CN208125122U - A kind of hydraulic support height measuring device and system - Google Patents
A kind of hydraulic support height measuring device and system Download PDFInfo
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- CN208125122U CN208125122U CN201820278140.9U CN201820278140U CN208125122U CN 208125122 U CN208125122 U CN 208125122U CN 201820278140 U CN201820278140 U CN 201820278140U CN 208125122 U CN208125122 U CN 208125122U
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- hydraulic support
- measuring device
- drawstring
- height measuring
- plummet
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Abstract
A kind of hydraulic support height measuring device and system, height measuring device include stepper motor, shaft encoder, survey high drawstring, plummet, tensioning sensor, microcontroller, fastly slotting communication interface etc..When carrying out elevation carrection, microcontroller driving step motor control surveys folding and unfolding degree of the high drawstring under the gravity of plummet, it is tensioned the tensile force that high drawstring is surveyed in sensor monitoring simultaneously, it, which is detected, judges that plummet has touched bracket base when tensile force changes, the rotation angle calculation unwrapping wire length that microcontroller is fed back according to shaft encoder, to obtain the measurement height of hydraulic support.
Description
Technical field
The utility model relates to coal automated mining fields, in particular to a kind of fully-mechanized mining working surface hydraulic support
The self-operated measuring unit and system of height.
Background technique
With the development of coal mining automatic technology, fully-mechanized mining working coal mining height is one of automated system monitoring
Important parameter.Height of usually mining is identical as working surface hydraulic support height, and height is mined in detection can be by measuring support height
It obtains, therefore, the monitoring of hydraulic support height, and corresponding fully-mechanized mining working mining height monitoring become fully mechanized mining automatic field
Key technical problem.Due to fully-mechanized mining working bad environments, the elevation carrection mode of traditional common faces one in down-hole application
Fixed limitation.The prior art applied under coal mine at present mainly includes laser ranging method, inclination angle measurement in a closed series method, liquid pipe pressure
Power mensuration.
Laser ranging method：Laser range finder is installed in set cap, emits laser ranging towards pedestal, or install in turn
In pedestal, to survey height.The main Problems of laser ranging method have：1, Laser emission window camera lens is covered by coal dust, and eyeglass is dirty
Dye is so that device can not work normally；2, target spot is not fixed, and is installed rack position and posture and is become with the movement of supporting structure component
Change, a wide range of movement can occur for laser target position, and ranging numerical value change is very big when falling on bracket different location, and measurement error is inclined
Greatly.
Inclination angle measurement in a closed series method：In several important node mounted angle devices of hydraulic support, such as shown in attached drawing 1,
Top beam, caving shield, double leval jib, pedestal install 4 tilt angle devices, each component tilt angle are measured, then in conjunction with supporting structure portion
Part set size calculates its hydraulic height using geometrical relationship and trigonometric function.Its problems faced is：1, it measures indirectly, is
System is complicated, and each section error accumulation causes indeterminacy；2, the length of various types of its structure member of bracket is different, needs list
Solely calibration.
Liquid pipe pressure altimetry：Using Communicating device principle, the pressure difference between the two o'clock of fluid communication is measured, thus according to
Pressure difference converses the difference in height at both ends, and then calculates the height of hydraulic support.Its problems faced has：1 by temperature change
It influences greatly, liquid expands with heat and contract with cold, and liquid level changes, and influences measured value；2 measurement errors are larger, and margin of error reaches centimetre
And becomes larger with range and become larger.
Utility model content
The utility model is based on above-mentioned technical problem, proposes a kind of hydraulic support height measuring device and system, passes through
Height measuring device detects hydraulic support height, realizes the automatic monitoring system for working surface hydraulic support height and mining height.
The utility model proposes a kind of hydraulic support height measuring devices, including stepper motor, shaft encoder, the high drawing of survey
Rope, plummet, tensioning sensor, microcontroller, fastly slotting communication interface etc..The folding and unfolding of high drawstring, axis coding are surveyed in stepper motor driving
Device measures pulling rope length, surveys high drawstring one end connection plummet, and the other end connects stepper motor, and length changes measurable hydraulic branch
Distance change of the frame top beam to pedestal, one end of the high drawstring of plummet connection survey, gravity make to survey high drawstring tensioning, are tensioned sensor
For detecting the tensile force surveyed on high drawstring, the tensile force that microcontroller acquisition tensioning measuring device measures controls stepper motor,
It is communicated by inserting communication interface fastly with bracket control system.
In a non-operative state, the high drawstring of survey is in retracted state；
In working condition, the microcontroller driving stepper motor rotation, the gravity for surveying high drawstring in distal end plummet is made
Enter unwrapping wire state with lower, the microcontroller acquisition tensioning sensor is for the detected value for the tensile force surveyed on high drawstring；
When microcontroller detects the signal intensity of tensioning sensor and judges that plummet touches pedestal, microcontroller control
Stepper motor processed stops rotating, and microcontroller calculates unwrapping wire length, and obtains the plummet height of surveyed hydraulic support；
Microcontroller driving motor reversion, so that surveying high drawstring returns to housed state.
Preferably, described to survey high drawstring as steel wire.
Preferably, the microcontroller calculates unwrapping wire length S=N*a, and wherein N is the step number of stepper motor, and a is stepping electricity
The every step of machine is corresponding to survey high drawstring unwrapping wire length.
Preferably, judge that plummet touches the condition of pedestal and is：It is tensioned the measurement pressure F of sensor<f0Wherein f0It is default
Threshold value.
Preferably, judge that plummet touches the condition of pedestal and is：Tensile force F<a*f'；F ' is that tensioning passes in the process of laying the line
The average pressure value of sensor.
The utility model also proposed a kind of hydraulic support altitude measurement system, including hydraulic support, obliquity sensor, branch
Frame controller；The hydraulic support height measuring device is lifted below hydraulic support top beam, the fixed peace of the obliquity sensor
Mounted in the pedestal of hydraulic support, the hydraulic bracket controller sends hydraulic support height measuring device and obliquity sensor
Signal is controlled, the metrical information of its passback is received and is calculated.
The hydraulic support height measuring device measurement hydraulic support top beam is filled to the plummet height L of bottom beam by inclination angle
The inclination angle alpha that hydraulic support bottom plate can be obtained relative to horizontal position is set, to obtain between hydraulic support top beam and pedestal
Actual height H=L*cos (α)
Preferably, tilt angle device is MEMS tilt angle device.
The altitude measurement system of above-mentioned hydraulic support can to avoid in the prior art using multiple tilt angle devices or utilize liquid
Error caused by the indirect measurement methods such as the device of body pressure, especially, the error of this altitude measurement system will not be with measurement
The increase of range and increase.The height measuring device of core component as altitude measurement system, basic structure are passed by tensioning
Sensor, shaft encoder, plummet, surveys high drawstring composition at stepper motor, and basic structure is simple, and at low cost, installation and maintenance are relatively suitable
It is suitable for the condition of the coal mining of underground.Meanwhile stepper motor can be accurately controlled the height below perpendicular, measurement accuracy
Height, control errors are within 1 centimetre.And communication interface is inserted fastly and guarantees that its height measuring device can be with fast insert-pull, with traditional liquid
Pressure support height measuring device is compared, and is increased its suitability and ease for use, is easily facilitated installation and debugging maintenance and engineering construction.
In the actual height measurement for carrying out hydraulic support, the utility model is surveyed high pulling rope length using measurement and is accurately surveyed
Hydraulic support top beam is determined to the distance of pedestal, and is compensated with the tilt angle of hydraulic support, to obtain hydraulic support
The final angle of top beam and height value.It ensure that its measurement accuracy, structure is simple, does not increase additional Complex Electrical System, protects
Hydraulic support has been demonstrate,proved normally to work.
Detailed description of the invention
Fig. 1 shows the hydraulic support height measuring device structural block diagram of one embodiment according to the present utility model；
Fig. 2 shows the hydraulic support altitude measurement system schematic diagrames of one embodiment according to the present utility model；
Fig. 3 shows the hydraulic support actual height instrumentation plan of embodiment according to the present utility model；
Appended drawing reference
1. plummet；2. surveying high drawstring；3. being tensioned sensor；4. shaft encoder；5. stepper motor；6. microcontroller；7. fast
Insert communication interface.
100. hydraulic support height measuring device；200. tilt angle device；300. bracket controller.
Specific embodiment
In order to be more clearly understood that the above objects, features, and advantages of the utility model, with reference to the accompanying drawing and have
The utility model is further described in detail in body embodiment.It should be noted that in the absence of conflict, this Shen
The feature in embodiment and embodiment please can be combined with each other.
Many details are explained in the following description in order to fully understand the utility model, still, this is practical
It is novel to be implemented using third party different from Third Way described herein, therefore, the protection scope of the utility model
It is not limited by the specific embodiments disclosed below.
Embodiment one
Attached drawing 1 shows the hydraulic support height measuring device of one embodiment according to the present utility model.
Height measuring device includes：Plummet 1 surveys high drawstring 2, is tensioned sensor 3, shaft encoder 4, stepper motor 5, micro-control
Device 6 processed and fastly slotting communication interface 7.It is wherein tensioned sensor 3, shaft encoder 4, stepper motor 5, microcontroller 6 and is respectively positioned on device
In shell, device is lifted on the lower section of hydraulic support top beam.One end connection stepper motor for surveying high drawstring 2, by stepper motor
Its tightening of different rotary direction controlling is loosened, and surveys the other end connection plummet 1 of high drawstring 2, surveying high drawstring 2 can be steel wire.
When off working state, the major part for surveying high drawstring 2 is also contained in device housing.Under the gravity of plummet 1,
The other end of high drawstring 2 is surveyed to be located at except height measuring device with free overhang, in order to safeguard the normal operation of hydraulic support,
It surveys high drawstring 2 only shorter one end when off working state to overhang except crust of the device, to guarantee plummet 1 generally within hydraulic
Near set cap.
Tensioning sensor 3 is located at the high drawstring of survey and is closer to stepping for detecting the pressure for surveying high drawstring, tensioning sensor 3
One end of motor, to guarantee the stability of appliance arrangement operation.
Shaft encoder 4 is calculated by all numbers of measurement step motor shaft rotation and surveys high drawstring folding and unfolding length.
It is tensioned sensor 3 and shaft encoder 4 and sends the measurement data of itself to microcontroller 6, stepper motor 5 receives micro-
The control of controller 6.
Fast slotting communication interface 7 provides the communication between bracket controller, receives the control instruction of working condition, reports liquid
Press support height measured value.
It is as follows that hydraulic support plummet height devices carry out the step of elevation carrection：
S1：Microcontroller receives the instruction of host computer or master controller, sends work to stepper motor and tensioning sensor
Signal；
S2：Stepper motor rotation surveys high drawstring and enters unwrapping wire state under the gravity of distal end plummet, and stepping is electric
Machine operation step number is transferred to microcontroller；
S3：Tensioning sensor detects the tension surveyed on high drawstring, and will test signal and be transferred to microcontroller；
S4：When microcontroller detects the signal intensity of tensioning sensor and judges that plummet touches pedestal, signal is sent
To stepper motor, stop unwrapping wire；
S5：Calculate unwrapping wire length；
S6：The reversion of microcontroller driving motor, recycling survey high drawstring and are returned to housed state.
In step s 5, microcontroller calculates unwrapping wire length S=N*a, and wherein N is the step number of stepper motor, and a is stepping electricity
The every step of machine is corresponding to survey high drawstring unwrapping wire length.
In one embodiment of step S4, judge that plummet touches the condition of pedestal and is：It is tensioned the measurement pressure of sensor
Power F<f0, wherein f0For preset threshold.
Judge that plummet touches the condition of pedestal and is in another embodiment of step S4：It is tensioned the measurement pressure of sensor
Power F<A*f ', wherein a be predetermined coefficient, 0<a<1；F ' is the average pressure value for being tensioned sensor in the process of laying the line.
Embodiment two
Attached drawing 2 illustrates a kind of hydraulic support altitude measurement system and hydraulic support actual height measurement method,
Solve the problems, such as be：Fully-mechanized mining working make face because coal seam rise and fall due to must using bow adopt, face upward excavating technology when, support angle is often inclined
Difference is larger, as shown in Fig. 3, at present except laser ranging method surprisingly other methods measure be hydraulic support apart from plummet face away from
From its height of its measurement of the i.e. high L of plummet or Partial Height measurement method is between the high L of plummet and apart from hydraulic support foundation
Actual height H between, and vertical range of the hydraulic support apart from pedestal direction have deviation, and carry out coal mining output estimation or
When other calculating for relying on coal mining height, the parameter that uses should practical vertical height H for hydraulic top beam apart from pedestal.Cause
And when carrying out the measurement of hydraulic height, it needs to be modified the height L of measurement.
This altitude measurement system includes hydraulic support, hydraulic support height measuring device 100, tilt angle device 200, bracket control
Device 300 processed.Wherein hydraulic support height measuring device 100 had described in example 1, repeated no more.Hydraulic support is high
Degree measuring device 100 is fixedly mounted below hydraulic support top beam, and tilt angle device 200 is mounted on hydraulic support foundation, controller
300 send control signal for hydraulic support height measuring device 100 and tilt angle device 200, receive the metrical information of its passback
And it is calculated.Wherein MEMS tilt angle device or other measurement bracket bases and horizontal plane tilt angle can be used in tilt angle device
Device.
The measurement of hydraulic support actual height is as follows：
The high L of plummet of hydraulic support top beam to pedestal is measured by hydraulic support height measuring device；
Inclination angle alpha of the hydraulic support relative to horizontal position can be obtained by tilt angle device；
Calculate the actual height H=L*cos (α) between hydraulic support top beam and pedestal.
Step in the utility model embodiment method can be sequentially adjusted, combined, and deleted according to actual needs.
Each unit can be combined, divided, and deleted according to actual needs in the utility model embodiment.
The technical solution of the utility model is had been described in detail above with reference to the accompanying drawings, the foregoing is merely the excellent of the utility model
Embodiment is selected, is not intended to limit the utility model, for those skilled in the art, the utility model can have
Various modifications and variations.Within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on,
It should be included within the scope of protection of this utility model.
Claims (4)
1. a kind of hydraulic support height measuring device, it is characterised in that：Including plummet, survey high drawstring, tensioning sensor, stepping electricity
Machine, microcontroller, inserts communication interface at shaft encoder fastly, and described to survey high drawstring one end connection stepper motor, the other end connects lead
One end of hammer, the connection plummet is hung down from hydraulic support top beam, and gravity to survey high drawstring tensioning；
The tensioning sensor is used to detect the tensile force surveyed on high drawstring；
The folding and unfolding of high drawstring is surveyed in the stepper motor driving；
The tensile force that the microcontroller acquisition tensioning sensor measures, while controlling the receipts that stepper motor survey high drawstring
It puts；
The microcontroller judges that plummet touches the position of the pedestal of hydraulic support, institute by surveying the variation of high drawstring tensile force
It states shaft encoder and measures the high drawstring of survey by the unwrapping wire length of hydraulic support top beam to hydraulic support；
The communication interface slotting fastly is communicated with bracket control system.
2. hydraulic support height measuring device as described in claim 1, it is characterised in that：It is described to survey high drawstring as wirerope.
3. a kind of hydraulic support altitude measurement system, which is characterized in that the measuring system includes as claimed in claim 1 or 2
Hydraulic support height measuring device, further include hydraulic support, obliquity sensor, hydraulic bracket controller；The hydraulic support
Height measuring device is lifted below hydraulic support top beam, and the obliquity sensor is fixedly mounted on the pedestal of hydraulic support, institute
It states hydraulic bracket controller and control signal is sent for hydraulic support height measuring device and obliquity sensor, receive its passback
Metrical information is simultaneously calculated.
4. support height measuring system as claimed in claim 3, it is characterised in that：Height measuring device is according to whether be in work
State carries out folding and unfolding control to high drawstring is surveyed；In working condition, high drawstring is surveyed in the microcontroller driving stepper motor rotation
Enter unwrapping wire state under the gravity of distal end plummet；After measuring work, surveys high drawstring and withdraw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820278140.9U CN208125122U (en) | 2018-02-27 | 2018-02-27 | A kind of hydraulic support height measuring device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820278140.9U CN208125122U (en) | 2018-02-27 | 2018-02-27 | A kind of hydraulic support height measuring device and system |
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| CN208125122U true CN208125122U (en) | 2018-11-20 |
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ID=64203958
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108168513A (en) * | 2018-02-27 | 2018-06-15 | 北京天地玛珂电液控制系统有限公司 | A kind of hydraulic support height measuring device and method |
| CN114353720A (en) * | 2022-03-21 | 2022-04-15 | 太原向明智控科技有限公司 | Hydraulic support mining height measuring device and method based on stay wire displacement sensor |
-
2018
- 2018-02-27 CN CN201820278140.9U patent/CN208125122U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108168513A (en) * | 2018-02-27 | 2018-06-15 | 北京天地玛珂电液控制系统有限公司 | A kind of hydraulic support height measuring device and method |
| CN114353720A (en) * | 2022-03-21 | 2022-04-15 | 太原向明智控科技有限公司 | Hydraulic support mining height measuring device and method based on stay wire displacement sensor |
| CN114353720B (en) * | 2022-03-21 | 2022-06-17 | 太原向明智控科技有限公司 | Hydraulic support mining height measuring device and method based on stay wire displacement sensor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 100013, Beijing, Chaoyang District, Hepingli Youth ditch East Road, building 5, one floor Patentee after: Beijing Tianma Zhikong Technology Co.,Ltd. Patentee after: Beijing coal technology Tianma Automation Technology Co., Ltd Address before: 100013, Beijing, Chaoyang District, Hepingli Youth ditch East Road, building 5, one floor Patentee before: BEIJING TIANDI-MARCO ELECTRO-HYDRAULIC CONTROL SYSTEM Co.,Ltd. Patentee before: Beijing coal technology Tianma Automation Technology Co., Ltd |
|
| CP01 | Change in the name or title of a patent holder |