EP0053270B1 - Arrangement de commande pour un soutènement marchant dans le minage au fond - Google Patents

Arrangement de commande pour un soutènement marchant dans le minage au fond Download PDF

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Publication number
EP0053270B1
EP0053270B1 EP81108648A EP81108648A EP0053270B1 EP 0053270 B1 EP0053270 B1 EP 0053270B1 EP 81108648 A EP81108648 A EP 81108648A EP 81108648 A EP81108648 A EP 81108648A EP 0053270 B1 EP0053270 B1 EP 0053270B1
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EP
European Patent Office
Prior art keywords
control
control unit
receiver
transmitter
data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP81108648A
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German (de)
English (en)
Other versions
EP0053270A1 (fr
Inventor
Guy Dipl.-Ing. Geuns
Georg Dipl.-Ing. Rötzer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
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Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP0053270A1 publication Critical patent/EP0053270A1/fr
Application granted granted Critical
Publication of EP0053270B1 publication Critical patent/EP0053270B1/fr
Expired legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK 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
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK 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
    • E21D23/146—Transmission of signals and commands by cable

Definitions

  • the invention relates to an arrangement for controlling a progressive development in underground mining, comprising a control unit, each assigned to n expansion units, individually selectable and containing an electronic evaluation circuit, and a control room which serially transmits control data output by a computer to the control units a device indicating the state of expansion and is equipped with an input device for selecting the computer program.
  • the expansion units e.g. B. Removal frame, equipped with hydraulic cylinders that have to perform the following functions: robbing the removal, moving the removal, setting the removal and backing of the conveyor and, if necessary, pre-pledging the support caps.
  • These functions can be triggered, for example, by electromagnetically operated valves from a longwall control room or on site.
  • a longwall construction comprises a number of expansion units that can be controlled individually or in groups to achieve the walking process.
  • control units are made up of electronic components and connected to the computer in the control room via a cable with a large number of wires, each of which has a task, e.g. B. data transmission, power supply, timing, etc. are assigned.
  • This structure of the control units is complex and, in the event of a fault, the parallel connection to the cable common to all control units makes it difficult to determine which control unit or in which cable section the fault has occurred.
  • the invention has for its object to set up the control for a longwall construction in such a way that the control data can be transmitted trouble-free with as little effort as possible and malfunctions can be localized without complex measures.
  • this object is achieved in that a first receiver arranged in each control unit and receiving the control data is connected to the evaluation circuit and to a first transmitter which is connected via a control line to the first receiver of the immediately following control unit, and in that a A second transmitter providing feedback in each control unit, which is connected via a further line to a second receiver of the immediately preceding control unit, can be connected via a switch to the evaluation circuit or to the second receiver of the control unit.
  • control data are passed on in sequence from one control unit to another and in the same way the feedback data are passed on in the opposite direction, faults occurring on the transmission path can be easily localized.
  • the evaluation circuit advantageously consists of a small computer and at least one converter connected to it for parallel-serial and serial-parallel transmission of the control or feedback data, as well as a control logic.
  • each control unit contains a third transmitter and a third receiver to initiate one of the so that a transmission of control data from a control unit to the immediately adjacent control units is possible if a fault occurs in the control room or on the transmission path leading to the control room Control room independent data traffic between the control units of two neighboring expansion units.
  • Two further transmitters which can be connected to the evaluation circuit via a second switch and two further receivers which can be connected to the evaluation circuit via a third switch, the further transmitters each being connected to the corresponding further receiver of the adjacent control unit via a further line, form a second, transmission path independent of the control room.
  • a control room 1 and a control unit A1 to An are provided for remote control of a longwall construction.
  • a computer 2 is arranged in the control room 1 and is connected to an input device 3, for example a keypad, for selecting one of the control programs stored in the computer.
  • the computer delivers the control data corresponding to the selected program to a transmitter 5 via a parallel-serial converter4.
  • a receiver receives the feedback data arriving from the control units and transmits them via a serial-parallel converter7 to the computer, which evaluates this data and signals indicating the operating state of the expansion to a display device 8.
  • each of the control units A contains five transmitters S1 to S5, five receivers E1 to E5 and an evaluation circuit 9, which has a small computer (10) with serial-parallel converters 11, 12, parallel-serial converters 13, 14, control logic 15 and monitoring logic 16. Switches 17, 18, 19 are actuated by the computer via the control logic 15.
  • the small computer also controls solenoid valves 20 which are assigned to the hydraulic drives of the expansion unit which cause the walking processes. The Walking processes are monitored by sensors, which send appropriate signals to the small computer. The sensors and a further keypad for program selection on site are indicated by block 21.
  • the computer 2 in the control room transfers the control data corresponding to the program selected by means of the keypad 3, which is composed of an address characterizing the individual control units, an organization part, an information part and a security part, to the parallel-serial converter 4 for forwarding to the transmitter 5.
  • This is connected via a control line 22 to the first receiver E1 of the control unit A1.
  • the receiver E1 forwards the control data via the serial-parallel converter 11 to the small computer 10 and at the same time to the first transmit S1 of the control unit A1.
  • the transmitter S1 of each of the control units is connected to the receiver E1 of the following control unit via a further control line 23.
  • the control data output by the computer 2 are thus passed on from one control unit to the next one.
  • the small computer 10 of each control unit examines the control data for its content.
  • the small computer 10 of the control unit whose address matches the address specified in the control data actuates the switch 17 via the control logic 15 and sends feedback data to the control room via the transmitter S2.
  • the unaddressed control units receive the feedback data output by the transmitter S2 of the selected control unit via their receiver E2 and pass the data on without further evaluation (switch 17 in the shown rest position) via their transmitter S2 and a control line 24 to the receiver E2 of the respective previous control unit .
  • the transmitter S2 of the control unit A1 is connected via a control line 25 to the receiver of the control room, which transmits the feedback data to the computer 2 via the serial-parallel converter 7.
  • the feedback data are thus passed on from one control unit to another in the same way as the control data.
  • errors occurring on the transmission path can be localized without difficulty and the sub-lines 23, 24 each have the same length.
  • the transmitters represent switchable voltage or current sources, while optoelectronic coupling elements are used as receivers.
  • the relatively short sub-lines - the distance between two control units is approx. 3 m - are terminated with low impedance and therefore offer a guarantee for interference-free data transmission.
  • the small computer 10 gives the addressed control unit, e.g. B. A2, via the parallel-serial converter 13 and the switched switch 17 feedback data to the transmitter S2, the data on the receiver E2, the switch 17 and the transmitter S2 of the previous control unit, for. B. Ai, to the receiver 6 in the control room.
  • the computer 2 in the control room checks the feedback data and outputs the original control data again in the event of an error. If the feedback data is missing, the computer recognizes errors.
  • control units A1 to 1 are called cyclically one after the other, the number of individual controls involved in the transmission path and the connecting lines increases in a defined manner. This makes it possible to simplify troubleshooting in the event of a malfunction.
  • a further possibility for the localization of errors is given by a test device 29 which monitors the outputs of the receivers E1 and E2 in each control unit and contains, for example, light-emitting diodes for displaying errors.
  • each control unit is equipped with further transmitters S3 to S5 and further receivers E3 to E5 and its own keypad. If the control units do not receive any control data from the control room for a longer period of time, they automatically switch to operation without a control room.
  • a program stored in the small computer can be called up via the keypad.
  • the small computer of the selected control unit e.g. B.
  • A2 then delivers via the associated transmitter S3 and the connecting line 26 a request for receipt to the receiver E3 of the control unit preceding in the order, for. B. A1, which switches the small computer of the control unit A1 to be ready to receive the neighboring extension (in the example A2).
  • the small computer of the selected control unit e.g. B. A2 now delivers via the parallel-serial converter 14, the switch 19, the transmitter S5 and the line 27 control data to the receiver E5 of the previous control unit, for. B. A1, the control logic 15 has switched the switch 18 due to the readiness of the small computer, so that the control data received via the serial-parallel converter 12 reach the small computer of the control unit A1.
  • the small computer 10 of the control unit A1 supplies, via the parallel-serial converter 14, the switch 19 likewise switched by the control logic, the transmitter S4 and the line 28, reporting data to the receiver E4 of the control unit A2.
  • the feedback data reach the small computer 10 via the non-switched switch 18 and the serial-parallel converter 12 of the control unit A2.
  • Each control unit gives priority to the reception of control data of the immediately preceding control unit.
  • each control unit can exchange data with the left or right neighbors without using the data transmission system of the control room.
  • the control logic 15 of each control unit is associated with a monitoring logic 16, which takes over safety functions in the event of a failure of the small computer and ensures that the control data output by the control room or by the right neighbor is passed on via the transmission path 23, 24.
  • the control arrangement according to Fig. 2 differs from that shown in Fig. 1 essentially in that the "operation with control room or" operation without control room is preselected from the control room and that both for the cyclical call of the control units A1 to An by the control room as well as for the data exchange of the control units with the respective neighboring control units if the control room fails only the lines 23 and 24 are used.
  • the control room contains a further transmitter 36, which is connected via a control line 30 to a receiver E6 in the control unit A1 directly connected to the control room and transmits the selected operating mode to the small computer 10 of the control unit A1.
  • the selected operating mode is transmitted from the receiver E6 simultaneously via the control line 37 and the transmitter S6 to the receiver E6 of the following control unit etc.
  • the small computer 10 of the control units A2 to An can now, as described in the exemplary embodiment according to FIG. 1, issue a reception request to the receiver E3 of the respective previous control unit.
  • Another difference is that in each control unit the receiver E1 via switches 31 and 32 in series with the transmitter S1 and via a switch 35 with the serial-parallel converter 11 and in an analogous manner the receiver E2 with the transmitter S2 switches 33, 34 located in series and connected to the converter 11 via the switch 35, which may be switched by the control logic 15.
  • the receiver E1 transfers the incoming control data to the transmitter S1 of the control unit and at the same time via the serial-parallel converter 11 to the small computer 10 of the control unit.
  • the transmitter S1 of the control unit forwards the control data to the receiver E1 of the control unit A2 and so on until the control data finally reach the control unit An.
  • the control data is decoded in each of the control units.
  • the control unit whose address matches the address contained in the control data, sends feedback data to the control room.
  • the unaddressed control units pass on the signals received by the control unit following in sequence via the receiver E2 and their transmitter S2 to the control unit preceding the sequence without further evaluation.
  • the small computer of the addressed control unit switches the switches 33 and 34 via the control logic 15 in such a way that the data to be sent control the transmitter S2 via the parallel-serial converter.
  • the transmitter S2 transmits the data prepared by the computer to the receiver E2 of the respectively previous unaddressed control unit, which passes the data on to the control unit in front of it, unseen, until the receiver 6 in the control room finally accepts the data.
  • control units are switched to this operating mode. If the control line 30 is interrupted, the control units automatically recognize the operating mode “operation without control room”. In this case, the transmission path to and from the control room is prevented; each control unit can start data exchange with its neighbors via the connecting lines 23, 24 to the neighboring control units.
  • the small computer in each control unit After switching to "operation without a control room", the small computer in each control unit first actuates the switches 31 and 33 via the control logic in such a way that the transmitters S1 and S2 are switched off and only emit an idle signal.
  • the switches 32, 34 and 35 maintain their rest position shown.
  • the small computer is thus ready to receive control data from the respective previous control unit. If control data arrives from the preceding control unit, the computer of the receiving control unit can switch the transmitter S2 to the parallel-serial converter 13 via the switches 33 and 34 to be actuated by the control logic and output feedback data.
  • the small computer of this control unit couples the receiver E2 to the serial-parallel converter 11 via the switch 35 and is thus ready to receive.
  • the transmitter S1 is connected to the parallel-serial converter 13 via switches 31 and 32.
  • a request for receipt is not required for sending the control data from one control unit to the next one.
  • the small computer of the following control unit receiving the control data establishes the connection between the transmitter S2 and the parallel-serial converter 13 via the control logic and the switches 33 and 34.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Selective Calling Equipment (AREA)

Claims (10)

1. Dispositif pour la commande d'un soutènement à progression automatique dans l'exploitation minière souterraine, comportant respectivement des unités de commande (A) associées à n unités de soutènement et pouvant être sélectionnées individuellement et contenant un circuit d'exploitation électronique (9), et un poste de commande (1) qui est équipé d'un système transmettant de façon séquentielle des données de commande délivrées par un calculateur (2) aux unités de commande (A1 à An) et est équipé d'un dispositif (8) affichant l'état de soutènement et d'un dispositif d'entrée (3) permettant de sélectionner le programme du calculateur, caractérisé par le fait qu'un premier émetteur (E1) disposé dans chacune des unités de commande (A1 à An) et recevant les données de commande, est raccordé au circuit d'exploitation (9) et à un premier émetteur (S1) qui est relié par l'intermédiaire d'une ligne de commande (23) à un premier récepteur (E1) de l'unité de commande directement suivante, et qu'un second émetteur (S2), prévu dans chacune des unités de commande (par exemple A2) et délivrant des informations de signalisation en retour et qui est relié par l'intermédiaire d'une autre ligne de commande (24) à un second récepteur (E2) de l'unité de commande immédiatement précédente (par exemple A1), peut être raccordé par l'intermédiaire d'un commutateur (17) au circuit d'exploitation (9) ou au second récepteur (E2) de l'unité de commande (A2).
2. Dispositif suivant la revendication 1, caractérisé par le fait que le circuit d'exploitation (9) est constitué par un petit calculateur (10) et par au moins un convertisseur (11,12; 13,14), qui lui est raccordé et qui est utilisé pour la transmission série-parallèle ou parallèle-série des données de commande ou des données de signalisation en retour, et par une logique de commande (15).
3. Dispositif suivant la revendication 2, caractérisé par le fait que chacune des unités de commande (A1 à An) contient un troisième émetteur (S3) et un troisième récepteur (E3) servant à déclencher un trafic de données, indépendant du poste de commande (1), entre les unités de commande (par exemple A1, A2) de deux unités de soutènement voisines.
4. Dispositif suivant la revendication 3, caractérisé par le fait qu'il est prévu deux autres émetteurs (S4, S5) pouvant être raccordés par l'intermédiaire d'un second commutateur (19) au circuit d'exploitation (9), et deux autres récepteurs (E4, E5) pouvant être raccordés par l'intermédiaire d'un troisième commutateur (19) au circuit d'exploitation (9), et que les autres émetteurs (S3 à S5) sont reliés par l'intermédiaire d'autres lignes respectives (26, 28 ou 27) à l'autre récepteur correspondant (E3 à E5) de l'unité de commande voisine.
5. Dispositif suivant la revendication 2, caractérisé par le fait que chacune des unités de commande (A1 à An) contient deux autres émetteurs (S3, S6) et deux autres récepteurs (E3, E6) parmi lesquels le troisième émetteur (S3) raccordé au petit calculateur (10) est relié par l'intermédiaire d'une seconde ligne (26) au troisième récepteur (E3) de l'unité de commande respectivement précédente et, le quatrième récepteur (S6), dont la sortie est raccordée au petit calculateur et au quatrième émetteur (S6) de la même unité de commande, est relié par l'intermédiaire d'une troisième ligne (37) au quatrième émetteur (S6) de l'unité de commande respectivement précédente ou à un émetteur (36) prévu en supplément dans le système de transmission situé dans le poste de commande (1).
6. Dispositif suivant la revendication 5, caractérisé par le fait que les premier et second récepteurs (E1 et E2) des unités de commande (A1 à An) peuvent être raccordés au moyen de la logique de commande (15) et par l'intermédiaire d'un commutateur (35) au convertisseur série-parallèle (11) et que les premier et second émetteurs (S1 et S2) peuvent être raccordés par l'intermédiaire d'un second commutateur respectif (32 ou 34) au récepteur associé (E1 ou E2) ou au convertisseur parallèle-série (13).
7. Dispositif suivant la revendication 6, caractérisé par le fait qu'entre les émetteurs (S1, S2) et les seconds commutateurs (32 ou 34) se trouve disposé un troisième commutateur respectif (31 ou 33) actionné par la logique de commande (15).
8. Dispositif suivant la revendication 1, caractérisé par le fait qu'un dispositif de contrôle respectif (29) déclenchant un signal de préférence optique est raccordé aux sorties des premier et second récepteurs (E1, E2) des unités de commande (A1 à An).
9. Dispositif suivant l'une des revendications 1 à 5, caractérisé par le fait que les récepteurs (6, E) sont des éléments de couplage optoélectroniques.
10. Dispositif suivant l'une des revendications 1 à 5, caractérisé par le fait que les émetteurs (5, 36, S) sont des sources de tension ou de courant commutables.
EP81108648A 1980-12-02 1981-10-21 Arrangement de commande pour un soutènement marchant dans le minage au fond Expired EP0053270B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3045452A DE3045452C1 (de) 1980-12-02 1980-12-02 Anordnung zur Steuerung eines schreitenden Ausbaus im Bergbau unter Tage
DE3045452 1980-12-02

Publications (2)

Publication Number Publication Date
EP0053270A1 EP0053270A1 (fr) 1982-06-09
EP0053270B1 true EP0053270B1 (fr) 1984-07-04

Family

ID=6118139

Family Applications (1)

Application Number Title Priority Date Filing Date
EP81108648A Expired EP0053270B1 (fr) 1980-12-02 1981-10-21 Arrangement de commande pour un soutènement marchant dans le minage au fond

Country Status (5)

Country Link
US (1) US4398851A (fr)
EP (1) EP0053270B1 (fr)
AU (1) AU553180B2 (fr)
DE (2) DE3045452C1 (fr)
ZA (1) ZA818319B (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8768579B2 (en) 2011-04-14 2014-07-01 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US9206587B2 (en) 2012-03-16 2015-12-08 Harnischfeger Technologies, Inc. Automated control of dipper swing for a shovel
US12018463B2 (en) 2021-06-08 2024-06-25 Joy Global Surface Mining Inc Swing automation for rope shovel

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DE3207517C2 (de) * 1982-03-03 1985-09-05 Gebr. Eickhoff Maschinenfabrik U. Eisengiesserei Mbh, 4630 Bochum Steuerung für Ausbaugestelle des Untertagebergbaues
GB2142074B (en) * 1983-06-21 1987-04-23 Dobson Park Ind Control of mine roof supports
DE3538251C1 (de) * 1985-10-28 1986-11-06 Bochumer Eisenhütte Heintzmann GmbH & Co KG, 4630 Bochum Verfahren zur Steuerung von mit einem hydraulischen Arbeitsmedium beaufschlagbaren Vorrichtungen des untertaegigen Grubenbetriebs
DE3715590A1 (de) * 1987-05-09 1988-12-01 Gewerk Eisenhuette Westfalia Stromversorgungseinrichtung fuer elektrohydraulische ausbausteuerungen oder sonstige steuerungssysteme im berg- und tiefbau
DE3715593C1 (fr) * 1987-05-09 1988-09-15 Gewerkschaft Eisenhuette Westfalia Gmbh, 4670 Luenen, De
DE3715586C1 (fr) * 1987-05-09 1988-09-22 Gewerkschaft Eisenhuette Westfalia Gmbh, 4670 Luenen, De
DE3801593A1 (de) * 1988-01-21 1989-08-03 Hemscheidt Maschf Hermann Gruppensteuerung fuer hydraulischen schreitausbau
DE3930331C2 (de) * 1988-09-23 1997-08-21 Siemens Ag Schreitausbausteuerung
DE4404962C2 (de) * 1994-02-17 1999-12-16 Heidelberger Druckmasch Ag Verfahren und Anordnung zum Konfigurieren von Funktionseinheiten in einer Master-Slave-Anordnung
CN102155222B (zh) * 2011-03-07 2013-04-24 中国矿业大学 综采面刮板输送机机身自动调直装置及其控制方法
CN105000328B (zh) * 2015-07-01 2017-03-08 中国矿业大学 综采工作面刮板输送机机身自动调直装置及方法
CN107701216A (zh) * 2017-08-30 2018-02-16 中国矿业大学 一种采煤工作面直线度的控制装置及控制方法

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GB1085274A (en) * 1964-02-07 1967-09-27 Gullick Ltd Improvements in or relating to mine roof supports and the operation thereof
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GB1121542A (en) * 1965-03-18 1968-07-31 Gullick Ltd Improvements in or relating to the remote control of supports or chocks in self-advancing mine roof support systems
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JPS5317502A (en) * 1976-07-31 1978-02-17 Taiheiyo Eng Selfftravelling frame remoteecontroller
FR2336545A1 (fr) * 1976-12-13 1977-07-22 Gullick Dobson Ltd Dispositif de controle et de commande des soutenements marchants de toit de mine
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8768579B2 (en) 2011-04-14 2014-07-01 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US9315967B2 (en) 2011-04-14 2016-04-19 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US9567725B2 (en) 2011-04-14 2017-02-14 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US9206587B2 (en) 2012-03-16 2015-12-08 Harnischfeger Technologies, Inc. Automated control of dipper swing for a shovel
US12018463B2 (en) 2021-06-08 2024-06-25 Joy Global Surface Mining Inc Swing automation for rope shovel

Also Published As

Publication number Publication date
EP0053270A1 (fr) 1982-06-09
DE3164596D1 (en) 1984-08-09
ZA818319B (en) 1982-10-27
DE3045452C1 (de) 1982-07-01
AU7813381A (en) 1982-06-10
US4398851A (en) 1983-08-16
AU553180B2 (en) 1986-07-03

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