CN116591740A - Method for judging frame moving state of fully mechanized mining face - Google Patents
Method for judging frame moving state of fully mechanized mining face Download PDFInfo
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- CN116591740A CN116591740A CN202310711841.2A CN202310711841A CN116591740A CN 116591740 A CN116591740 A CN 116591740A CN 202310711841 A CN202310711841 A CN 202310711841A CN 116591740 A CN116591740 A CN 116591740A
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- 238000000034 method Methods 0.000 title claims abstract description 61
- 238000005065 mining Methods 0.000 title claims abstract description 59
- 239000003245 coal Substances 0.000 claims abstract description 72
- 230000009471 action Effects 0.000 claims abstract description 22
- 238000005520 cutting process Methods 0.000 claims abstract description 5
- 230000008569 process Effects 0.000 claims description 30
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 6
- 238000007667 floating Methods 0.000 claims description 5
- 230000009467 reduction Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract description 3
- 238000004458 analytical method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
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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
- E21D23/18—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices of advancing mechanisms
- E21D23/20—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices of advancing mechanisms for sequential movement, e.g. one behind the other
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides a judging method of a fully mechanized mining face frame moving state, and belongs to the technical field of hydraulic support frame moving judgment; the judgment result of the frame moving state of the system can be formed, the precondition of the frame moving of the automatic coal feeding at present can be solved, and the defect of calculation of the coal cutter can be overcome; the method comprises the following steps: acquiring a frame moving action signal of a hydraulic support in a fully mechanized coal mining face, stroke data of a pushing cylinder of the hydraulic support and column pressure of the hydraulic support in real time, and acquiring the position and the direction of a coal mining machine; judging and analyzing according to the frame moving action signals of the hydraulic supports, the stroke data of the hydraulic support cylinders, the column pressure of the hydraulic supports and the position and the direction of the coal mining machine, so as to obtain a judging result of whether a certain hydraulic support moves, and the like, so as to obtain the frame moving results of all the hydraulic supports on the fully-mechanized coal mining working surface in the coal cutting process, and marking that one cutter is completed when all the hydraulic supports are completely moved; the invention is applied to the hydraulic support.
Description
Technical Field
The invention provides a method for judging a frame moving state of a fully mechanized mining face, and belongs to the technical field of hydraulic support frame moving judgment.
Background
The equipment intellectualization of the fully mechanized mining face is a major topic in the current coal mining process, and analysis based on data in the coal mining process is a foundation for realizing the fully mechanized mining intellectualization. At present, the informatization level of the coal mine working face has a certain foundation, but due to various network or equipment reasons, production process data with incomplete data quality is formed, and one type of data is singly used for analysis, so that a reasonable result cannot be obtained, and in the analysis process, the operation data is combined and analyzed by combining phenomena and results, so that the method is a reasonable mode.
In the coal mining process, whether the hydraulic support finishes moving the support is a basis for performing a series of intelligent decisions and intelligent analysis such as remote automatic control, automatic and manual cooperation, data analysis and the like, and particularly, the hydraulic support finishes moving the support on the premise of automatic coal discharge. At present, a judging method for whether a hydraulic support moves on a fully mechanized mining face does not exist, namely, action conditions in a certain time period are simply recorded, or data of a real-time travel sensor are collected and displayed, but the method lacks a unified global analysis result, lacks a historical frame moving result, and cannot generate a result report which can be used effectively by automatic control, automatic cooperation and data analysis. On the other hand, the current algorithm of the cutter number is calculated according to the position of the coal cutter, but the cutter number can be divided into a coal cutter, a frame moving cutter and a pushing cutter, wherein the coal cutter is measured by taking the coal cutter as a dimension, the frame moving cutter is measured by taking a hydraulic support as a dimension, the pushing cutter is measured by taking a scraper-trough conveyer as a dimension, and the coal cutter has a certain error in the middle cutter feeding process, so that the calculation result is inaccurate.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a method for judging the frame moving state of a fully mechanized coal mining face, which takes the frame moving as a precondition for automatic coal discharging, forms a judging result of the frame moving state of a system, and makes up the defect of coal cutter calculation.
In order to solve the technical problems, the invention adopts the following technical scheme: a judging method of the fully-mechanized coal mining face frame moving state comprises the following steps:
s1: acquiring a frame moving action signal of a hydraulic support in a fully mechanized mining face, stroke data of a hydraulic support pushing cylinder and column pressure of the hydraulic support in real time, and acquiring a frame number position and a frame moving direction of the hydraulic support where a coal mining machine is located;
s2: and judging and analyzing according to the frame moving action signals of the hydraulic supports, the stroke data of the hydraulic support pushing cylinder, the column pressure of the hydraulic support and the position and the direction of the coal mining machine, so as to obtain the judging result of whether a certain hydraulic support moves or not, and the like, so as to obtain the frame moving result of all the hydraulic supports on the fully-mechanized coal mining working surface in the coal cutting process, and marking one cutter to be completed when all the hydraulic supports are completely moved.
The frame moving action signal of the hydraulic support in the step S1 is obtained by collecting a current signal of the electromagnetic pilot valve connected with a driver through an electro-hydraulic control controller, stroke data of a hydraulic support pushing cylinder are collected through a stroke sensor arranged in the hydraulic support pushing cylinder, column pressure of the hydraulic support is collected through a pressure sensor arranged on a hydraulic control one-way valve of a lower cavity of the column, and the frame number position and the frame moving direction of the hydraulic support where the coal mining machine is located are obtained through a walking encoder arranged on the coal mining machine.
In the step S2, the judging process of whether a certain hydraulic bracket moves is as follows:
s21, after the beveling feeding is finished, when all the hydraulic supports are finished moving the support, initializing and configuring, wherein the initializing and configuring needs to configure the number of the next knife, the direction of the next knife is the small-size direction or the large-size direction, and the starting and stopping range of the middle section of the hydraulic support is configured;
s22, judging whether the position of the coal mining machine is in the range of the middle section of the hydraulic support, if so, executing S23, and if not, executing S24;
s23, if the current position of the coal cutter is in the range of the middle section of the hydraulic support, monitoring the action, pressure and travel data of the hydraulic support behind the position of the coal cutter, and judging whether the hydraulic support behind the position of the coal cutter is moved to finish the frame;
s24, if the current position of the coal mining machine is not in the range of the middle section of the hydraulic support, monitoring the motion, pressure and travel data of all the hydraulic supports on the fully-mechanized coal mining face, and judging whether all the hydraulic supports on the fully-mechanized coal mining face are moved;
and S25, judging whether 4 frames are moved before and after the hydraulic frames which are not moved are respectively used for the frames, and if all the surrounding 4 frames are moved, marking the frames as the frames are moved.
In the step S23, the process of judging whether the hydraulic support of the cutter frame is moved is completed as follows:
s23.1, judging whether a certain hydraulic support has a pulling action; if yes, after the monitoring of the frame moving action is finished, marking the hydraulic support of the cutter frame as the frame moving completion;
s23.2, judging whether the stroke value of a certain hydraulic support is changed from large to small, wherein the number of different data points in the stroke reducing process is more than or equal to 3, the reduction of the stroke value is more than or equal to 50cm, and when the stroke value meets the above conditions, marking the hydraulic support of the tool holder as a frame moving completion;
s23.3, judging whether the column pressure of the hydraulic support has a change trend, namely, in the process of descending and lifting the hydraulic support, the column pressure can have a pressure descending- > pressure floating at a certain low point- > pressure lifting process, analyzing the occurrence of frame lifting according to the pressure change process trend, and marking the hydraulic support of the cutter frame as the frame lifting completion when the data trend of the column pressure meets the above conditions;
and if any one of the three components S23.1, S23.2 and S23.3 is met, the hydraulic support of the cutter holder is considered to be completed.
The number of different data points in the process of requiring pressure drop in the step S23.3 is more than or equal to 3, the number of different data points in the process of floating at a low point is more than or equal to 2, and the pressure is required to reach the set pressure value again within 15 seconds after the pressure drops to the lowest point.
In the step S2, the judgment on whether a certain hydraulic support moves or not does not include a machine head hydraulic support connected in parallel with the reversed loader.
When the hydraulic support of one knife is completely marked, the knife is ended, the number of the knives is increased by 1, and the next knife is judged to be started.
Compared with the prior art, the invention has the following beneficial effects: according to the method for judging the frame moving state of the fully-mechanized mining face, the occurrence of frame moving is reversely deduced according to the travel and pressure data generated in the frame moving process, so that the judgment of whether frame moving is completed or not can be more accurate, and the judgment is not completely dependent on action signals. The judgment of the frame moving cutter is not carried out according to the position of the coal cutter, but the hydraulic support is pushed forward by one cutting depth as a dimension, so that the frame moving cutter is more accurate and reasonable, in addition, if the cutter number is calculated by the position of the coal cutter only, the middle cutter feeding process can cause more errors in calculated cutter number than the actual cutter number, and the frame moving cutter can be applied to the middle cutter feeding process.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
As shown in fig. 1, the invention provides a method for judging the frame moving state of a fully-mechanized coal mining face, which is used for collecting frame moving action signals of a hydraulic support in the fully-mechanized coal mining face, collecting values of a travel sensor arranged in an oil cylinder of the hydraulic support, collecting column pressure of the hydraulic support and collecting the position and the direction of a coal mining machine in real time. And the collected data is used for carrying out algorithm judgment and analysis to obtain the result of whether a certain hydraulic support is moved or not, and the like, so as to obtain the frame moving result of all the hydraulic supports in the coal cutting process, and when all the hydraulic supports are completely moved, a cutter is marked to be completed.
Specifically, the software program related to the method is deployed in a gate centralized control system, current signals of a pull frame action port of a driver of a hydraulic support are collected through an electro-hydraulic controller, the driver is connected with an electromagnetic pilot valve, the electromagnetic pilot valve is connected with a main valve, the main valve is connected with an oil cylinder, the controller judges and converts the collected current signals into pull frame action signals, the electro-hydraulic controller collects values of a travel sensor installed in a pushing oil cylinder of the hydraulic support, collects values of a pressure sensor installed on a hydraulic control one-way valve of a lower cavity of a stand column, and then the electro-hydraulic controller forwards the collected signals to an electro-hydraulic control server, and the electro-hydraulic control server forwards the collected signals to the gate centralized control system.
The method for judging the frame moving comprises the following specific steps:
s1, after the beveling feeding is finished, when all the hydraulic supports are finished moving the supports, initializing configuration is carried out, the number of next cutters is required to be configured in the initializing configuration, the direction of the next cutters is the small-size direction or the large-size direction, and the starting and stopping range of the middle section of the hydraulic support is configured. The method comprises the steps of initializing data, presetting the number of cutters, the advancing direction of the next cutter coal cutter and the middle section of a hydraulic support according to different coal mining processes or requirements, limiting the accumulation of the number of the follow-up cutters and judging the frame number range of the hydraulic support for frame moving, wherein the starting and stopping range of the middle section of the hydraulic support can be set according to the number of all the hydraulic supports on a fully mechanized mining face, and if 100 hydraulic supports exist, the middle section can be set to 21-80 frames.
S2, judging whether the position of the coal mining machine is in the range of the middle section of the hydraulic support, if so, executing S3, and if not, executing S4. The judgment of the position of the coal mining machine in the step is realized through a walking encoder arranged on the coal mining machine, the distance of the current coal mining machine and the advancing direction of the coal mining machine can be converted according to the number of turns of the walking encoder, and then the distance of the coal mining machine is converted into the frame number of the corresponding hydraulic support, so that whether the coal mining machine is positioned in the middle section range of the hydraulic support can be judged.
And S3, if the current position of the coal mining machine is in the range of the middle section of the hydraulic support, monitoring the action, pressure and travel data of the hydraulic support behind the position of the coal mining machine, and executing judgment logics of S3.1, S3.2 and S3.3.
S3.1, judging whether a certain hydraulic support has a pulling frame action or not; if yes, after the monitoring of the frame moving action is finished, marking the hydraulic support of the cutter frame as the frame moving completion;
s3.2, judging whether the stroke value of a certain hydraulic support changes from large to small, wherein the number of different data points in the stroke reduction process is more than or equal to 3, the reduction of the stroke value is more than or equal to 50cm (the number of 3 data points and the number of 50cm can be adjusted according to different working surfaces), and marking the hydraulic support of the cutter frame as frame moving completion when the stroke value meets the conditions;
s3.3, judging whether the column pressure of the hydraulic support changes trend, wherein the change trend means that in the process of lowering, moving and lifting the hydraulic support, the column pressure can be subjected to pressure drop- > pressure floating at a certain low point- > pressure lifting process, and the occurrence of frame moving can be analyzed according to the pressure change process trend, wherein the number of different data points in the process of requiring pressure drop is more than or equal to 3, the number of different data points in the process of requiring pressure drop is more than or equal to 2, and the pressure is required to reach 24MPa again in 15 seconds after the pressure drops to the lowest point (3 data points, 2 data points, 15 seconds and 24MPa can be subjected to parameter adjustment according to different working surfaces), and when the column pressure data trend meets the conditions, the frame moving hydraulic support is marked as frame moving completion;
and S3.1, S3.2 and S3.3 meet the requirement that the hydraulic support of the cutter frame is moved.
And S4, if the current position of the coal mining machine does not belong to the middle section range, monitoring all hydraulic support motion, pressure and travel data of the working face, and executing judgment logic of S3.1, S3.2 and S3.3.
And S5, judging whether 4 frames are moved before and after each hydraulic support without moving the frames when the number of frames for completing the frame moving of all the hydraulic supports is more than 98% of the total number of frames, and marking the hydraulic support as frame moving completion if all the surrounding 4 frames are moved.
S6, because the head end headstock is related to the reversed loader, in the judgment logic, the head hydraulic support can be eliminated.
When the support of one knife is completely marked, the number of the knife is increased by 1, the next knife is started, and the calculation method of the moving rack knife is obtained.
The specific structure of the invention needs to be described that the connection relation between the component modules adopted by the invention is definite and realizable, and besides the specific description in the embodiment, the specific connection relation can bring about corresponding technical effects, and on the premise of not depending on execution of corresponding software programs, the technical problems of the invention are solved, the types of the components, the modules and the specific components, the connection modes of the components and the expected technical effects brought by the technical characteristics are clear, complete and realizable, and the conventional use method and the expected technical effects brought by the technical characteristics are all disclosed in patents, journal papers, technical manuals, technical dictionaries and textbooks which can be acquired by a person in the field before the application date, or the prior art such as conventional technology, common knowledge in the field, and the like, so that the provided technical scheme is clear, complete and the corresponding entity products can be reproduced or obtained according to the technical means.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (7)
1. A judging method of the frame moving state of a fully mechanized coal mining face is characterized by comprising the following steps: the method comprises the following steps:
s1: acquiring a frame moving action signal of a hydraulic support in a fully mechanized mining face, stroke data of a hydraulic support pushing cylinder and column pressure of the hydraulic support in real time, and acquiring a frame number position and a frame moving direction of the hydraulic support where a coal mining machine is located;
s2: and judging and analyzing according to the frame moving action signals of the hydraulic supports, the stroke data of the hydraulic support pushing cylinder, the column pressure of the hydraulic support and the position and the direction of the coal mining machine, so as to obtain the judging result of whether a certain hydraulic support moves or not, and the like, so as to obtain the frame moving result of all the hydraulic supports on the fully-mechanized coal mining working surface in the coal cutting process, and marking one cutter to be completed when all the hydraulic supports are completely moved.
2. The method for judging the frame moving state of the fully-mechanized coal mining face according to claim 1, wherein the method comprises the following steps: the frame moving action signal of the hydraulic support in the step S1 is obtained by collecting a current signal of the electromagnetic pilot valve connected with a driver through an electro-hydraulic control controller, stroke data of a hydraulic support pushing cylinder are collected through a stroke sensor arranged in the hydraulic support pushing cylinder, column pressure of the hydraulic support is collected through a pressure sensor arranged on a hydraulic control one-way valve of a lower cavity of the column, and the frame number position and the frame moving direction of the hydraulic support where the coal mining machine is located are obtained through a walking encoder arranged on the coal mining machine.
3. The method for judging the frame moving state of the fully-mechanized coal mining face according to claim 2, wherein the method comprises the following steps: in the step S2, the judging process of whether a certain hydraulic bracket moves is as follows:
s21, after the beveling feeding is finished, when all the hydraulic supports are finished moving the support, initializing and configuring, wherein the initializing and configuring needs to configure the number of the next knife, the direction of the next knife is the small-size direction or the large-size direction, and the starting and stopping range of the middle section of the hydraulic support is configured;
s22, judging whether the position of the coal mining machine is in the range of the middle section of the hydraulic support, if so, executing S23, and if not, executing S24;
s23, if the current position of the coal cutter is in the range of the middle section of the hydraulic support, monitoring the action, pressure and travel data of the hydraulic support behind the position of the coal cutter, and judging whether the hydraulic support behind the position of the coal cutter is moved to finish the frame;
s24, if the current position of the coal mining machine is not in the range of the middle section of the hydraulic support, monitoring the motion, pressure and travel data of all the hydraulic supports on the fully-mechanized coal mining face, and judging whether all the hydraulic supports on the fully-mechanized coal mining face are moved;
and S25, judging whether 4 frames are moved before and after the hydraulic frames which are not moved are respectively used for the frames, and if all the surrounding 4 frames are moved, marking the frames as the frames are moved.
4. The method for judging the frame moving state of the fully-mechanized coal mining face according to claim 3, wherein the method comprises the following steps: in the step S23, the process of judging whether the hydraulic support of the cutter frame is moved is completed as follows:
s23.1, judging whether a certain hydraulic support has a pulling action; if yes, after the monitoring of the frame moving action is finished, marking the hydraulic support of the cutter frame as the frame moving completion;
s23.2, judging whether the stroke value of a certain hydraulic support is changed from large to small, wherein the number of different data points in the stroke reducing process is more than or equal to 3, the reduction of the stroke value is more than or equal to 50cm, and when the stroke value meets the above conditions, marking the hydraulic support of the tool holder as a frame moving completion;
s23.3, judging whether the column pressure of the hydraulic support has a change trend, namely, in the process of descending and lifting the hydraulic support, the column pressure can have a pressure descending- > pressure floating at a certain low point- > pressure lifting process, analyzing the occurrence of frame lifting according to the pressure change process trend, and marking the hydraulic support of the cutter frame as the frame lifting completion when the data trend of the column pressure meets the above conditions;
and if any one of the three components S23.1, S23.2 and S23.3 is met, the hydraulic support of the cutter holder is considered to be completed.
5. The method for judging the frame moving state of the fully-mechanized coal mining face according to claim 4, wherein the method comprises the following steps: the number of different data points in the process of requiring pressure drop in the step S23.3 is more than or equal to 3, the number of different data points in the process of floating at a low point is more than or equal to 2, and the pressure is required to reach the set pressure value again within 15 seconds after the pressure drops to the lowest point.
6. The method for judging the frame moving state of the fully-mechanized coal mining face according to claim 3, wherein the method comprises the following steps: in the step S2, the judgment on whether a certain hydraulic support moves or not does not include a machine head hydraulic support connected in parallel with the reversed loader.
7. The method for judging the frame moving state of the fully-mechanized coal mining face according to claim 5, wherein the method comprises the following steps: when the hydraulic support of one knife is completely marked, the knife is ended, the number of the knives is increased by 1, and the next knife is judged to be started.
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| CN202310711841.2A CN116591740A (en) | 2023-06-15 | 2023-06-15 | Method for judging frame moving state of fully mechanized mining face |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117027900A (en) * | 2023-09-28 | 2023-11-10 | 太原理工大学 | Automatic and manual cooperative control method for hydraulic support |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117027900A (en) * | 2023-09-28 | 2023-11-10 | 太原理工大学 | Automatic and manual cooperative control method for hydraulic support |
| CN117027900B (en) * | 2023-09-28 | 2023-12-08 | 太原理工大学 | Automatic and manual cooperative control method for hydraulic support |
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