach a first pressure threshold value.
Specifically, the telescopic electromagnetic valves of the large and small arms 24 and the electromagnetic valves of the inclined cylinders can be controlled to jack upwards, then the supporting shed frame is lifted upwards integrally, the top beam 28 of the supporting shed frame is pressed against the roadway in a contact manner and generates a contact pressure value, when the contact pressure value between the top beam 28 of the supporting shed frame and the roadway is detected to reach a first pressure threshold value, the pressure sensor on the top plate of the top beam 28 transmits the current contact pressure value to the controller, and the roadway supporting device is controlled to be fixed at the position and not lifted upwards.
The first pressure threshold is a critical value of a contact pressure value between a top beam 28 of a supporting shed frame and a roadway, which is preset in the control device, when the contact pressure value between the top beam 28 and the roadway is smaller than the critical value, the top beam continues to lift upwards, and when the contact pressure value between the top beam 28 and the roadway reaches the critical value, the top beam is not lifted continuously and is fixed at the position. Therefore, the top plate of the supporting shed frame is in close contact with the roadway, and the height of the supporting shed frame self-adaptive roadway is realized.
And 103, moving the supporting shed frame to a specified direction so that the contact pressure value between the upper supporting leg 30 of the supporting column in the supporting shed frame and the roadway side wall reaches a second pressure threshold value.
Specifically, the electromagnetic valves of the telescopic and inclined oil cylinders of the left/right big and small arms 24 can be simultaneously controlled to move the supporting shed frame leftwards/rightwards integrally, so that the left/right upper supporting legs 30 and the left/right side walls of the support frame are tightly pressed and generate contact pressure values, when the contact pressure value between the upper supporting legs 30 and the side walls of the supporting columns in the supporting shed frame is detected to reach a second pressure threshold value, the pressure sensors on the side walls transmit the current pressure value to the controller, and the roadway supporting device is controlled to be fixed at the position and not to move leftwards and rightwards. Therefore, the side wall of the supporting shed frame is in close contact with the side wall of the roadway, and the supporting shed frame is adaptive to the width of the roadway.
Wherein the second pressure threshold is a critical value of a contact pressure value between the upper leg 30 of the support column in the support shed frame and the roadway side wall, which is preset in the control device. When the contact pressure value of the upper supporting leg 30 of the supporting column in the supporting shed frame and the side wall is smaller than the critical value, the supporting column continues to move towards the appointed direction, and when the contact pressure value of the upper supporting leg 30 of the supporting column in the supporting shed frame and the side wall reaches the critical value, the supporting column does not move towards the appointed direction any more and is fixed at the position.
And 104, separating the hook fingers 37 of the shanks 35 of the support shed frame from the fixing columns 31 of the support columns of the support shed frame, wherein one ends of the support columns, which are far away from the shoulder beams 29 of the support shed frame, are connected with the shanks 35.
Specifically, the telescopic oil cylinder of the small arm 24 can be controlled to retract to a proper position, so that the hook finger 37 of the lower leg 35 of the supporting shed frame is separated from a fixed position, and an electric rotating motor is connected between the lower leg 32 of the supporting column and the lower leg 35, so that the electric motor can be controlled to rotate the second supporting rod by a fixed angle.
And 105, controlling the contact pressure value between the grounding foot 36 of the lower leg 35 and the roadway floor to reach a third pressure threshold value.
Specifically, the telescopic cylinder of the small arm 24 can be controlled to extend, the grounding foot 36 is grounded, the grounding foot 36 is connected with the small leg 35, when the contact pressure value between the grounding foot 36 of the small leg 35 and the roadway floor reaches the third pressure threshold value, the floor sensor transmits the current contact pressure value to the controller, and the telescopic cylinder of the small arm 24 can be controlled not to extend any more.
The third pressure threshold is a critical value of a contact pressure value between the ground contact leg 36 of the lower leg 35 and the roadway floor, which is preset in the control device. When the contact pressure value between the grounding foot 36 of the lower leg 35 and the roadway bottom plate is smaller than the critical value, the telescopic oil cylinder of the lower arm 24 continues to extend, and when the contact pressure value between the grounding foot 36 of the lower leg 35 and the roadway bottom plate reaches the critical value, the telescopic oil cylinder of the lower arm 24 does not extend any more, and the grounding foot 36 is fixed in position and does not move any more.
In order to make the present invention clear to those skilled in the art, the method of the embodiment will be described with reference to fig. 4, wherein it should be noted that the present embodiment is described by taking the control method of installing the supporting shed frame of the roadway supporting device as an example by the controller in the roadway supporting device. As shown in fig. 4, the method may include:
Wherein, in some embodiments, the designated location is a location in the roadway where the support shelf is to be installed. The direction in which the mounting device moves is not a fixed direction, but the relative direction in which it moves depending on the position of the slide.
Specifically, the controller sends a signal to the solenoid valve 1 that controls the pan cylinder, which in some embodiments may be a digital signal or an analog signal. After the electromagnetic valve 1 receives the signal, thrust is generated to push the mounting device to move on the sliding table 19 and reach a specified position.
Specifically, after step 401 is completed, the controller sends a signal to the solenoid valves controlling the respective corresponding cylinders, so as to adjust the angles and positions of the large arm 20 and the small arm 24, so that the first support rod and the second support rod correspond to two positioning holes of the supporting shed frame.
In some embodiments, the angle and position of adjustment of the large and small arms 20, 24 is not fixed, but is adjusted accordingly based on the position of the alignment holes of the canopy.
And step 403, moving the mounting device to enable the first support rod and the second support rod to be inserted into the positioning holes of the support shed frame.
Specifically, the controller sends a signal to the electromagnetic valve 1 for controlling the translation oil cylinder again, and the mounting device is moved to enable the first support rod and the second support rod to be inserted into the positioning hole of the supporting shed frame.
And step 404, lifting the top beam of the support shed frame and pressing the top beam with the roadway top plate.
Specifically, the controller simultaneously controls the telescopic cylinders and the inclined cylinders of the large arm 20 and the small arm 24 to lift the whole supporting shed frame upwards, so that the top beam 28 of the supporting shed frame is pressed against the top plate of the roadway and generates a contact pressure value.
It should be noted that, a top plate sensor is disposed on the top plate of the roadway, and the pressure values of the canopy frame top beam 28 and the top plate of the roadway may be sent to the controller in real time through the top plate sensor.
And 405, judging whether the contact pressure value of the top beam of the support shed frame and the top plate of the roadway, which is sent in real time, reaches a first pressure threshold value.
The first pressure threshold value is a critical value of a contact pressure value of a top beam of a supporting shed frame and a roadway top plate, which is preset in the control device. The following two situations occur when a comparison is made:
and (I) if the contact pressure value of the supporting shed frame top beam 28 and the roadway roof is smaller than the first pressure threshold value, namely if the contact pressure value is not smaller than the first pressure threshold value, continuing to perform the step 404.
And (ii) when the contact pressure value of the supporting shed top beam 28 and the roadway roof reaches the first pressure threshold value, namely yes, continuing to step 406, and fixing the mounting device at the position without further lifting.
And 406, translating the support to the right and pressing the support with the side wall.
Specifically, the controller simultaneously controls the expansion of the large arm and the small arm and the inclined oil cylinder to move the whole supporting shed frame rightwards, so that the upper supporting legs of the supporting shed frame are tightly pressed with the side walls, and a contact pressure value is generated.
In some embodiments, the pressure values of the upper leg 30 and the side wall of the support canopy may be sent to the controller in real time.
It should be noted that, since the operation of the mounting device is completely symmetrical, the step 406 is also applicable to the leftward movement.
And step 407, judging whether the contact pressure value of the upper support leg and the side wall of the support shed frame sent in real time reaches a second pressure threshold value.
The second pressure threshold value is a critical value of a contact pressure value between the upper leg 30 and the side wall of the supporting shed frame, which is preset in the control device.
The following two situations occur when the comparison is made:
and (I) if the contact pressure value of the upper leg 30 of the supporting shed frame and the side wall is smaller than the second pressure value, namely if the contact pressure value is not smaller than the second pressure value, continuing to step 406.
(II) the contact pressure value of the upper leg 30 of the supporting canopy frame and the side wall reaches the second pressure threshold value, that is, the situation, the step 408 is continued, and the mounting device is fixed at the position and does not continue to move rightwards.
And step 408, contracting the small arm to enable the lower leg to be separated from the fixation.
Specifically, the controller operates the electromagnetic valve 2 corresponding to the telescopic oil cylinder on the small arm 24 to enable the small arm 24 to be contracted to a proper position, so that the hook finger 37 of the lower leg 35 of the supporting shed frame is separated from a fixed position.
And step 409, rotating the second support rod by a fixed angle.
Specifically, the controller signals the solenoid valve 6 controlling the electric motor to turn the second strut by a fixed angle.
At step 410, the small arm is extended to ground the ground pin.
Specifically, the controller controls the electromagnetic valve 2 corresponding to the telescopic oil cylinder of the small arm again to extend the small arm 24, so that the grounding pin is grounded.
In some embodiments, the grounding feet 36 are compressed against the floor and generate contact pressure values that can be sent to the controller in real time.
Wherein the third pressure threshold is a critical value of a contact pressure value between the ground contact foot 36 and the floor, which is preset in the control device.
The following two situations occur when a comparison is made:
and (i) if the contact pressure value between the grounding foot 36 and the floor is smaller than the third pressure value, i.e. no, the step 410 is continued.
And (II) when the contact pressure value between the grounding foot 36 and the floor reaches a third pressure threshold value, namely yes, at the moment, the floor sensor transmits a pressure signal to the controller to control the extension oil cylinder of the small arm 24 not to extend, the grounding foot 36 is fixed at the position and does not move any more, and the process of self-adaptive support installation is finished.
In the embodiment, the supporting shed frame is grabbed and lifted upwards, so that the contact pressure value between the top beam of the supporting shed frame and the roadway top plate reaches a first pressure threshold, the supporting shed frame is moved towards a specified direction, the pressure value between the upper supporting leg of the supporting column in the supporting shed frame and the roadway side wall reaches a second pressure threshold, the shank hook finger of the supporting shed frame is separated from the fixed column of the supporting shed frame, one end, far away from the shoulder beam of the supporting shed frame, of the supporting column is connected with the shank, and the contact pressure value between the grounding foot of the shank and the roadway bottom plate is controlled to reach a third pressure threshold, so that the self-adaption of the height and the width of the installed supporting shed frame and the roadway can be realized, the roadway supporting device can be automatically installed on the roadway supporting shed frame under the condition of unmanned monitoring, the unmanned operation of roadway supporting is realized, the labor cost is reduced, and the characteristics of self-adaption, high safety, simplicity and flexibility are realized.
In order to implement the above embodiment, the present invention further provides a control device for roadway support, where the control device includes a memory and a processor.
In some embodiments, the memory is used to store a computer program. Specifically, the memory stores the transmission and reception signals of the controller, and stores the preset first, second and third pressure threshold information.
In some embodiments, a processor reads a computer program in memory and performs the following:
grabbing a supporting shed frame;
lifting the supporting shed frame upwards to enable the contact pressure value between the top beam of the supporting shed frame and the roadway top plate to reach a first pressure threshold value;
moving the supporting shed frame to a specified direction so that the contact pressure value between the upper supporting leg of the supporting column in the supporting shed frame and the roadway reaches a second pressure threshold value;
separating hook fingers of shanks of the supporting shed frame from fixing columns of supporting columns of the supporting shed frame, wherein one ends of the supporting columns, far away from shoulder beams of the supporting shed frame, are connected with the shanks;
and controlling the contact pressure value between the grounding foot of the shank and the roadway bottom plate to reach a third pressure threshold value.
In some implementations, the roadway support device includes a mounting arm, the mounting arm includes a large arm and a small arm, a first end of the large arm is hinged to the rack mounting vehicle, a first end of the small arm is hinged to a second end of the large arm, the small arm is provided with a first support rod and a second support rod, the first support rod and the second support rod are respectively fixed at two ends of the small arm, and the processor is further configured to perform the following operations: the angle and the position of the big arm and the small arm are adjusted to insert the first support rod and the second support rod into the first hollow hinge pin and the second hollow hinge pin respectively to realize grabbing of the supporting shed frame, wherein the first hollow hinge pin is arranged on the supporting column of the supporting shed frame, and the end, close to the supporting column, of the shank is provided with the second hollow hinge pin.
In some embodiments, the processor is further configured to:
and controlling the second support rod to rotate to drive the lower leg to rotate downwards so that the grounding foot is parallel to the roadway bottom plate.
In some embodiments, the processor is further configured to:
controlling the small arm to stretch so that the hook finger of the shank of the supporting shed frame is separated from the fixing column of the supporting shed frame;
the processor is further configured to perform the following operations:
and controlling the small arm to stretch so that the contact pressure value between the grounding foot of the small leg and the roadway floor reaches a third pressure threshold value.
In some embodiments, the roadway support apparatus further includes a sliding table fixed to the canopy frame mounting vehicle, and the processor is further configured to: the mounting arm is moved along the advancing direction of the shed mounting vehicle through the sliding table so as to move the mounting arm to the specified position of the roadway.
An embodiment of the present invention further provides a schematic block diagram of an exemplary control apparatus, where the schematic block diagram includes the apparatus according to any one of the foregoing embodiments.
Fig. 5 is a schematic block diagram of a control device according to an embodiment of the present invention, and a flow of all embodiments of fig. 1 and fig. 4 of the present invention may be implemented. As shown in fig. 5, the control device includes a central microprocessor and branch processors having the same number of support shelves.
The central microprocessor is responsible for sending signals to control the branch processors to be activated in sequence, when the branch processors control and complete the supporting of the supporting shed frame, signals are fed back to the central microprocessor, and the central microprocessor sends signals to close the central microprocessor and carry out the next operation. Each branch processor is responsible for controlling the installation and the disassembly of one supporting shed frame, and the branch controllers can receive signals from the pressure sensors and send signals to control the opening and closing of the electromagnetic valves so as to control the movement of the oil cylinders and the electric motors.
In some embodiments, an 8051 single chip microcomputer can be selected as the branch controller, a 485 transceiver can be selected as the branch controller for realizing communication with the pressure sensor, the movement of each oil cylinder and each motor is controlled by 1 or 2 three-position four-way electromagnetic valves, when a moving element only needs to move forward and backward at a fixed speed or stop, the control of the moving element can be finished by using the 1 three-position four-way electromagnetic valve, and when the moving element needs to realize speed change, another three-position four-way electromagnetic valve is required to be connected in series and a throttling speed regulating loop is arranged at the same time for realizing the change of the moving speed. The control of the electromagnetic valve can be realized by a photoelectric coupler and a relay, and the photoelectric coupler isolates input and output electric signals to avoid interference.
In some embodiments, the overall flow of adaptive support control is as follows: the branch controller sends a motion signal, the relay receives the signal and controls the electromagnetic valve to open, the oil cylinder starts to move, the contact pressure of the roadway support device and the roadway rises to a pressure sensor limit value, the pressure sensor sends the signal to the branch controller through the transceiver, and the branch controller controls the corresponding oil cylinder to stop moving. Therefore, the contact condition of the supporting shed frame and the roadway can be fed back in time through the pressure sensor, and the width and the height of the supporting shed frame can be adjusted in a self-adaptive mode along with the change of the width and the height of the roadway. When the supporting shed frame is fully contacted with the roadway and is tightly pressed, a signal is fed back to the controller to control the pressure of the oil cylinder. And finally, completing the self-adaptive support process through a sensor-controller-actuator (oil cylinder). The schematic diagram of the adaptive support control of the branch processor is shown in fig. 6. In the embodiment, the supporting shed frame is grabbed and lifted upwards, so that the contact pressure value between the top beam of the supporting shed frame and the roadway top plate reaches a first pressure threshold, the supporting shed frame is moved towards a specified direction, the pressure value between the upper supporting leg of the supporting column in the supporting shed frame and the roadway side wall reaches a second pressure threshold, the shank hook finger of the supporting shed frame is separated from the fixed column of the supporting shed frame, one end, far away from the shoulder beam of the supporting shed frame, of the supporting column is connected with the shank, and the contact pressure value between the grounding foot of the shank and the roadway bottom plate is controlled to reach a third pressure threshold, so that the roadway supporting device is automatically installed on the supporting shed frame, the self-adaptation of the height and the width of the installed supporting shed frame and the roadway is realized, the unmanned operation of roadway supporting is realized, the labor cost is reduced, and the roadway supporting device has the characteristics of self-adaptation, high safety, simplicity and flexibility.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (6)
1. The utility model provides a roadway support's control method, its characterized in that, the method is used in roadway support device, roadway support device sets up on rack installation car, roadway support device includes slip table and installation arm, the slip table with rack installation car is fixed, the installation arm includes big arm and forearm, the first end of big arm with rack installation car is articulated, the first end of forearm with the second end of big arm is articulated, be provided with first vaulting pole and second vaulting pole on the forearm, first vaulting pole and second vaulting pole are fixed respectively at the both ends of forearm, the method includes:
moving the mounting arm along the advancing direction of the shed frame mounting vehicle through the sliding table so as to move the mounting arm to the specified position of the roadway;
adjusting the angles and the positions of the large arm and the small arm so as to insert the first support rod and the second support rod into the first hollow hinge pin and the second hollow hinge pin respectively to realize the grabbing of the supporting shed frame, wherein the first hollow hinge pin is arranged on a support column of the supporting shed frame, and one end of the shank close to the support column is provided with the second hollow hinge pin;
lifting the supporting shed frame upwards to enable the contact pressure value between the top beam of the supporting shed frame and the roadway top plate to reach a first pressure threshold value;
moving the supporting shed frame to a specified direction so that the contact pressure value between the upper supporting leg of the supporting column in the supporting shed frame and the roadway side wall reaches a second pressure threshold value;
separating hook fingers of shanks of the supporting shed frame from fixing columns of supporting columns of the supporting shed frame, wherein one ends of the supporting columns, far away from shoulder beams of the supporting shed frame, are connected with the shanks;
and controlling the contact pressure value between the grounding foot of the shank and the roadway bottom plate to reach a third pressure threshold value.
2. The method of claim 1, wherein prior to the controlling a contact pressure value between a ground foot of the support column and a roadway floor reaching a third pressure threshold, the method further comprises:
and controlling the second support rod to rotate to drive the shank to rotate downwards, so that the grounding foot is parallel to the roadway bottom plate.
3. The method of claim 1, wherein said disengaging the fingers of the lower leg of the support shelter from the fixed posts of the support columns of the support shelter comprises:
controlling the small arm to stretch so as to enable the hook finger of the shank of the supporting shed frame to be separated from the fixing column of the supporting shed frame;
controlling a contact pressure value between a ground foot of the shank and a roadway floor to reach a third pressure threshold, comprising:
and controlling the small arm to stretch so that the contact pressure value between the grounding foot of the small leg and the roadway floor reaches a third pressure threshold value.
4. The utility model provides a controlling means that roadway support, a serial communication port, controlling means uses in roadway support device, roadway support device sets up on rack installation car, roadway support device includes slip table and installation arm, the slip table with rack installation car is fixed, the installation arm includes big arm and forearm, the first end of big arm with rack installation car is articulated, the first end of forearm with the second end of big arm is articulated, be provided with first vaulting pole and second vaulting pole on the forearm, the both ends at the forearm are fixed respectively to first vaulting pole and second vaulting pole, controlling means includes memory, treater, wherein:
a memory for storing a computer program;
a processor for reading the computer program in the memory and performing the following operations:
moving the mounting arm along the advancing direction of the shed frame mounting vehicle through the sliding table so as to move the mounting arm to the specified position of the roadway;
adjusting the angles and the positions of the large arm and the small arm so as to insert the first support rod and the second support rod into the first hollow hinge pin and the second hollow hinge pin respectively to realize grabbing of a supporting shed frame, wherein the first hollow hinge pin is arranged on a support column of the supporting shed frame, and the second hollow hinge pin is arranged at one end, close to the support column, of the shank;
lifting the supporting shed frame upwards to enable the contact pressure value between the top beam of the supporting shed frame and the roadway top plate to reach a first pressure threshold value;
moving the supporting shed frame to a specified direction so that the contact pressure value between the upper supporting leg of the supporting column in the supporting shed frame and the roadway side wall reaches a second pressure threshold value;
separating hook fingers of shanks of the supporting shed frame from fixing columns of supporting columns of the supporting shed frame, wherein one ends of the supporting columns, far away from shoulder beams of the supporting shed frame, are connected with the shanks;
and controlling the contact pressure value between the grounding foot of the shank and the roadway bottom plate to reach a third pressure threshold value.
5. The control device of claim 4, wherein the processor is further configured to:
and controlling the second support rod to rotate to drive the lower leg to rotate downwards, so that the grounding foot is parallel to the roadway bottom plate.
6. The control device of claim 4, wherein the processor is further configured to:
controlling the small arm to stretch so as to enable the hook finger of the shank of the supporting shed frame to be separated from the fixing column of the supporting shed frame;
the processor is further configured to perform the following operations:
and controlling the small arm to stretch so that the contact pressure value between the grounding foot of the small leg and the roadway floor reaches a third pressure threshold value.
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