CN115573756A - Hydraulic support control system and method for coal mine gob-side entry retaining - Google Patents
Hydraulic support control system and method for coal mine gob-side entry retaining Download PDFInfo
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- CN115573756A CN115573756A CN202211575768.2A CN202211575768A CN115573756A CN 115573756 A CN115573756 A CN 115573756A CN 202211575768 A CN202211575768 A CN 202211575768A CN 115573756 A CN115573756 A CN 115573756A
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- hydraulic support
- support
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- controller
- side entry
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
- E21D23/14—Effecting automatic sequential movement of supports, e.g. one behind the other
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
- E21D23/14—Effecting automatic sequential movement of supports, e.g. one behind the other
- E21D23/148—Wireless transmission of signals or commands
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
- E21D23/26—Hydraulic or pneumatic control
Abstract
The invention provides a system and a method for controlling a hydraulic support for gob-side entry retaining of a coal mine, belonging to the technical field of control of hydraulic supports of fully mechanized coal mining equipment; the problems that the existing control mode of the hydraulic support in the gob-side entry retaining is high in labor intensity, low in production efficiency and high in safety risk and the pressure of the gob-side entry retaining top plate is monitored on line in real time are solved; the hydraulic support comprises a plurality of unit type hydraulic supports, wherein each hydraulic support is provided with a support controller, an electro-hydraulic control reversing valve, a pressure sensor arranged on a hydraulic support upright post and an inclination angle sensor respectively arranged on a hydraulic support top beam and a base; the multi-frame unit type hydraulic support is provided with a direct current stabilized power supply and a power adapter, and the direct current stabilized power supply supplies power to a support controller of the single-side multi-frame hydraulic support through the power adapter; installing an underground monitoring computer and a display in the fixed chamber; installing a ground control management platform on the well; configuring a certain number of remote controllers; the invention is applied to coal mines.
Description
Technical Field
The invention provides a hydraulic support control system and method for gob-side entry retaining of a coal mine, and belongs to the technical field of hydraulic support control of fully mechanized coal mining equipment.
Background
In recent years, with the gradual modernization and high efficiency of coal mine construction in China, the problem of mining and replacing tension is increasingly highlighted, so that the gob-side entry retaining technology with low coal pillar loss and less entry is frequently adopted by various large coal mines when the working faces are alternately arranged. Most mines in China are mined by underground workers, and the adjacent working faces are generally protected by coal pillars. Along with the mine exploitation degree of depth constantly increases, ground stress rises, and the ore pressure shows more acutely, and the width of lane protection coal pillar constantly increases, but tunnel country rock control effect does not consequently obtain guaranteeing, leads to the coal pillar to lose on the contrary and bigger. With the continuous improvement of the fully mechanized mining technology and mining equipment, the advancing speed of a working face becomes fast, and the problems that mine mining replacement is tense, the corner overrun influences the production safety and the advancing speed and the like are increasingly highlighted.
As a technology capable of realizing continuous mining without coal pillars between adjacent working faces, the gob-side entry retaining technology can not only cancel the protection coal pillars, reduce the tunneling rate and relieve the shortage of succession, but also realize a Y-shaped ventilation mode, reduce the influence of corner gas on the mining speed of the working faces and effectively increase the mining speed of high-gas working faces. However, the unit type hydraulic support for the gob-side entry retaining of the coal mine is operated in a hand-operated sheet valve control mode at present, so that the labor intensity of workers is high, the production efficiency is low, and the safety risk is high. Meanwhile, a mechanical pressure gauge is arranged on the unit type hydraulic support, the pressure of a gob-side entry retaining top plate cannot be monitored in real time on line, and certain potential safety hazards are provided. The hydraulic support electrohydraulic control system applied to the fully mechanized mining face cannot be used on a unit type hydraulic support, because the use scenes and the use methods of the hydraulic support electrohydraulic control system and the unit type hydraulic support are different. Therefore, the invention provides a control system and a control method of a hydraulic support for a coal mine gob-side entry retaining, which aim to overcome the defect of the control mode of the hydraulic support in the gob-side entry retaining.
Disclosure of Invention
The invention provides a hydraulic support control system and method for a coal mine gob-side entry retaining, and aims to solve the problems that the existing hydraulic support control mode in the gob-side entry retaining is high in labor intensity, low in production efficiency and high in safety risk and real-time online monitoring of gob-side entry retaining top plate pressure is realized.
In order to solve the technical problems, the invention adopts the technical scheme that: a hydraulic support control system for a coal mine gob-side entry retaining comprises a plurality of unit type hydraulic supports, wherein each unit type hydraulic support is provided with a support controller, an electro-hydraulic control reversing valve, a pressure sensor arranged on a hydraulic support upright post and an inclination angle sensor respectively arranged on a hydraulic support top beam and a base, and the support controller is respectively connected with the electro-hydraulic control reversing valve, the pressure sensor and the inclination angle sensor through cable connectors;
the multi-frame unit type hydraulic support is provided with a direct current stabilized power supply and a power adapter, and the direct current stabilized power supply supplies power to a support controller of the single-side multi-frame unit type hydraulic support through the power adapter;
installing an underground monitoring computer and a display in the fixed chamber;
installing a ground control management platform on the well;
and a plurality of hydraulic support remote controllers are configured.
And the underground monitoring computer is communicated with the bracket controllers of all the unit type hydraulic brackets through the exchanger and the coupler.
The pressure sensor is specifically installed on a one-way lock of a lower cavity of each upright column of the unit type hydraulic support.
The underground monitoring computer collects action signals and posture information of each unit type hydraulic support and uploads corresponding information to the underground control management platform according to a communication protocol; and the aboveground control management platform performs visual control and management work.
The remote controller is used for carrying out wireless data communication function with the bracket controller and issuing a control instruction.
The electro-hydraulic control reversing valve is of a combined structure and comprises an electromagnetic pilot valve, a hydraulic control main valve body, a valve core and a filter core, wherein the electromagnetic pilot valve acts by means of suction force generated by electrifying of electromagnetic coils, one electromagnetic pilot valve is provided with two electromagnetic coils and controls two actions respectively, the action of the electromagnetic pilot valve can directly press the outer end of a push rod besides the suction force of the electromagnetic coils, and the push rod drives the pilot valve core to act.
The support controller is internally integrated with the functions of control, man-machine interaction, electromagnetic valve driving, remote control receiving and data uploading.
A control method of a hydraulic support for a coal mine gob-side entry retaining adopts a control system of the hydraulic support for the coal mine gob-side entry retaining, and comprises the following steps:
s1: after a hydraulic support control system for a coal mine gob-side entry retaining is powered on, a support controller firstly carries out self-checking and acquires and uploads information of pressure and inclination angle of a unit type hydraulic support where the support controller is located, if no control instruction is input within set time, the support controller enters a low power consumption mode, and if the control instruction is input within the set time, the support controller enters a working mode;
s2: the method comprises the following steps of (1) carrying out key operation and rack selection operation on a panel of a rack controller to awaken an operation rack and a rack controller of a selected rack, and carrying out rack selection operation on a panel of a remote controller to awaken the rack controller of the selected rack;
s3: after the support controller is awakened or powered on to enter a working mode, the acquired pressure and inclination angle signals are uploaded to an underground monitoring computer and an aboveground control management platform in real time; the support controller regularly uploads the acquired pressure and inclination angle signals to an underground monitoring computer and an aboveground control management platform in a low power consumption mode;
s4: the method comprises the following steps that an aboveground control management platform carries out visual display of pressure and an inclination angle of a gob-side entry retaining unit type hydraulic support, and early warning is carried out on pressure and inclination angle data exceeding a threshold value;
s5: adjusting and downloading a control strategy on an aboveground control management platform, wherein the control strategy comprises a pressure protection strategy and an intelligent pressure compensation strategy, the pressure protection strategy is that a system detects the pressure of an upright post of an adjacent support before the action of lowering the column is executed, and the column lowering action is not executed when the pressure is lower than a threshold value, so that the effective support of a top plate nearby when the support lowers the column is realized;
the intelligent pressure supplementing strategy is that when the pressure of the upright post of the non-withdrawing support is reduced to a threshold value, the post lifting instruction is automatically executed, and the effective support of the top plate is realized.
The retraction of the nth frame unit type hydraulic support is realized by the following modes:
firstly, performing on-site adjacent shelf and shelf separation operation by manually pressing a key on a support controller of an (n + 1) th shelf or an (n + 2) th shelf;
secondly, selecting the nth remote control operation within the sight distance range through the key control of a remote controller;
and thirdly, selecting the nth hydraulic support by an underground monitoring computer or an aboveground control management platform, and then sending a remote control instruction to carry out remote control.
After the nth unit type hydraulic support at the far end of the gob-side entry retaining is withdrawn, only the liquid pipe and the cable connector between the nth and the (n + 1) th unit type hydraulic supports are removed, and liquid supply and power supply of the (n + 1) th unit type hydraulic support at the near end of the gob-side entry retaining are not affected.
Compared with the prior art, the invention has the beneficial effects that: according to the control system and the control method for the hydraulic support for the gob-side entry retaining of the coal mine, provided by the invention, the unit type hydraulic support control system is arranged, and the multi-unit type hydraulic support realizes data monitoring and linkage control, so that the labor cost is reduced, the labor intensity is reduced, the safety coefficient is increased, the working efficiency is improved, and the coal mining speed is finally improved.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a block diagram of a hydraulic support control system for a coal mine gob-side entry retaining of the present invention;
FIG. 2 is a schematic layout diagram of a single hydraulic support for a coal mine gob-side entry retaining according to the invention;
in the figure: the device comprises a bracket controller 1, an electro-hydraulic control reversing valve 2, a pressure sensor 3 and an inclination angle sensor 4.
Detailed Description
As shown in fig. 1 to 2, the invention provides a hydraulic support control system for a coal mine gob-side entry retaining, which should support at most 200 unit-type hydraulic supports, each unit-type hydraulic support is provided with a support controller 1, an electro-hydraulic control reversing valve 2, two pressure sensors 3, two inclination sensors 4 and a cable connector; a direct current stabilized power supply and a power adapter are arranged on each x frame (x is more than or equal to 10) unit type hydraulic support; installing an underground monitoring computer and a display in the fixed chamber; installing a ground control management platform on the well; and a certain number of hydraulic support remote controllers are configured.
The underground monitoring computer is communicated with the bracket controller 1 of each unit type hydraulic bracket through a switch and a coupler; the bracket controller 1 is communicated with the inclination angle sensor 4 and the pressure sensor 3 in the bracket through cable connectors; the inclination angle sensors 4 are arranged on a base and a top beam of the unit type hydraulic support, and 2 inclination angle sensors are arranged on each support; the pressure sensor 3 is arranged on a one-way lock of a lower cavity of each upright post of the unit type hydraulic support, and 2 pressure sensors are arranged on each upright post.
The aboveground control management platform is communicated with an underground monitoring computer through a mine ring network. The underground monitoring computer can collect action signals and posture information of each unit type hydraulic support and upload corresponding information to the underground control management platform according to data transmission specifications; the aboveground control management platform can perform visual control and management work.
The support controller 1 is a highly integrated product and integrates the functions of control, man-machine interaction, electromagnetic valve driving, remote control receiving, data uploading and the like. According to a unit hydraulic support process scenario, the support controller 1 is provided with a working mode and a low power consumption mode. In the working mode, the support controller 1 receives and executes the control instruction, and uploads information in real time. If no control instruction is input within a certain time, the system automatically switches to a low power consumption mode, and only a timing uploading function and a wake-up response function are reserved in the mode.
The electro-hydraulic control reversing valve 2 is of a combined structure and comprises an electromagnetic pilot valve, a hydraulic control main valve body, a valve core, a filter element and the like; the electromagnetic pilot valve is actuated by means of attraction generated by electrifying the electromagnetic coils, one electromagnetic pilot valve is provided with two electromagnetic coils, and one stand column is respectively controlled to realize two actions: a rising column and a falling column. The action of the electromagnetic pilot valve depends on the attraction of the electromagnetic coil, the outer end of the push rod can be directly pressed, the push rod drives the pilot valve core to act, and the push rod is positioned at the top of the electromagnetic pilot valve and is the same with the push rod attracted by the electromagnetic coil.
The pressure sensor 3 is used for detecting the liquid pressure in the lower cavity of the upright post of the bracket and monitoring the supporting state of the hydraulic bracket in real time. The continuously varying pressure signal is converted to an analog voltage signal to the stent controller 1.
The tilt angle sensor 4 is used for collecting the tilt angle state of the tested equipment (component), and comprises a pitch angle and a roll angle.
The hydraulic support remote controller is used for performing a wireless data communication function with the support controller 1 and issuing a control instruction.
The direct current stabilized voltage power supply is used for supplying power to the bracket controller 1, and the rated input voltage is as follows: AC 127V, output voltage: 1 way DC 12V. The 1 DC stabilized power supply only outputs 1 path of intrinsic safety power supply and only supplies power to the x stand controllers 1 on one side. The unit type hydraulic support at the farthest end of the power supply is firstly withdrawn, and the unit type hydraulic support can be well supported to be withdrawn in a single-side power supply mode.
The power adapter is used for coupling communication signals between the bracket controllers 1 powered by different direct current stabilized power supplies.
The invention provides a control method of a unit type hydraulic support for a coal mine gob-side entry retaining, which comprises the following control steps: after a hydraulic support control system for a coal mine gob-side entry retaining is powered on, a support controller 1 firstly carries out self-checking and acquires and uploads pressure and inclination angle information of a unit type hydraulic support where the support controller is located, and if no control instruction is input within 3 minutes, the support controller 1 enters a low power consumption mode.
The key operation and the rack selection operation are carried out on the controller panel of the unit type hydraulic support, and the operation rack and the support controller 1 of the selected rack can be awakened. The rack selecting operation is carried out on the panel of the remote controller, and the rack controller 1 of the selected rack can be awakened.
According to fig. 2, assuming that the unit hydraulic support of the 1 st frame in fig. 2 is retracted first, the support column lowering action signal can be input in the following three ways, which are respectively suitable for different scenes. Firstly, performing on-site adjacent frame and separation frame operation by manually pressing a key on a support controller 1 of the 2 nd or 3 rd frame; secondly, the 1 st unit type hydraulic support is selected to carry out remote control operation within the range of sight distance through the key control of a remote controller; the sight distance range is based on the condition that the supporting state and the surrounding environment of the controlled frame can be ensured, and the safety production is ensured; and thirdly, selecting the 1 st unit type hydraulic support through an underground monitoring computer or an aboveground control management platform, and then sending a remote control instruction to carry out remote control.
After the 1 st unit type hydraulic support is withdrawn, a liquid pipe and a cable connector between the 1 st and the 2 nd units are removed, and liquid supply and power supply of the 2 nd unit type hydraulic support are not influenced.
The support controller 1 uploads the collected pressure and inclination angle signals to an underground monitoring computer and an aboveground control management platform in real time in a working mode; the rack controller 1 uploads the collected pressure and inclination angle signals to a downhole monitoring computer and an uphole control management platform at regular time (for example, every 30 minutes) in a low power consumption mode.
And the underground control management platform performs visual display of the pressure and the inclination angle of the gob-side entry retaining unit type hydraulic support, and performs early warning on pressure and inclination angle data exceeding a threshold value.
The control management platform on the well can adjust and download the control strategy, and has a pressure protection strategy and an intelligent pressure compensation strategy. And (3) a pressure protection strategy, for example, the 1 st unit type hydraulic support can detect the column pressure of the 2 nd unit type hydraulic support before the column descending action is executed, when the column pressure of the 2 nd unit type hydraulic support is lower than a threshold value, the column descending action of the 1 st unit type hydraulic support is not executed, and the effective support of a top plate nearby when the support descends the column is ensured. The intelligent pressure supplementing strategy is that when the pressure of an upright column of a non-withdrawing support such as an x +1 unit type hydraulic support is reduced to a threshold value, a system can automatically execute a column lifting instruction, and effective support of a top plate is guaranteed.
It should be noted that, regarding the specific structure of the present invention, the connection relationship between the modules adopted in the present invention is determined and can be realized, except for the specific description in the embodiment, the specific connection relationship can bring the corresponding technical effect, and the technical problem proposed by the present invention is solved on the premise of not depending on the execution of the corresponding software program.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a colliery is hydraulic support control system for gob entry which characterized in that: the hydraulic support comprises a plurality of unit type hydraulic supports, wherein each unit type hydraulic support is provided with a support controller, an electro-hydraulic control reversing valve, a pressure sensor arranged on a hydraulic support upright post and an inclination angle sensor respectively arranged on a hydraulic support top beam and a base;
the multi-frame unit type hydraulic support is provided with a direct current stabilized power supply and a power adapter, and the direct current stabilized power supply supplies power to a support controller of the single-side multi-frame unit type hydraulic support through the power adapter;
installing an underground monitoring computer and a display in the fixed chamber;
installing a ground control management platform on the well;
and a plurality of hydraulic support remote controllers are configured.
2. The hydraulic support control system for the coal mine gob-side entry retaining according to claim 1, characterized in that: and the underground monitoring computer is communicated with the support controllers of all the unit type hydraulic supports through the exchanger and the coupler.
3. The hydraulic support control system for the coal mine gob-side entry retaining according to claim 1, characterized in that: the pressure sensor is specifically installed on a one-way lock of a lower cavity of each upright column of the unit type hydraulic support.
4. The hydraulic support control system for the coal mine gob-side entry retaining according to claim 1, characterized in that: the underground monitoring computer collects action signals and posture information of each unit type hydraulic support and uploads corresponding information to the underground control management platform according to a communication protocol; and the aboveground control management platform performs visual control and management work.
5. The hydraulic support control system for the coal mine gob-side entry retaining according to claim 1, characterized in that: the remote controller is used for carrying out wireless data communication function with the bracket controller and issuing a control instruction.
6. The hydraulic support control system for the coal mine gob-side entry retaining according to claim 1, characterized in that: the electro-hydraulic control reversing valve is of a combined structure and comprises an electromagnetic pilot valve, a hydraulic control main valve body, a valve core and a filter core, wherein the electromagnetic pilot valve acts by means of suction force generated by electrifying of electromagnetic coils, one electromagnetic pilot valve is provided with two electromagnetic coils and controls two actions respectively, the action of the electromagnetic pilot valve can directly press the outer end of a push rod besides the suction force of the electromagnetic coils, and the push rod drives the pilot valve core to act.
7. The hydraulic support control system for the coal mine gob-side entry retaining according to claim 1, characterized in that: the support controller is internally integrated with the functions of control, man-machine interaction, electromagnetic valve driving, remote control receiving and data uploading.
8. A control method of a hydraulic support for coal mine gob-side entry retaining, which adopts the control system of the hydraulic support for coal mine gob-side entry retaining according to any one of claims 1 to 7, and is characterized in that: the method comprises the following steps:
s1: after a hydraulic support control system for a coal mine gob-side entry retaining is powered on, a support controller firstly carries out self-checking and acquires and uploads information of pressure and inclination angle of a unit type hydraulic support where the support controller is located, if no control instruction is input within set time, the support controller enters a low power consumption mode, and if the control instruction is input within set time, the support controller enters a working mode;
s2: the method comprises the following steps of (1) carrying out key operation and rack selection operation on a panel of a rack controller to awaken an operation rack and a rack controller of a selected rack, and carrying out rack selection operation on a panel of a remote controller to awaken the rack controller of the selected rack;
s3: after the support controller is awakened or powered on to enter a working mode, the acquired pressure and inclination angle signals are uploaded to an underground monitoring computer and an aboveground control management platform in real time; the support controller regularly uploads the acquired pressure and inclination angle signals to an underground monitoring computer and an aboveground control management platform in a low power consumption mode;
s4: the underground control management platform performs visual display of the pressure and the inclination angle of the gob-side entry retaining unit type hydraulic support, and performs early warning on the pressure and inclination angle data exceeding a threshold value;
s5: adjusting and downloading a control strategy on an aboveground control management platform, wherein the control strategy comprises a pressure protection strategy and an intelligent pressure compensation strategy, the pressure protection strategy is that a system detects the pressure of an upright post of an adjacent support before the action of lowering the column is executed, and the column lowering action is not executed when the pressure is lower than a threshold value, so that the effective support of a top plate nearby when the support lowers the column is realized;
and (3) an intelligent pressure supplementing strategy, namely, when the pressure of the upright post of the non-withdrawn support is reduced to a threshold value, automatically executing a post lifting instruction, and realizing effective support of the top plate.
9. The control method of the hydraulic support for the coal mine gob-side entry retaining according to claim 8, characterized by comprising the following steps: the retraction of the nth frame unit type hydraulic support is realized by the following modes:
firstly, performing on-site adjacent shelf and shelf separation operation by manually pressing a key on a support controller of an (n + 1) th shelf or an (n + 2) th shelf;
secondly, selecting the nth frame remote control operation within the sight distance range through the key control of a remote controller;
and thirdly, selecting the nth hydraulic support by an underground monitoring computer or an aboveground control management platform, and then sending a remote control instruction to carry out remote control.
10. The control method of the hydraulic support for the coal mine gob-side entry retaining according to claim 9, characterized by comprising the following steps: after the nth unit type hydraulic support at the far end of the gob-side entry retaining is withdrawn, only the liquid pipe and the cable connector between the nth and the (n + 1) th unit type hydraulic supports are removed, and liquid supply and power supply of the (n + 1) th unit type hydraulic support at the near end of the gob-side entry retaining are not affected.
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