CN114263486B - Posture self-adaptive regulation and control system and method for hydraulic support - Google Patents
Posture self-adaptive regulation and control system and method for hydraulic support Download PDFInfo
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- CN114263486B CN114263486B CN202111406597.6A CN202111406597A CN114263486B CN 114263486 B CN114263486 B CN 114263486B CN 202111406597 A CN202111406597 A CN 202111406597A CN 114263486 B CN114263486 B CN 114263486B
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- 238000004891 communication Methods 0.000 claims abstract description 11
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Abstract
The application provides a posture self-adaptive regulation and control system and a regulation and control method of a hydraulic support, wherein the system comprises: the hydraulic support is provided with a posture regulating jack; the support state monitoring device is arranged on the hydraulic support and is used for collecting the posture information of the hydraulic support in real time when the hydraulic support is in a bearing state; the computing device is in communication connection with the support state monitoring device, determines the support posture of the hydraulic support according to the posture information, and generates a regulation strategy of regulating the jack according to the support posture; and the electrohydraulic controller is arranged on the hydraulic support, is respectively connected with the gesture regulation jack and the computing device, and is used for controlling the extension length of the gesture regulation jack according to a regulation strategy so as to regulate the hydraulic support to a preset gesture. Therefore, when the hydraulic support is in a bearing state, the support posture of the hydraulic support can be adaptively adjusted, so that the hydraulic support is in a better stress state.
Description
Technical Field
The application relates to the technical field of working posture control of hydraulic supports of fully mechanized coal mining face, in particular to a posture self-adaptive regulation and control system and a regulation and control method of a hydraulic support.
Background
The hydraulic support is used as one of main equipment of the fully mechanized mining face, and provides a safe operation space for normal production of the face. Meanwhile, the hydraulic support is matched with equipment such as a coal cutter, a scraper conveyor and the like in the stoping process, so that continuous pushing and efficient production of a working face are realized. The hydraulic support is mainly used for supporting the working face top plate and bearing the working face ore pressure, and the working state of the hydraulic support is determined according to the working state in the running process.
At present, the hydraulic support adopts a two-column shield type hydraulic support structure, the working posture of the hydraulic support is usually adjusted by a balance jack and a four-bar stabilizing mechanism before the hydraulic support is propped up, and under the condition that the hydraulic support is in a normal bearing state, if the abnormal posture occurs, the adjustment and control can only be carried out in the next pushing and propping up process of the hydraulic support due to the too small cylinder diameter of the balance jack. Therefore, the hydraulic support has higher difficulty in regulating and controlling the posture in the bearing state, and the support is easy to damage due to the poor stress state of the hydraulic support.
Disclosure of Invention
The application provides a posture self-adaptive regulation and control system and a posture self-adaptive regulation and control method for a hydraulic support, which at least solve the technical problems that the posture regulation and control difficulty of the hydraulic support in a bearing state in the related art is high, and the support is easy to damage due to the poor stress state of the hydraulic support.
An embodiment of a first aspect of the present application provides a posture adaptive control system for a hydraulic support, including: the hydraulic support is provided with a posture regulating jack; the support state monitoring device is arranged on the hydraulic support and is used for collecting pose information of the hydraulic support in real time when the hydraulic support is in a bearing state; the computing device is in communication connection with the support state monitoring device and is used for determining the support posture of the hydraulic support according to the posture information and generating a regulation strategy of the posture regulation jack according to the support posture; and the electrohydraulic controller is arranged on the hydraulic support, is respectively connected with the gesture regulation jack and the computing device, and is used for controlling the extension length of the gesture regulation jack according to the regulation strategy so as to regulate the hydraulic support to a preset gesture.
According to the attitude self-adaptive regulation and control system for the hydraulic support, the attitude regulation and control jack, the support state monitoring device and the electrohydraulic controller are arranged on the hydraulic support, and the computing device in communication connection with the support state monitoring device is arranged, so that when the hydraulic support is in a bearing state, the support state monitoring device collects the attitude information of the hydraulic support in real time, the computing device determines the support state of the hydraulic support according to the position information, and generates a regulation and control strategy of the attitude regulation and control jack according to the support state, and the electrohydraulic controller controls the extension length of the attitude regulation and control jack according to the regulation and control strategy so as to regulate the hydraulic support to a preset attitude, and the support attitude of the hydraulic support is self-adaptively regulated when the hydraulic support is in the bearing state, so that the hydraulic support is in a better stress state.
An embodiment of a second aspect of the present application provides a method for adaptively adjusting and controlling a posture of a hydraulic support, where a posture adjusting jack is disposed on the hydraulic support, the method including: when the hydraulic support is in a bearing state, acquiring pose information of the hydraulic support in real time; determining the bracket posture of the hydraulic bracket according to the posture information; and generating a regulating strategy of the posture regulating jack according to the posture of the bracket so as to control the extending length of the posture regulating jack according to the regulating strategy, and regulating the hydraulic bracket to a preset posture.
According to the gesture self-adaptive regulation and control method for the hydraulic support, the gesture information of the hydraulic support is acquired in real time when the hydraulic support is in the bearing state, the support state of the hydraulic support is determined according to the gesture information, and the regulation and control strategy of the gesture regulation and control jack is generated according to the support state, so that the extending length of the gesture regulation and control jack is controlled according to the regulation and control strategy, the hydraulic support is regulated to the preset gesture, and the support gesture of the hydraulic support is regulated in a self-adaptive mode when the hydraulic support is in the bearing state, so that the hydraulic support is guaranteed to be in a better stress state.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic structural diagram of a posture-adaptive regulation and control system of a hydraulic bracket according to an embodiment of the present application;
fig. 2 is a schematic diagram of the overall installation of the attitude adaptive control system for a hydraulic bracket according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an electro-hydraulic controller according to one embodiment of the present disclosure;
fig. 4 is a schematic flow chart of a method for adaptively adjusting and controlling the posture of a hydraulic support according to an embodiment of the present application;
Fig. 5 is a schematic flow chart of a method for adaptively adjusting and controlling the posture of a hydraulic support according to another embodiment of the present application.
Reference numerals illustrate:
A hydraulic support-100; posture control jack-200; supporting the state monitoring device-300;
Computing device-400; an electrohydraulic controller-500; a base-110;
shield beams-120; a top beam-130; balance jack-140;
Upright post jack-150; a displacement sensor-210; a first tilt sensor-310;
a second tilt sensor-320; a third tilt sensor-330; a first pressure sensor-340;
a second pressure sensor-350.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
The following describes a posture self-adaptive regulation and control system and a regulation and control method of a hydraulic support according to an embodiment of the present application with reference to the accompanying drawings.
First, an attitude adaptive control system for a hydraulic support according to an embodiment of the present application will be described with reference to fig. 1.
As shown in fig. 1, the posture adaptive regulation and control system of the hydraulic support, hereinafter referred to as regulation and control system, includes:
the hydraulic support 100, the posture control jack 200 set up on the hydraulic support 100;
The support state monitoring device 300 is arranged on the hydraulic support 100 and is used for collecting pose information of the hydraulic support 100 in real time when the hydraulic support 100 is in a bearing state;
the computing device 400 is in communication connection with the support state monitoring device 300 and is used for determining the bracket posture of the hydraulic bracket 100 according to the position and posture information and generating a regulation strategy of the posture regulation jack 200 according to the bracket posture;
the electrohydraulic controller 500 is connected with the posture adjusting jack 200 and the computing device 400, and is used for controlling the extension length of the posture adjusting jack 200 according to the adjusting strategy so as to adjust the hydraulic support 100 to a preset posture.
The posture adjusting jack 200 is a jack capable of adjusting the posture of the hydraulic support 100.
The pose information may include any information that enables the determination of the pose of the hydraulic mount 100. For example, the hydraulic support 100 may include a top beam, a shield beam, a base, a column jack, and the like, and the pose information may include information of a pitch angle of the top beam, a pitch angle of the shield beam, a pitch angle of the base, a pressure of the column jack, and the like.
The support state monitoring device 300 is any device capable of acquiring pose information of the hydraulic support 100, for example, various types of sensors such as an inclination sensor and a pressure sensor can be included, and the type and the number of the sensors are not limited in the present application.
The hydraulic support 100 is in a bearing state, which refers to a normal supporting state after the hydraulic support 100 is lifted up.
The computing device 400 is any device having a communication function and a data processing function, for example, the computing device 400 may be an electronic device such as a mobile phone, a wearable device, or a computer. It should be noted that the computing device 400 may be disposed on the hydraulic support 100, or may be disposed separately from the hydraulic support 100, which is not limited by the present application. The figures of the present application illustrate an example in which the computing device 400 is provided separately from the hydraulic mount 100.
The communication manner between the computing device 400 and the support state monitoring device 300 may be any wireless communication manner such as WiFi (WIRELESS FIDELITY ), long Range (a spread spectrum technology), zigBee, and the like, which is not limited in the present application. The ZigBee is a low-power consumption local area network protocol based on the IEEE802.15.4 standard, and the ZigBee technology is a wireless communication technology with short distance and low power consumption. The connection between the computing device 400 and the electro-hydraulic controller 500 may be the wireless connection, which is not limited in the present application.
The stand posture may include a first posture (may also be referred to as a "tip-up" posture), a second posture (may also be referred to as a "low-head" posture), a third posture (may also be referred to as a normal posture), and the like of the hydraulic stand 100. In the first posture, the front end height of the top beam of the hydraulic support 100 is larger than the rear end height, and the top beam is not parallel to the trend direction of the working surface; in the second posture, the front end height of the top beam of the hydraulic support 100 is smaller than the rear end height, and the top beam is not parallel to the trend direction of the working surface at the moment; under normal attitude, the front end height of the top beam of the hydraulic support 100 is equal to the rear end height, namely, the hydraulic support 100 is in a non-head-raising attitude and a non-head-lowering attitude, and the top beam is parallel to the trend direction of the working surface. Wherein, the front end of the top beam refers to the end of the top beam far away from the shield beam, and the front end height refers to the height of the front end based on the plane of the base of the hydraulic support 100; the rear end of the roof beam refers to the end of the roof beam close to the shield beam, and the rear end height refers to the height of the rear end based on the plane of the base of the hydraulic support 100.
The regulation strategy refers to a strategy for regulating the extension length of the posture regulation jack 200, and specifically may include a piston rod of the extension posture regulation jack 200 or a piston rod of the contraction posture regulation jack 200, and a target regulation amount of the extension length of the posture regulation jack 200.
The electro-hydraulic controller 500 is a core component of an electro-hydraulic control system of the hydraulic bracket 100, and can control the extension length of the gesture control jack 200 to be increased or decreased, and the working states of the balance jack, the gesture control jack 200, and the like of the hydraulic bracket 100. The working state may include a follow-up state, a locking state, etc. Taking the posture regulating jack 200 as an example, the posture regulating jack 200 is in a follow-up state, that is, when the balance jack is regulated, the posture regulating jack 200 is in a state of following the automatic regulation of the extension length; the posture adjustment jack 200 is in a locked state, which means that the posture adjustment jack 200 maintains a state in which the extension length is unchanged.
The preset posture may refer to a normal posture of the hydraulic mount 100.
In the embodiment of the application, the hydraulic support 100 may be provided with a posture adjusting jack 200, a supporting state monitoring device 300 and an electrohydraulic controller 500, the posture adjusting jack 200 is connected with the electrohydraulic controller 500, and a computing device 400 connected with the supporting state monitoring device 300 and the electrohydraulic controller 500 is provided, and the supporting state monitoring device 300 may collect the posture information of the hydraulic support 100 in real time and send the posture information to the computing device 400 when the hydraulic support 100 is in a bearing state.
After the computing device 400 obtains the pose information of the hydraulic support 100, it may be determined whether the support pose of the hydraulic support 100 is a "low head" pose or a "warped head" pose according to the pose information. If the stand posture of the hydraulic stand 100 is a normal posture, the stand posture of the hydraulic stand 100 may not be regulated. If the hydraulic stand 100 is in a "low head" or "warped head" position, the computing device 400 may generate a regulation strategy for the posture regulation jack 200 according to the stand position, and send the regulation strategy to the electro-hydraulic controller 500.
After receiving the regulation strategy, the electro-hydraulic controller 500 can control the extension length of the posture regulation jack 200 according to the regulation strategy, so as to regulate the hydraulic support 100 to a normal posture.
According to the regulating and controlling system provided by the embodiment of the application, the posture regulating and controlling jack, the supporting state monitoring device and the electrohydraulic controller are arranged on the hydraulic support, and the computing device in communication connection with the supporting state monitoring device is arranged, so that when the hydraulic support is in a bearing state, the supporting state monitoring device collects the posture information of the hydraulic support in real time, the computing device determines the support state of the hydraulic support according to the position information, and generates a regulating and controlling strategy of the posture regulating and controlling jack according to the support state, and the electrohydraulic controller controls the extension length of the posture regulating and controlling jack according to the regulating and controlling strategy so as to regulate the hydraulic support to a preset posture, and the self-adaptive regulation of the support posture of the hydraulic support is realized when the hydraulic support is in the bearing state, thereby regulating the combined force action point of the hydraulic support and ensuring that the hydraulic support is in a better stress state.
In an exemplary embodiment, referring to fig. 2, the hydraulic mount 100 may include a base 110, a shield beam 120, and a header 130. One end of the attitude control jack 200 may be connected to the base 110 through a pin, and the other end may be connected to the shield beam 120 through a pin. If the extending length of the gesture control jack 200 is increased, a pushing force can be provided for the shield beam 120, so that the shield beam 120 moves in a direction away from the base 110, and the rear end of the top beam 130 is driven to rotate upwards; if the extension length of the posture adjusting jack 200 is reduced, a tensile force may be provided to the shield beam 120, so that the shield beam 120 moves in a direction approaching the base 110, and the rear end of the top beam 130 is driven to rotate downward.
Accordingly, in the embodiment of the present application, if the stand posture of the hydraulic stand 100 is the first posture, i.e. the "warped head" posture, the regulation strategy generated by the computing device 400 may be: the piston rod of the posture adjustment jack 200 is extended to control the extension length of the posture adjustment jack 200 to be increased until the hydraulic mount 100 is adjusted to a preset posture. According to the regulation strategy, the electro-hydraulic controller 500 can control the piston rod of the attitude regulation jack 200 to extend to provide a thrust for the shield beam 120, so that the shield beam 120 moves in a direction away from the base 110, and drives the rear end of the top beam 130 to rotate upwards until the height of the rear end and the front end of the top beam 130 are the same, and the hydraulic support 100 is regulated to a preset attitude.
If the stand posture of the hydraulic stand 100 is the second posture, i.e., the "low head" posture, the regulation strategy generated by the computing device 400 may be: the piston rod of the attitude control jack 200 is contracted to control the extension length of the attitude control jack 200 to be reduced until the hydraulic mount 100 is adjusted to a preset attitude. The electro-hydraulic controller 500 can control the piston rod of the attitude control jack 200 to shrink according to the control strategy, and provide a tensile force for the shield beam 120, so that the shield beam 120 moves towards the direction close to the base 110, and drives the rear end of the top beam 130 to rotate downwards until the height of the rear end and the front end of the top beam 130 are the same, and the hydraulic support 100 is adjusted to a preset attitude.
It should be noted that, if the difference between the front end height and the rear end height of the top beam 130 of the hydraulic support 100 is large, the top beam 130 of the hydraulic support 100 may not be adjusted to be the same as the front end height at one time by adjusting the extension length of the posture adjustment jack 200 in one coal cutting working cycle due to the large load of the hydraulic support 100, and in this embodiment of the present application, the top beam 130 of the hydraulic support 100 may be adjusted to be the same as the rear end height by performing multiple adjustments of the posture adjustment jack 200 in multiple coal cutting working cycles. Specifically, the computing device 400 may generate a regulation strategy of the posture regulation jack 200 in each coal cutting working cycle according to the support posture of the hydraulic support 100, so that in each coal cutting working cycle, according to the corresponding regulation strategy, the extension length of the posture regulation jack 200 is controlled until the top beam of the hydraulic support 100 is regulated to have the same front end height as the rear end height.
In an exemplary embodiment, referring to fig. 2, the hydraulic bracket 100 may further include a balancing jack 140, one end of the balancing jack 140 being connected to the top beam 130 and the other end being connected to the shield beam 120, so that the bracket posture adjustment of the hydraulic bracket 100 is performed by the balancing jack 140 cooperating with the posture adjustment jack 200.
Specifically, in the process of supporting the hydraulic support 100 by pushing the slide pull frame and the lifting column, the posture regulating jack 200 may be set to be in a following state, and the posture information of the hydraulic support is collected in real time through the supporting state monitoring device 300, the computing device 400 may determine the support posture of the hydraulic support 100 according to the posture information, and when the support posture of the hydraulic support 100 is a "low head" posture or a "tilting head" posture, a regulating strategy of the balance jack 140 may be generated, and the extension length of the balance jack 140 may be controlled according to the regulating strategy, so as to regulate the hydraulic support 100 to a normal posture. Thereby, the adjustment of the stand posture of the hydraulic stand 100 by the balance jack 140 is achieved.
When the hydraulic support 100 pushes the slide and the pull frame is completed and the lifting column is connected, the hydraulic support 100 may be in a low head state or a head raising state again when the hydraulic support 100 is in a bearing state, then, when the hydraulic support 100 is in the bearing state, the support state monitoring device 300 can collect pose information of the hydraulic support 100 in real time, the computing device 400 can determine a support pose of the hydraulic support 100 according to the pose information, and when the support pose of the hydraulic support is in the low head state or the head raising state, a regulating strategy of the pose regulating jack 200 can be generated, the balance jack 140 is set to be in a follow-up state, and the extension length of the pose regulating jack 200 is controlled according to the regulating strategy so as to regulate the hydraulic support 100 to a normal pose. Thereby, the adjustment of the stand posture of the hydraulic stand 100 by the posture adjustment jack 200 is achieved.
After the hydraulic support 100 is adjusted to the normal posture, the posture adjusting jack 200 can be controlled to be in a locking state so as to support the working surface top plate by using the hydraulic support 100, at this time, the posture adjusting jack 200 can have a certain supporting effect on the shield beam 120, so that the bearing adaptability of the hydraulic support 100 is improved, and the damage to key components of the hydraulic support 100 caused by overlarge stress of the shield beam 120 is avoided.
In an exemplary embodiment, referring to fig. 2, the support state monitoring apparatus 300 may include a first tilt sensor 310 provided on the base 110, the first tilt sensor 310 for acquiring a first pitch angle of the base 110 in real time, and a second tilt sensor 320 provided on the top beam 130, the second tilt sensor 320 for acquiring a second pitch angle of the top beam 130 in real time. Accordingly, the computing device 400 may determine a bracket attitude of the hydraulic bracket 100 according to the first pitch angle and the second pitch angle, and generate a regulation strategy according to the bracket attitude.
In an exemplary embodiment, referring to fig. 2, the support status monitoring apparatus 300 may further include a third tilt sensor 330 disposed on the shield beam 120 for acquiring a third pitch angle of the shield beam 120. Correspondingly, the computing device 400 may determine a bracket posture of the hydraulic bracket 100 according to the first pitch angle, the second pitch angle, and the third pitch angle, and generate a regulation and control strategy according to the bracket posture.
The first tilt sensor 310, the second tilt sensor 320, and the third tilt sensor 330 may be any type of tilt sensor, such as a single axis tilt sensor, a dual axis tilt sensor, and the like, which is not limited in the present application.
In an exemplary embodiment, referring to fig. 2, the hydraulic mount 100 may further include a column jack 150, a support state monitoring device 300, and a first pressure sensor 340 installed to a hydraulic circuit of the column jack 150, and a second pressure sensor 350 installed to a hydraulic circuit of the attitude control jack 200. The first pressure sensor 340 is used for acquiring the pressure of the column jack 150, and the second pressure sensor 350 is used for acquiring the pressure of the attitude control jack 200.
Correspondingly, the computing device 400 may further determine a bracket posture of the hydraulic bracket 100 according to the first pitch angle, the second pitch angle, and the third pitch angle, regulate the pressure of the jack 200 according to the pressure and the posture of the stand jack 150, determine a stress state of the hydraulic bracket 100, and generate a regulation strategy according to the bracket posture and the stress state.
In an exemplary embodiment, referring to fig. 2, a displacement sensor 210 may be disposed within the posture adjustment jack 200 for real-time acquisition of the extension length of the posture adjustment jack 200, and the displacement sensor 210 may communicate with the computing device 400, so that the extension length of the posture adjustment jack 200 is transmitted to the computing device 400 through digital or analog quantity, so that the computing device 400 can acquire the extension length of the posture adjustment jack 200 in real-time to determine the current extension length of the posture adjustment jack 200, whether to adjust in place, and the like.
The displacement sensor 210 may be any type of displacement sensor, such as a pull-string displacement sensor or a magnetostrictive displacement sensor, which is not limited in the present application.
In an exemplary embodiment, referring to FIG. 3, an electro-hydraulic controller 500 may include a main controller 510 and an electro-hydraulic reversing valve 520 coupled to the main controller 510. One end of the electro-hydraulic reversing valve 520 is connected with a main pipeline of the hydraulic support 100, and the other end of the electro-hydraulic reversing valve is connected with the gesture control jack 200, and is used for controlling the extension length of the gesture control jack 200 according to a first control signal sent by the main controller 510.
In addition, referring to FIG. 3, the electro-hydraulic controller 500 further includes: and an electrohydraulic check valve 530 connected with the main controller 510, wherein the electrohydraulic check valve 530 is arranged in the hydraulic circuit of the gesture control jack 200, and is used for controlling the working state of the gesture control jack 200 according to the second control signal sent by the main controller 510. The gesture control jack 200 may include a rod cavity and a rodless cavity, the internal hydraulic circuits are all provided with electro-hydraulic check valves 530, and the master controller 510 controls the working state of the gesture control jack 200 by controlling the opening and closing of the electro-hydraulic check valves 530.
Specifically, during the process of pushing, pulling and lifting the hydraulic support 100, the main controller 510 may send a second control signal to the electrohydraulic check valve 520 to control the electrohydraulic check valve 520 to be opened, thereby controlling the posture control jack 200 to be in a follow-up state; when the hydraulic support 100 is in a bearing state after the lifting column is connected, the main controller 510 can send a first control signal to the electrohydraulic reversing valve 520 to control the extending length of the gesture control jack 200 according to the control strategy generated by the computing device 400, and after the hydraulic support 100 is adjusted to a preset gesture, the main controller 510 can send a second control signal to the electrohydraulic one-way valve 520 to control the electrohydraulic one-way valve 520 to be closed, so that the gesture control jack 200 is controlled to be in a locking state, and the gesture of the hydraulic support 100 is maintained in a regulated state.
Thereby, it is achieved that the extension length of the posture adjustment jack 200 is controlled and the operation state of the posture adjustment jack 200 is controlled through the electro-hydraulic controller 400.
In summary, the regulating and controlling system provided by the embodiment of the application can adaptively regulate the support posture of the hydraulic support when the hydraulic support is in the bearing state, so that key parameters such as the combined force acting point of the hydraulic support are regulated, the hydraulic support is ensured to be in a better bearing state, and the posture regulating and controlling jack can have a certain supporting effect on the shield beam, thereby improving the bearing adaptability of the hydraulic support and avoiding damage to key parts of the hydraulic support caused by overlarge stress of the shield beam.
Based on the gesture self-adaptive regulation and control system of the hydraulic support provided by the embodiment, the embodiment of the application also provides a gesture self-adaptive regulation and control method of the hydraulic support. The following describes a method for adaptively adjusting and controlling the posture of the hydraulic support provided by the embodiment of the application with reference to fig. 4 to 5.
Fig. 4 is a schematic flow chart of a method for adaptively adjusting and controlling the posture of a hydraulic support according to an embodiment of the present application. The hydraulic support comprises a base, a shield beam, a top beam, a stand column jack and the like. The method for adaptively regulating and controlling the posture of the hydraulic support provided by the embodiment of the application can be executed by the computing device in the embodiment.
As shown in fig. 4, the method for adaptively adjusting and controlling the posture of the hydraulic support provided by the embodiment of the application comprises the following steps:
And step 401, acquiring pose information of the hydraulic support in real time when the hydraulic support is in a bearing state.
The pose information can comprise a first pitch angle of the base and a second pitch angle of the top beam, or a first pitch angle of the base, a second pitch angle of the top beam and a third pitch angle of the shield beam, or a first pitch angle of the base, a second pitch angle of the top beam, a third pitch angle of the shield beam, and pressure of the stand column jack and pressure of the pose regulating jack.
And step 402, determining the bracket posture of the hydraulic bracket according to the posture information.
The stand posture may include a first posture (may also be referred to as a "tip-up" posture), a second posture (may also be referred to as a "low-head" posture), a third posture (may also be referred to as a normal posture), and so on of the hydraulic stand.
In an exemplary embodiment, the computing device may acquire pose information of the hydraulic support in real time when the hydraulic support is in a bearing state, and further determine a support pose of the hydraulic support according to the pose information.
Taking pose information including a first pitch angle of a base, a second pitch angle of a top beam and a third pitch angle of a shield beam as an example, the process of determining the support pose of the hydraulic support according to the pose information can be as follows: position coordinates of the front end and the rear end of the top beam of the hydraulic support are determined according to the pose information; determining the front end height and the rear end height of the top beam according to the position coordinates of the front end and the rear end of the top beam, and comparing the front end height with the rear end height; if the front end height is larger than the rear end height, the support posture of the hydraulic support can be determined to be a first posture; if the front end height is smaller than the rear end height, the support posture of the hydraulic support can be determined to be a second posture; if the front end height is equal to the rear end height, the support posture of the hydraulic support can be determined to be a third posture. The process of determining the position coordinates of the front end and the rear end of the top beam of the hydraulic support according to the pose information can refer to related technologies, and will not be described herein.
And step 403, generating a regulating strategy of the posture regulating jack according to the posture of the bracket so as to control the extending length of the posture regulating jack according to the regulating strategy and adjust the hydraulic bracket to a preset posture.
The regulating strategy refers to a strategy for regulating the extending length of the posture regulating jack, and specifically can comprise a piston rod of the extending posture regulating jack or a piston rod of the contracting posture regulating jack, and a target regulating quantity of the extending length of the posture regulating jack.
In an exemplary embodiment, according to the posture of the bracket, the process of generating the regulation strategy of the posture regulation jack may be:
If the posture of the bracket is the first posture, determining a regulation strategy of the posture regulation jack as follows: a piston rod of the gesture regulating jack is extended to control the extending length of the gesture regulating jack to be increased until the hydraulic support is regulated to a preset gesture; if the posture of the bracket is the second posture, determining a regulation strategy of the posture regulation jack as follows: and (3) contracting a piston rod of the attitude control jack to control the extension length of the attitude control jack to be reduced until the hydraulic support is adjusted to a preset attitude.
Wherein, the target adjustment amount when the extension length of the control gesture regulation jack is increased or decreased can be determined by the following modes: according to the connection relation among all the components of the hydraulic support, determining the corresponding relation between the adjusting quantity of the extending length of the gesture adjusting jack and the adjusting angle of the top beam; determining a target angle to be adjusted when the top beam is adjusted from the current bracket posture to the preset posture according to the difference value between the front end height and the rear end height of the top beam and the difference value between the front end height and the rear end height of the top beam in the preset posture; and determining a target adjustment amount corresponding to the target angle according to the determined corresponding relation, wherein the target adjustment amount is a target increase amount or a target decrease amount of the extending length of the gesture adjusting jack when the hydraulic support is adjusted to a preset gesture.
In an exemplary embodiment, the computing device may determine whether to extend or retract the piston rod of the posture adjustment jack according to the posture of the support of the hydraulic support in the above manner to control the extension length of the posture adjustment jack to increase or decrease, and determine the target adjustment amount of the extension length of the posture adjustment jack, so that the extension length of the posture adjustment jack may be controlled by the electro-hydraulic controller to adjust the hydraulic support to a preset posture.
According to the gesture self-adaptive regulation and control method for the hydraulic support, the gesture information of the hydraulic support is acquired in real time when the hydraulic support is in the bearing state, the support state of the hydraulic support is determined according to the gesture information, and the regulation and control strategy of the gesture regulation and control jack is generated according to the support state, so that the extending length of the gesture regulation and control jack is controlled according to the regulation and control strategy, the hydraulic support is regulated to the preset gesture, and the support gesture of the hydraulic support is regulated in a self-adaptive mode when the hydraulic support is in the bearing state, so that the hydraulic support is guaranteed to be in a better stress state.
The method for adaptively adjusting and controlling the posture of the hydraulic support provided by the embodiment of the application is further described below with reference to fig. 5.
As shown in fig. 5, in the one-time coal cutting working cycle, when the hydraulic support lifts the column to support, the posture regulating jack can be set to be in a following state, the support posture of the hydraulic support is determined according to the posture information of the hydraulic support collected by the support state monitoring device in real time, the regulating strategy of the balance jack is generated according to the support posture, and then the balance jack is regulated according to the regulating strategy, so that the top beam of the hydraulic support is parallel to the trend direction of the working surface, and the column is lifted to support.
When the hydraulic support is in a bearing state after the lifting of the hydraulic support and the jacking are carried out (step 501), the support posture of the hydraulic support can be determined according to the posture information of the hydraulic support collected in real time by the support state monitoring device, whether the top beam of the hydraulic support is parallel to the trend of the working surface or not is judged according to the support posture (step 502), if so, the hydraulic support can be continuously used for supporting (step 503), the hydraulic support is pushed, slid, pulled and the like after coal cutting of the coal mining machine is carried out (step 504), whether the working surface is mined or not is judged to be finished (step 505), and if the working surface mining is not finished, the steps can be repeatedly executed until the working surface mining is finished.
When the hydraulic support is in a bearing state after the lifting column is connected with the top (step 501), if the top beam of the hydraulic support is determined to be not parallel to the trend of the working surface according to the pose information of the hydraulic support, namely, when the support pose of the hydraulic support is a low-head pose or a tilting pose, a regulating strategy of the gesture regulating jack can be generated according to the support pose (step 506), the extension length of the gesture regulating jack is controlled according to the regulating strategy (step 507), and whether the top beam of the hydraulic support is parallel to the trend of the working surface is judged again.
When the hydraulic support is in a 'tilting' posture, the regulating strategy comprises a piston rod of a regulating jack which stretches out of the posture so as to control the stretching length of the regulating jack to be increased, and the regulating strategy comprises the increasing amount of the stretching length of the regulating jack; when the hydraulic support is in a 'low head' posture, the regulating strategy comprises a piston rod of the posture regulating jack to control the reduction of the extending length of the posture regulating jack, and the regulating strategy comprises the reduction of the extending length of the posture regulating jack.
It can be understood that when the amplitude of the low head or the warping head of the hydraulic support is smaller, that is, the difference between the front end height and the rear end height of the top beam is smaller, the extending length of the lifting jack can be increased or decreased by controlling the gesture in one coal cutting working cycle, so that the hydraulic support can be adjusted to be parallel to the trend of the working surface at one time. When the amplitude of the low head or the warping head of the hydraulic support is large, namely the difference between the front end height and the rear end height of the top beam is large, the hydraulic support is difficult to adjust to the direction parallel to the trend of the top beam and the working surface at one time due to the large bearing capacity of the hydraulic support, and under the condition, the gesture adjusting jack can be adjusted and controlled for multiple times in the multiple coal cutting working cycle, so that the hydraulic support is adjusted to the direction parallel to the trend of the top beam and the working surface.
Specifically, in a coal cutting working cycle, if the difference between the front end height and the rear end height of the top beam of the hydraulic support is larger, the adjusting and controlling times of the gesture adjusting and controlling jack can be determined first, for example, 2 times or 3 times, and then when an adjusting and controlling strategy is generated, the target adjusting amount of the extending length of the gesture adjusting and controlling jack in the coal cutting working cycle can be calculated first, and then the balance jack is set to be in a follow-up state, the extending length of the gesture adjusting and controlling jack is controlled according to the target adjusting amount of the extending length of the gesture adjusting and controlling jack in the coal cutting working cycle, and in the next coal cutting working cycle, each step in fig. 5 can be repeated, so that the extending length of the gesture adjusting and controlling jack is controlled through multiple iterations, and the gesture adjusting jack is adjusted to be parallel to the top beam and the working face direction, so that the hydraulic support is in a good working state is ensured.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., 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 present application. In this specification, schematic representations of the above terms are not necessarily directed 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (8)
1. An attitude adaptive control system for a hydraulic mount, comprising:
The hydraulic support comprises a base, a shield beam and a gesture control jack, one end of the gesture control jack is connected with the base through a pin shaft, and the other end of the gesture control jack is connected with the shield beam through a pin shaft;
The support state monitoring device is arranged on the hydraulic support and is used for collecting pose information of the hydraulic support in real time when the hydraulic support is in a bearing state;
the computing device is in communication connection with the support state monitoring device and is used for determining the support posture of the hydraulic support according to the posture information and generating a regulation strategy of the posture regulation jack according to the support posture;
The electrohydraulic controller arranged on the hydraulic support comprises a main controller and an electrohydraulic reversing valve, wherein the main controller is connected with the electrohydraulic reversing valve, one end of the electrohydraulic reversing valve is connected with a main pipeline of the hydraulic support, the other end of the electrohydraulic reversing valve is connected with the gesture regulating jack, the electrohydraulic reversing valve is also connected with the computing device, the electrohydraulic reversing valve is used for controlling the extending length of the gesture regulating jack according to a first control signal sent by the main controller, and the electrohydraulic controller is used for controlling the extending length of the gesture regulating jack according to a regulating strategy so as to regulate the hydraulic support to a preset gesture.
2. The system of claim 1, wherein the hydraulic mount comprises a header;
When the support gesture is first gesture, the regulation strategy is: a piston rod of the gesture control jack is extended to control the extension length of the gesture control jack to be increased until the hydraulic support is adjusted to the preset gesture; wherein the front end height of the top beam is greater than the rear end height in the first posture;
When the bracket posture is the second posture, the regulation strategy is as follows: the piston rod of the gesture control jack is contracted to control the extension length of the gesture control jack to be reduced until the hydraulic support is adjusted to the preset gesture; and the front end height of the top beam is smaller than the rear end height in the second posture.
3. The system of claim 2, wherein the support status monitoring device comprises: the first inclination angle sensor is arranged on the base, and the second inclination angle sensor is arranged on the top beam and is used for collecting a first pitch angle of the base and a second pitch angle of the top beam in real time respectively;
the computing device is used for determining the bracket posture of the hydraulic bracket according to the first pitch angle and the second pitch angle and generating the regulation strategy according to the bracket posture.
4. The system of claim 3, wherein the support status monitoring device further comprises: the third inclination angle sensor is arranged on the shield beam and is used for acquiring a third pitch angle of the shield beam;
The computing device is used for determining the bracket posture of the hydraulic bracket according to the first pitch angle, the second pitch angle and the third pitch angle, and generating the regulation strategy according to the bracket posture.
5. The system of claim 1, wherein a displacement sensor is disposed within the attitude control jack for real-time acquisition of the extension length of the attitude control jack.
6. The system of claim 1, wherein the electro-hydraulic controller further comprises: the electrohydraulic check valve is connected with the main controller;
The electrohydraulic check valve is arranged in the hydraulic loop of the gesture control jack and is used for controlling the working state of the gesture control jack according to the second control signal sent by the main controller.
7. The utility model provides a posture self-adaptation regulation and control method of hydraulic support, its characterized in that, hydraulic support includes base, shield roof beam and posture regulation and control jack, the one end of posture regulation and control jack pass through the round pin axle with the base is connected, the other end of posture regulation and control jack pass through the round pin axle with the shield roof beam is connected, the method includes:
when the hydraulic support is in a bearing state, the pose information of the hydraulic support is obtained in real time through a support state monitoring device, wherein the support state monitoring device is arranged on the hydraulic support;
the computing device is in communication connection with the support state monitoring device, determines the support posture of the hydraulic support according to the posture information, and generates a regulation strategy of the posture regulation jack according to the support posture;
The electro-hydraulic controller is used for controlling the extending length of the gesture control jack according to the control strategy so as to adjust the hydraulic support to a preset gesture, wherein the electro-hydraulic controller is arranged on the hydraulic support and comprises a main controller and an electro-hydraulic reversing valve, the main controller is connected with the electro-hydraulic reversing valve, one end of the electro-hydraulic reversing valve is connected with a main pipeline of the hydraulic support, the other end of the electro-hydraulic reversing valve is connected with the gesture control jack, the electro-hydraulic reversing valve is further connected with the computing device, and the electro-hydraulic reversing valve is used for controlling the extending length of the gesture control jack according to a first control signal sent by the main controller.
8. The method of claim 7, wherein the hydraulic mount further comprises a header;
The pose information comprises a first pitch angle of the base, a second pitch angle of the top beam and a third pitch angle of the shield beam.
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