WO2020119054A1 - Pose sensing device for hydraulic support push push rod in fully mechanized mining face, and mechanism and method for hydraulic support push push rod in fully mechanized mining face - Google Patents

Pose sensing device for hydraulic support push push rod in fully mechanized mining face, and mechanism and method for hydraulic support push push rod in fully mechanized mining face Download PDF

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Publication number
WO2020119054A1
WO2020119054A1 PCT/CN2019/091623 CN2019091623W WO2020119054A1 WO 2020119054 A1 WO2020119054 A1 WO 2020119054A1 CN 2019091623 W CN2019091623 W CN 2019091623W WO 2020119054 A1 WO2020119054 A1 WO 2020119054A1
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WIPO (PCT)
Prior art keywords
push rod
hydraulic support
rod
push
scraper conveyor
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PCT/CN2019/091623
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French (fr)
Chinese (zh)
Inventor
王忠宾
路绪良
谭超
闫海峰
司垒
魏东
Original Assignee
中国矿业大学
徐州金枫液压技术开发有限公司
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Application filed by 中国矿业大学, 徐州金枫液压技术开发有限公司 filed Critical 中国矿业大学
Priority to AU2019390996A priority Critical patent/AU2019390996B2/en
Priority to CA3086270A priority patent/CA3086270C/en
Priority to RU2020121379A priority patent/RU2738830C1/en
Publication of WO2020119054A1 publication Critical patent/WO2020119054A1/en

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    • 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
    • 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
    • E21D23/144—Measuring the advance of support units with respect to internal points of reference, e.g. with respect to neighboring support units or extension of a cylinder
    • 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
    • E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
    • 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
    • E21D23/16—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
    • 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
    • E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
    • E21D23/26—Hydraulic or pneumatic control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness

Definitions

  • the invention relates to a push rod position and posture sensing device for fully mechanized mining face, a hydraulic support push rod mechanism and method for fully mechanized mining face, in particular to an automatic sensing of the shift position and posture of hydraulic support base of fully mechanized mining face in coal mine, belonging to The hydraulic support base shifts the position and position automatically senses the field.
  • hydraulic support base realizes the autonomous follow-up control of hydraulic support base is to realize "less” and “unmanned” mining of fully mechanized mining face, improve workers' working conditions and reduce labor Necessary conditions for strength.
  • the hydraulic support base In the process of using the fully mechanized mining face, the hydraulic support base must withstand a variety of complex working conditions such as huge pressure, tension, impact, friction and corrosion. In addition to the huge load impact, it is also affected by the level of operation of the workers on the site. It has a great influence on the autonomous follow-up control of the hydraulic support base.
  • the hydraulic support base's independent follow-up control can effectively improve the production efficiency of the fully mechanized mining face, reduce the number of operators, and reduce the labor intensity of workers.
  • the posture and posture perception of the push rod of the hydraulic support base is a key factor affecting the cooperative work of the three machines.
  • the shifting posture of the hydraulic support base refers to the state of the posture formed by the middle groove of the scraper conveyor when the hydraulic support base is pushed forward with the working surface, periodically pushing and moving and moving the frame.
  • the hydraulic support base, scraper conveyor and coal wall need to maintain a certain straightness to ensure the smooth operation of coal mining equipment.
  • the shifting posture of the hydraulic support base is the key factor for straightness of the working face. Only when the push rod is in the middle position can the straightness of the working surface be better ensured.
  • One end of the hydraulic cylinder of the hydraulic support base is connected by the hinge of the pin shaft, and the hydraulic cylinder only provides thrust or pulling force, and cannot be guided, so during the process of the hydraulic support base moving, the push rod is vulnerable to scrapers in its working plane Due to factors such as the working resistance of the middle slot of the conveyor, there will be left and right swings, offsetting the middle position, causing the middle slot of the scraper conveyor to tilt, resulting in uneven body of the scraper conveyor of the fully mechanized mining face, affecting the scraper conveyor
  • the straightness of the fuselage makes the straightness of the fuselage unable to meet the requirements of production and use, resulting in the breaking of the scraper chain, the wear of the middle groove of the scraper conveyor and the serious deformation of the fuselage, which in turn causes a series of failures, even the entire coal mining process Can not run normally, there are huge hidden dangers.
  • the existing coal mine hydraulic support base does not perceive the posture of the push rod in the process of autonomous follow-up, ignoring the effect of the push rod posture on the middle groove of the scraper conveyor, so it cannot guarantee a good working surface Straightness.
  • the present invention provides a device and method for sensing the posture and posture of the push rod in the fully mechanized mining face by real-time sensing and real-time adjustment of the post rod and posture, thereby ensuring The push rod is in the middle position, with simple mechanism, fast response, high precision and high cost performance.
  • a position and posture sensing device for a push rod of a hydraulic support in a fully mechanized mining face includes a fully mechanized mining face, which includes a plurality of hydraulic support bases, and the push rods of each hydraulic support base are connected to the middle of a scraper conveyor Slot connection; the left and right sides of each push rod are provided with a left-side posture sensing unit and a right-side posture sensing unit for real-time sensing the posture of the push rod,
  • the central signal processing unit based on the displacement s L fed back by the left pose sensing unit and the displacement s R fed back by the right pose sensing unit, judges the displacement s L and the displacement s R by one by one The degree of deflection of the push rod;
  • the actuator is arranged between each hydraulic support base and the push rod, and receives the control signal of the central signal processing unit to adjust the position of the push rod.
  • the left-side posture sensing unit and the right-side posture sensing unit are quadrilateral planar link mechanisms with the same structure, and the quadrilateral planar link mechanisms are symmetrically installed on both sides of each push rod, wherein,
  • the quadrilateral planar link mechanism includes: a frame, a first link bar, a second link bar and a guide carriage, wherein the frame is fixed on the inner side wall of the base of the hydraulic support base, the guide carriage and the push The adjacent side of the push rod is embedded in the wall of the push rod, and can slide forward and backward in the horizontal direction in the wall of the push rod;
  • the first connecting rod and the second connecting rod are parallel to each other and have the same structure, and are both guide sliding rod mechanisms composed of a connecting rod sliding rod and a connecting rod rod cavity, wherein,
  • the sliding rod end of the connecting rod of the first connecting rod is hinged with the bottom end of the frame through a pin shaft, and the rod cavity end of the connecting rod is hinged with the bottom end of the guide carriage through a pin shaft;
  • the sliding rod end of the connecting rod of the second connecting rod is hinged to the upper end of the frame through the pin shaft, and the rod cavity end of the connecting rod is hinged to the upper end of the guide sliding frame through the pin shaft;
  • Displacement sensors installed in the link rod cavity of the quadrilateral plane link mechanism, are used to detect the corresponding displacement s L and displacement s R on both sides of the push rod according to the relative movement with the guide carriage, and detect The obtained displacement s L and displacement s R are fed back to the central signal processing unit in real time.
  • the actuator is a hydraulic cylinder.
  • the hydraulic cylinder is fixed inside the hydraulic support base, and the telescopic shaft end of the hydraulic cylinder is hinged with the outer wall of the push rod.
  • the displacement sensor is a rod-type displacement sensor, and the rod of the rod-type displacement sensor is fixed to the bottom end of the sliding rod of the connecting frame.
  • a sliding groove arranged in a horizontal direction is provided on the outer wall of the push rod, and a sliding carriage connected to the quadrilateral planar link mechanism is slidingly connected in the sliding groove.
  • a push rod mechanism for the hydraulic support of fully mechanized mining face adopts the position and posture sensing device for the push rod of the fully-mechanized mining face hydraulic support.
  • the invention further discloses a posture adjustment method of a push rod posture sensing device of the hydraulic support of the fully mechanized mining face,
  • the left position and attitude sensing unit on the left side of the push rod converts the displacement s L into a voltage value U L
  • the left position and attitude sensing unit on the right side of the hydraulic support base converts the displacement s R into a voltage value U R if U R > U L , it is sensed that the position of the push rod is shifted to the left.
  • the positive line of the middle groove of the scraper conveyor and the middle end of the middle of the scraper conveyor are at a positive angle, based on the positive line of the middle groove end of the scraper conveyor.
  • the middle groove end of the scraper conveyor starts from the positive line, the angle of the middle groove of the scraper conveyor counterclockwise and the end line is a positive angle, and the angle of the middle groove of the scraper conveyor clockwise and the end line is a negative angle, the scraper conveyor
  • the middle groove offsets to the lower right and increases with the increase of (U R -U L ) value.
  • the negative angle of the positive line of the middle groove end of the scraper conveyor and the middle groove end of the scraper conveyor is the positive line of the middle groove end of the scraper conveyor.
  • the angle formed by the middle groove of the scraper conveyor counterclockwise and the end line is a positive angle
  • the angle formed by the middle groove of the scraper conveyor clockwise and the end line is a negative angle.
  • the lower left offset of the middle groove of the scraper conveyor increases with the increase of (U L -U R ) value.
  • the present invention has the following advantages over the prior art:
  • the position and attitude sensing unit of the invention adopts a parallelogram mechanism.
  • the opposite sides of the parallelogram mechanism are always parallel, that is, the guide slider is always parallel to the inner wall of the base of the hydraulic support, which increases the stability of the quadrilateral linkage mechanism and thus improves the displacement.
  • the measurement accuracy of the sensor and the stability of the value change; in addition, the parallelogram mechanism is evenly stressed, thereby increasing the service life and indirectly improving the coal production efficiency.
  • the parallelogram mechanism is equipped with a displacement sensor.
  • the displacement detected by the displacement sensor is converted into a voltage signal and transmitted to the central signal processing unit for data fitting. According to the result of signal processing, the displacement of the push rod of the hydraulic support base can be accurately sensed.
  • the displacement sensor values on both sides of the push rod By adjusting the displacement sensor values on both sides of the push rod, the posture and posture sensing and adjustment of the push rod of the hydraulic support base are completed.
  • the device has high precision and high cost performance, and can overcome the harsh environment under the mine and have a long service life.
  • FIG. 1 is a schematic flow chart of a method for posture putting posture perception of the present invention
  • FIG. 2 is a schematic diagram of the push-push position and posture of the push-push position and posture sensing process of the present invention
  • FIG. 3 is a schematic view of the installation of the push rod position and attitude sensing device and parallelogram mechanism at position I in FIG. 2 of the present invention
  • FIG. 5 is a schematic diagram of the middle slot of the scraper conveyor at II in FIG. 2 of the present invention.
  • FIG. 6 is a schematic view of the sliding guide of the parallelogram mechanism at position IV in FIG. 3 of the present invention.
  • the position and posture sensing device of the push rod of the hydraulic support of the fully mechanized mining face of the present invention includes a signal acquisition system, a signal perception processing system and an execution mechanism, wherein the signal acquisition system includes:
  • Two quadrilateral planar link mechanisms 4 the two quadrilateral planar link mechanisms 4 are symmetrically installed between the push rod and the hydraulic support base;
  • the signal perception processing system is mainly composed of a signal perception module and a data processing module, and the two ends are respectively connected to the signal acquisition end and the hydraulic support base 1 of the execution system;
  • the actuator is a hydraulic push rod.
  • the hydraulic push rod receives the signal of the signal sensing processing system, and pushes or pulls the push rod to control the position of the middle groove 7 of the scraper conveyor.
  • the dotted line represents the positive reference line of the middle groove end of the scraper conveyor that meets the straightness of the fully mechanized mining face;
  • the quadrilateral planar linkage mechanism is symmetrically installed on both sides of the push rod, and each quadrilateral planar linkage
  • the mechanism includes a frame, a first connecting rod, a second connecting rod, and a guide carriage, wherein the connecting rod is a guide sliding rod mechanism composed of a connecting rod slide rod and a connecting rod cavity.
  • the frame is fixed to the inner side wall of the base of the hydraulic support base, the guide carriage and the side of the push rod are embedded in the rod wall of the push rod, and can be along the rod wall of the push rod Slide horizontally forward and backward to ensure that the quadrilateral planar link mechanism can move relative to the front and rear directions relative to the push rod.
  • the parallelogram mechanism installed on the left side of the push rod is the parallelogram mechanism L
  • the parallelogram mechanism installed on the right side of the push rod is the parallelogram mechanism R
  • the displacement sensor adopts a rod-type displacement sensor, which is installed in a quadrilateral plane link mechanism.
  • a rod-type displacement sensor which is installed in a quadrilateral plane link mechanism.
  • two are installed, which are respectively installed in a parallelogram mechanism L and a parallelogram mechanism R
  • the rod-type displacement sensor L is installed, and in the parallelogram mechanism R, the rod-type displacement sensor R is installed.
  • the rod-type displacement sensors are all fixed in the connecting rod cavity of the parallelogram mechanism.
  • the pull rod of the displacement sensor is fixed to the bottom of the connecting rod of the parallelogram mechanism.
  • the middle groove 7 of the scraper conveyor is in an irregular state, and is offset by a certain angle from the straight line of the ideal scraper conveyor of the fully mechanized mining face , Affect the straightness of the fully mechanized mining face.
  • the displacement sensor L on the left side of the push rod is the reference value U L. If the voltage value U R of the rod type displacement sensor R on the right side of the hydraulic support base is greater than U L , it is perceived that the posture of the push rod is shifted to the left.
  • the positive line of the middle groove of the scraper conveyor and the positive end of the middle groove end of the scraper conveyor (based on the positive line of the middle groove end of the scraper conveyor, starting from the straight line of the middle groove end of the scraper conveyor, the reverse of the middle groove of the scraper conveyor
  • the angle formed by the hour hand and the front line is a positive angle
  • the angle formed by the middle groove of the scraper conveyor clockwise and the front line is a negative angle
  • the middle groove of the scraper conveyor is offset to the lower right, with (U R -U L )
  • the middle groove of the scraper conveyor is parallel to the center line of the middle end, satisfying its straightness.
  • the middle groove of the scraper conveyor and the middle groove of the scraper conveyor Negative angle of the end positive line (based on the front line of the middle groove end of the scraper conveyor, from the front line of the middle groove end of the scraper conveyor, the angle formed by the counter groove of the middle groove of the scraper conveyor and the end line is positive angle, the scraper conveyor The angle formed by the middle groove clockwise and the positive end line is a negative angle), the middle groove of the scraper conveyor is offset to the lower left, and increases with the increase of (U L -U R ) value.
  • the actuator is a hydraulic cylinder disposed between each hydraulic support base and the push rod.

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  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
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Abstract

Disclosed are a pose sensing device for a hydraulic support push push rod in a fully mechanized mining face, and a mechanism and method for the hydraulic support push push rod in the fully mechanized mining face. The sensing device comprises a plurality of hydraulic support bases (1, 3), and a push push rod (5) of each hydraulic support base (1, 3) is connected to a middle slot (7) of one scraper conveyor. Left and right sides of each push push rod (5) are provided with a left side pose sensing unit and a right side pose sensing unit for sensing the poses of the push push rods (5) in real time respectively. A central signal processing unit senses a degree of offset of the push push rods (5) according to a displacement fed back by the left side pose sensing unit and a displacement fed back by the right side pose sensing unit, and adjusts same by means of an actuator (14). By means of sensing in real time the pose of the push push rods (5) and adjusting same in real time, it is ensured that the push push rods (5) are in a middle position. The mechanism is simple, the response is fast, the accuracy is high, and the performance-price ratio is high.

Description

综采面液压支架推移推杆位姿感知装置、综采面液压支架推移推杆机构及方法Position and posture sensing device of hydraulic support pushing push rod in fully mechanized mining face, hydraulic support pushing mechanism and method in fully mechanized mining face 技术领域Technical field
本发明涉及一种综采工作面推移推杆位姿感知装置、综采面液压支架推移推杆机构及方法，具体是一种煤矿井下综采工作面液压支架底座推移位姿的自动感知，属于液压支架底座推移位姿自动感知领域。The invention relates to a push rod position and posture sensing device for fully mechanized mining face, a hydraulic support push rod mechanism and method for fully mechanized mining face, in particular to an automatic sensing of the shift position and posture of hydraulic support base of fully mechanized mining face in coal mine, belonging to The hydraulic support base shifts the position and position automatically senses the field.
背景技术Background technique
液压支架底座作为综采工作面的关键机电装备之一，实现液压支架底座的自主跟机控制是实现综采工作面“少人化”和“无人化”开采，改善工人劳动条件，降低劳动强度的必要条件。液压支架底座在综采工作面使用过程中，要承受巨大的压力、拉力、撞击、摩擦和腐蚀等多种复杂的工况，并且除了承受巨大的载荷冲击还受到现场工人操作水平的影响，都会对液压支架底座的自主跟机控制造成很大的影响。液压支架底座自主跟机控制，可以有效地提高综采工作面的生产效率，减少操作人员的数量，降低工人劳动强度。然而，在液压支架底座自主跟机过程中，液压支架底座的推移推杆位姿感知是影响三机协同工作的关键因素。As one of the key electromechanical equipments of fully mechanized coal mining face, hydraulic support base realizes the autonomous follow-up control of hydraulic support base is to realize "less" and "unmanned" mining of fully mechanized mining face, improve workers' working conditions and reduce labor Necessary conditions for strength. In the process of using the fully mechanized mining face, the hydraulic support base must withstand a variety of complex working conditions such as huge pressure, tension, impact, friction and corrosion. In addition to the huge load impact, it is also affected by the level of operation of the workers on the site. It has a great influence on the autonomous follow-up control of the hydraulic support base. The hydraulic support base's independent follow-up control can effectively improve the production efficiency of the fully mechanized mining face, reduce the number of operators, and reduce the labor intensity of workers. However, in the process of the hydraulic support base autonomously following the machine, the posture and posture perception of the push rod of the hydraulic support base is a key factor affecting the cooperative work of the three machines.
液压支架底座的推移位姿是指液压支架底座随着工作面向前推进，周期性推溜和移架时，刮板输送机中部槽所形成的位姿状态。在采煤过程中，液压支架底座、刮板输送机和煤壁需要保持一定的直线度，才能保证采煤装备顺利工作。而液压支架底座的推移位姿是工作面直线度的关键因素。只有推移推杆处于中间位置，才能更好的保证工作面直线度。The shifting posture of the hydraulic support base refers to the state of the posture formed by the middle groove of the scraper conveyor when the hydraulic support base is pushed forward with the working surface, periodically pushing and moving and moving the frame. In the coal mining process, the hydraulic support base, scraper conveyor and coal wall need to maintain a certain straightness to ensure the smooth operation of coal mining equipment. The shifting posture of the hydraulic support base is the key factor for straightness of the working face. Only when the push rod is in the middle position can the straightness of the working surface be better ensured.
液压支架底座推移液压缸的一端是通过销轴的铰链连接，而推移液压缸只提供推力或者拉力，不能导向，所以在液压支架底座推移过程中，推移推杆在其工作平面内易受到刮板输送机中部槽工作阻力等因素影响，会出现左右摆动，偏移中间位置，导致刮板输送机中部槽倾斜，从而造成综采工作面刮板输送机机身参差不齐，影响刮板输送机机身的直线度，使机身的直线度无法满足生产使用要求，导致刮板链断裂，刮板输送机中部槽磨损和机身的严重变形，进而引起一系列的故障，甚至整个采煤过程不能正常运行，存在巨大的安全隐患。One end of the hydraulic cylinder of the hydraulic support base is connected by the hinge of the pin shaft, and the hydraulic cylinder only provides thrust or pulling force, and cannot be guided, so during the process of the hydraulic support base moving, the push rod is vulnerable to scrapers in its working plane Due to factors such as the working resistance of the middle slot of the conveyor, there will be left and right swings, offsetting the middle position, causing the middle slot of the scraper conveyor to tilt, resulting in uneven body of the scraper conveyor of the fully mechanized mining face, affecting the scraper conveyor The straightness of the fuselage makes the straightness of the fuselage unable to meet the requirements of production and use, resulting in the breaking of the scraper chain, the wear of the middle groove of the scraper conveyor and the serious deformation of the fuselage, which in turn causes a series of failures, even the entire coal mining process Can not run normally, there are huge hidden dangers.
目前，现有煤矿液压支架底座自主跟机过程中，都没有对推移推杆的位姿进行感知，忽略了推移推杆位姿对刮板输送机中部槽的影响，因而不能保证工作面良好的直线度。At present, the existing coal mine hydraulic support base does not perceive the posture of the push rod in the process of autonomous follow-up, ignoring the effect of the push rod posture on the middle groove of the scraper conveyor, so it cannot guarantee a good working surface Straightness.
发明内容Summary of the invention
针对上述现有技术存在的问题，本发明提供了一种综采面液压支架推移推杆位姿感知装置及方法，通过实时感知推移推杆的位姿，并对其进行实时调节，从而保证了推移推杆处于中间位置，机构简单，响应快，精度高，性价比高。In view of the above problems in the prior art, the present invention provides a device and method for sensing the posture and posture of the push rod in the fully mechanized mining face by real-time sensing and real-time adjustment of the post rod and posture, thereby ensuring The push rod is in the middle position, with simple mechanism, fast response, high precision and high cost performance.
为了实现上述目的，本发明将采取如下的技术方案：In order to achieve the above objectives, the present invention will adopt the following technical solutions:
一种综采面液压支架推移推杆位姿感知装置，包括综采工作面，该综采工作面包括若干个液压支架底座，每个液压支架底座的推移推杆均与一个刮板输送机中部槽连接；每个推移推杆的左、右两侧分别设有用于实时感知所述推移推杆位姿的左侧位姿感应单元和右侧位姿感应单元，A position and posture sensing device for a push rod of a hydraulic support in a fully mechanized mining face includes a fully mechanized mining face, which includes a plurality of hydraulic support bases, and the push rods of each hydraulic support base are connected to the middle of a scraper conveyor Slot connection; the left and right sides of each push rod are provided with a left-side posture sensing unit and a right-side posture sensing unit for real-time sensing the posture of the push rod,
中央信号处理单元，根据左侧位姿感应单元所反馈的位移s L，和根据右侧位姿感应单元所反馈的位移s R，通过一一判断位移s L和位移s R的大小，来感知推移推杆的偏移程度； The central signal processing unit, based on the displacement s L fed back by the left pose sensing unit and the displacement s R fed back by the right pose sensing unit, judges the displacement s L and the displacement s R by one by one The degree of deflection of the push rod;
执行机构，设置在每个液压支架底座和推移推杆之间，接收所述中央信号处理单元的控制信号对推移推杆的位姿进行调整。The actuator is arranged between each hydraulic support base and the push rod, and receives the control signal of the central signal processing unit to adjust the position of the push rod.
所述左侧位姿感应单元和右侧位姿感应单元为结构相同的四边形平面连杆机构，且四边形平面连杆机构对称安装在每个推移推杆两侧，其中，The left-side posture sensing unit and the right-side posture sensing unit are quadrilateral planar link mechanisms with the same structure, and the quadrilateral planar link mechanisms are symmetrically installed on both sides of each push rod, wherein,
所述四边形平面连杆机构包括：机架、第一连架杆、第二连架杆和导向滑架，其中，所述机架固定于液压支架底座的底座内侧壁上，导向滑架与推移推杆相邻一侧嵌入推移推杆的杆壁中，并且可在推移推杆的杆壁中沿水平方向前、后滑动；The quadrilateral planar link mechanism includes: a frame, a first link bar, a second link bar and a guide carriage, wherein the frame is fixed on the inner side wall of the base of the hydraulic support base, the guide carriage and the push The adjacent side of the push rod is embedded in the wall of the push rod, and can slide forward and backward in the horizontal direction in the wall of the push rod;
所述第一连架杆和第二连架杆相互平行且结构相同，均是由连架杆滑杆和连架杆杆腔组成的导向滑杆机构，其中，The first connecting rod and the second connecting rod are parallel to each other and have the same structure, and are both guide sliding rod mechanisms composed of a connecting rod sliding rod and a connecting rod rod cavity, wherein,
第一连架杆的连架杆滑杆端通过销轴与机架底端铰接，连架杆杆腔端通过销轴与导向滑架底端铰接；The sliding rod end of the connecting rod of the first connecting rod is hinged with the bottom end of the frame through a pin shaft, and the rod cavity end of the connecting rod is hinged with the bottom end of the guide carriage through a pin shaft;
第二连架杆的连架杆滑杆端通过销轴与机架上端铰接，连架杆杆腔端通过销轴与导向滑架上端铰接；The sliding rod end of the connecting rod of the second connecting rod is hinged to the upper end of the frame through the pin shaft, and the rod cavity end of the connecting rod is hinged to the upper end of the guide sliding frame through the pin shaft;
位移传感器，安装在四边形平面连杆机构的连架杆杆腔内，用于根据与导向滑架的相对运动，检测出推移推杆两侧相应的位移s L和位移s R，并将所检测到的位移s L和位移s R实时反馈至中央信号处理单元。 Displacement sensors, installed in the link rod cavity of the quadrilateral plane link mechanism, are used to detect the corresponding displacement s L and displacement s R on both sides of the push rod according to the relative movement with the guide carriage, and detect The obtained displacement s L and displacement s R are fed back to the central signal processing unit in real time.
所述执行机构为液压缸，液压缸固定在液压支架底座内部，液压缸的伸缩轴端与推移推杆的外壁铰接。The actuator is a hydraulic cylinder. The hydraulic cylinder is fixed inside the hydraulic support base, and the telescopic shaft end of the hydraulic cylinder is hinged with the outer wall of the push rod.
所述位移传感器为拉杆式位移传感器，所述拉杆式位移传感器的拉杆固定在连架滑杆的底端。The displacement sensor is a rod-type displacement sensor, and the rod of the rod-type displacement sensor is fixed to the bottom end of the sliding rod of the connecting frame.
所述推移推杆的外壁上设有沿水平方向布置的滑槽，所述滑槽内滑动连接所述四边形平面连杆机构上的导向滑架。A sliding groove arranged in a horizontal direction is provided on the outer wall of the push rod, and a sliding carriage connected to the quadrilateral planar link mechanism is slidingly connected in the sliding groove.
一种综采面液压支架推移推杆机构采用所述的综采面液压支架推移推杆位姿感知装置。A push rod mechanism for the hydraulic support of fully mechanized mining face adopts the position and posture sensing device for the push rod of the fully-mechanized mining face hydraulic support.
本发明进一步公开了一种综采面液压支架推移推杆位姿感知装置的位姿调整方法，The invention further discloses a posture adjustment method of a push rod posture sensing device of the hydraulic support of the fully mechanized mining face,
推移推杆左侧的左侧位姿感应单元将位移s L转换为电压值U L，液压支架底座右侧的左侧位姿感应单元将位移s R转换为电压值U R，若U R＞U L，感知到推移推杆的位姿向左侧偏移，此时刮板输送机中部槽与刮板输送机中部槽端正线正角度，以刮板输送机中部槽端正线为基准，从刮板输送机中部槽端正线起，刮板输送机中部槽逆时针与端正线成的角度为正角，刮板输送机中部槽顺时针与端正线成的角度为负角，刮板输送机中部槽右下偏移，随着(U R-U L)值的增大而增大，通过执行机构动作拉动所述推移推杆向右移动，调整U L 和U R的值，使两者相等，即U R-U L＝0，此时推移推杆位姿处于中位，即液压支架底座中间位置，刮板输送机中部槽与中部端正线平行，满足其直线度； The left position and attitude sensing unit on the left side of the push rod converts the displacement s L into a voltage value U L , and the left position and attitude sensing unit on the right side of the hydraulic support base converts the displacement s R into a voltage value U R if U R > U L , it is sensed that the position of the push rod is shifted to the left. At this time, the positive line of the middle groove of the scraper conveyor and the middle end of the middle of the scraper conveyor are at a positive angle, based on the positive line of the middle groove end of the scraper conveyor. The middle groove end of the scraper conveyor starts from the positive line, the angle of the middle groove of the scraper conveyor counterclockwise and the end line is a positive angle, and the angle of the middle groove of the scraper conveyor clockwise and the end line is a negative angle, the scraper conveyor The middle groove offsets to the lower right and increases with the increase of (U R -U L ) value. The actuator pushes the push rod to move to the right to adjust the values of U L and U R so that both Equal, that is U R -U L =0, at this time, the push rod position is in the middle position, that is, the middle position of the hydraulic support base, the middle groove of the scraper conveyor is parallel to the center line of the middle end, and its straightness is satisfied;
若U R＜U L，感知到推移推杆的位姿向右侧偏移，此时刮板输送机中部槽与刮板输送机中部槽端正线负角度，以刮板输送机中部槽端正线为基准，从刮板输送机中部槽端正线起，刮板输送机中部槽逆时针与端正线成的角度为正角，刮板输送机中部槽顺时针与端正线成的角度为负角，刮板输送机中部槽左下偏移，随着(U L-U R)值的增大而增大，通过执行机构动作推动所述推移推杆向左移动，调整U L和U R的值，使两者相等，即U L-U R＝0，此时推移推杆位姿处于中位，即液压支架底座中间位置，刮板输送机中部槽与中部端正线平行，满足其直线度。 If U R ＜U L , it is sensed that the position of the push rod is shifted to the right. At this time, the negative angle of the positive line of the middle groove end of the scraper conveyor and the middle groove end of the scraper conveyor is the positive line of the middle groove end of the scraper conveyor For reference, from the positive line of the middle groove end of the scraper conveyor, the angle formed by the middle groove of the scraper conveyor counterclockwise and the end line is a positive angle, and the angle formed by the middle groove of the scraper conveyor clockwise and the end line is a negative angle. The lower left offset of the middle groove of the scraper conveyor increases with the increase of (U L -U R ) value. The actuator pushes the push rod to move to the left to adjust the values of U L and U R , Make the two equal, that is, U L -U R =0, at this time, the push rod position is in the middle position, that is, the middle position of the hydraulic support base, the middle groove of the scraper conveyor is parallel to the center line of the middle end, and its straightness is satisfied.
有益效果：Beneficial effect:
根据上述的技术方案，本发明相对于现有技术而言，具有如下的优点：According to the above technical solution, the present invention has the following advantages over the prior art:
本发明中位姿感应单元采用平行四边形机构，平行四边形机构对边是始终平行的，即导向滑块始终与液压支架底座内壁是平行的，增加了四边形连杆机构的稳定性，从而提高了位移传感器的测量精度以及数值变动的稳定性；另外，平行四边形机构受力均匀，从而增长了使用寿命，间接的提高了煤炭生产效率。The position and attitude sensing unit of the invention adopts a parallelogram mechanism. The opposite sides of the parallelogram mechanism are always parallel, that is, the guide slider is always parallel to the inner wall of the base of the hydraulic support, which increases the stability of the quadrilateral linkage mechanism and thus improves the displacement. The measurement accuracy of the sensor and the stability of the value change; in addition, the parallelogram mechanism is evenly stressed, thereby increasing the service life and indirectly improving the coal production efficiency.
平行四边形机构内设有位移传感器，通过位移传感器检测的位移转化为电压信号传送到中央信号处理单元进行数据拟合，根据信号处理的结果来准确感知液压支架底座的推移推杆的偏移程度，通过调整使推移推杆两侧的位移传感器值相等，进而完成液压支架底座的推移推杆的位姿感知及调整，此装置精度高，性价比高，能够克服矿井下恶劣的环境，使用寿命长。The parallelogram mechanism is equipped with a displacement sensor. The displacement detected by the displacement sensor is converted into a voltage signal and transmitted to the central signal processing unit for data fitting. According to the result of signal processing, the displacement of the push rod of the hydraulic support base can be accurately sensed. By adjusting the displacement sensor values on both sides of the push rod, the posture and posture sensing and adjustment of the push rod of the hydraulic support base are completed. The device has high precision and high cost performance, and can overcome the harsh environment under the mine and have a long service life.
附图说明BRIEF DESCRIPTION
图1为本发明推移推杆位姿感知方法流程示意图；FIG. 1 is a schematic flow chart of a method for posture putting posture perception of the present invention;
图2为本发明推移推杆位姿感知过程推移推杆位姿示意图；2 is a schematic diagram of the push-push position and posture of the push-push position and posture sensing process of the present invention;
图3为本发明图2中I处推移推杆位姿感知装置和平行四边形机构安装示意图；3 is a schematic view of the installation of the push rod position and attitude sensing device and parallelogram mechanism at position I in FIG. 2 of the present invention;
图4为本发明直线位移传感器安装结构图；4 is a diagram of the installation structure of the linear displacement sensor of the present invention;
图5为本发明图2中II处刮板输送机中部槽不正示意图；FIG. 5 is a schematic diagram of the middle slot of the scraper conveyor at II in FIG. 2 of the present invention;
图6为本发明图3中IV处平行四边形机构滑动导向示意图；6 is a schematic view of the sliding guide of the parallelogram mechanism at position IV in FIG. 3 of the present invention;
图7为本发明位姿修正机构局部剖视图；7 is a partial cross-sectional view of the posture correction mechanism of the present invention;
图中：1、液压支架底座，2、推移液压缸，3、液压支架底座，4、四边形平面连杆机构，5、推移推杆，6、销轴，7、刮板输送机中部槽，8、导向滑架，9、连架杆杆腔，10、位移传感器，11、连架杆滑杆，12、机架，13、连架杆，14、执行机构，15、导向滑块，16、煤壁。In the picture: 1. Hydraulic support base, 2. Push hydraulic cylinder, 3. Hydraulic support base, 4. Quadrilateral plane linkage mechanism, 5. Push rod, 6, Pin shaft, 7. Central groove of scraper conveyor, 8 , Guide carriage, 9, connecting rod rod cavity, 10, displacement sensor, 11, connecting rod slide rod, 12, frame, 13, connecting rod, 14, actuator, 15, guide slider, 16, Coal wall.
具体实施方式detailed description
下面将结合具体实施例和说明书附图，对本发明的技术方案进行清楚、完整地标书，显然，描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明的保护范围。The technical solutions of the present invention will be clearly and completely marked in the following with reference to specific embodiments and the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
如图1至图5所示，本发明综采面液压支架推移推杆位姿感知装置，包括信号采集 系统、信号感知处理系统和执行机构，其中，所述信号采集系统包括：As shown in FIGS. 1 to 5, the position and posture sensing device of the push rod of the hydraulic support of the fully mechanized mining face of the present invention includes a signal acquisition system, a signal perception processing system and an execution mechanism, wherein the signal acquisition system includes:
两个四边形平面连杆机构4，两个所述四边形平面连杆机构4对称安装在推移推杆与液压支架底座之间；Two quadrilateral planar link mechanisms 4, the two quadrilateral planar link mechanisms 4 are symmetrically installed between the push rod and the hydraulic support base;
信号感知处理系统主要有信号感知模块和数据处理模块组成，两端分别连接信号采集端和执行系统的液压支架底座1；The signal perception processing system is mainly composed of a signal perception module and a data processing module, and the two ends are respectively connected to the signal acquisition end and the hydraulic support base 1 of the execution system;
执行机构为一液压推杆，液压推杆接收所述信号感知处理系统的信号，推动或拉动所述推移推杆控制刮板输送机中部槽7的位置。The actuator is a hydraulic push rod. The hydraulic push rod receives the signal of the signal sensing processing system, and pushes or pulls the push rod to control the position of the middle groove 7 of the scraper conveyor.
如图2和图3所示，虚线代表满足综采工作面直线度的刮板输送机中部槽端正参考线；四边形平面连杆机构对称安装在推移推杆的两侧，每个四边形平面连杆机构均包括机架、第一连架杆、第二连架杆和导向滑架，其中，连架杆是由连架杆滑杆和连架杆腔共同组成的导向滑杆机构。As shown in Figure 2 and Figure 3, the dotted line represents the positive reference line of the middle groove end of the scraper conveyor that meets the straightness of the fully mechanized mining face; the quadrilateral planar linkage mechanism is symmetrically installed on both sides of the push rod, and each quadrilateral planar linkage The mechanism includes a frame, a first connecting rod, a second connecting rod, and a guide carriage, wherein the connecting rod is a guide sliding rod mechanism composed of a connecting rod slide rod and a connecting rod cavity.
实现位移传感器的信号采集，机架固定于液压支架底座的底座内侧壁，导向滑架与推移推杆相邻一侧嵌入推移推杆的杆壁中，并且可在推移推杆的杆壁中沿水平方向前、后滑动，以保证四边形平面连杆机构相对于推移推杆之间能够发生前、后方向的相对移动。To realize the signal acquisition of the displacement sensor, the frame is fixed to the inner side wall of the base of the hydraulic support base, the guide carriage and the side of the push rod are embedded in the rod wall of the push rod, and can be along the rod wall of the push rod Slide horizontally forward and backward to ensure that the quadrilateral planar link mechanism can move relative to the front and rear directions relative to the push rod.
本实施例中，安装在推移推杆左侧的平行四边形机构为平行四边形机构L，而安装在推移推杆右侧的平行四边形机构为平行四边形机构R；In this embodiment, the parallelogram mechanism installed on the left side of the push rod is the parallelogram mechanism L, and the parallelogram mechanism installed on the right side of the push rod is the parallelogram mechanism R;
如图4所示，位移传感器采用拉杆式位移传感器，安装于四边形平面连杆机构中，针对于每一个液压支架底座1，配装有两个，分别安装在平行四边形机构L和平行四边形机构R中，安装在平行四边形机构L的为拉杆式位移传感器L，安装在平行四边形机构R的为拉杆式位移传感器R，所述拉杆式位移传感器均固定于平行四边形机构的连架杆腔内，拉杆式位移传感器的拉杆固定于平行四边形机构的连架滑杆底端。As shown in FIG. 4, the displacement sensor adopts a rod-type displacement sensor, which is installed in a quadrilateral plane link mechanism. For each hydraulic support base 1, two are installed, which are respectively installed in a parallelogram mechanism L and a parallelogram mechanism R In the parallelogram mechanism L, the rod-type displacement sensor L is installed, and in the parallelogram mechanism R, the rod-type displacement sensor R is installed. The rod-type displacement sensors are all fixed in the connecting rod cavity of the parallelogram mechanism. The pull rod of the displacement sensor is fixed to the bottom of the connecting rod of the parallelogram mechanism.
如图5所示，液压支架底座1的推移推杆5偏移极限位置时，刮板输送机中部槽7处于不正的状态，与理想的综采工作面刮板输送机的直线偏移一定角度，影响综采工作面的直线度。As shown in FIG. 5, when the push rod 5 of the hydraulic support base 1 is shifted to the limit position, the middle groove 7 of the scraper conveyor is in an irregular state, and is offset by a certain angle from the straight line of the ideal scraper conveyor of the fully mechanized mining face , Affect the straightness of the fully mechanized mining face.
以下详细地说明本发明的推移推杆的感知方法：The following describes the method of perceiving the putter of the present invention in detail:
推移推杆左侧的位移传感器L为参考值U L，液压支架底座右侧的拉杆式位移传感器R的电压值U R若大于U L，感知到推移推杆的位姿向左侧偏移，此时刮板输送机中部槽与刮板输送机中部槽端正线正角度(以刮板输送机中部槽端正线为基准，从刮板输送机中部槽端正线起，刮板输送机中部槽逆时针与端正线成的角度为正角，刮板输送机中部槽顺时针与端正线成的角度为负角)，刮板输送机中部槽右下偏移，随着(U R-U L)值的增大而增大，通过执行机构调整U L和U R的值，使两者相等，即U R-U L＝0，此时推移推杆位姿处于中位(液压支架底座中间位置)，刮板输送机中部槽与中部端正线平行，满足其直线度。 The displacement sensor L on the left side of the push rod is the reference value U L. If the voltage value U R of the rod type displacement sensor R on the right side of the hydraulic support base is greater than U L , it is perceived that the posture of the push rod is shifted to the left. At this time, the positive line of the middle groove of the scraper conveyor and the positive end of the middle groove end of the scraper conveyor (based on the positive line of the middle groove end of the scraper conveyor, starting from the straight line of the middle groove end of the scraper conveyor, the reverse of the middle groove of the scraper conveyor The angle formed by the hour hand and the front line is a positive angle, and the angle formed by the middle groove of the scraper conveyor clockwise and the front line is a negative angle), and the middle groove of the scraper conveyor is offset to the lower right, with (U R -U L ) The value increases and increases, and the values of U L and U R are adjusted by the actuator to make them equal, that is, U R -U L =0, at this time, the position of the push rod is in the neutral position (center position of the hydraulic support base) ), the middle groove of the scraper conveyor is parallel to the center line of the middle end, satisfying its straightness.
液压支架底座右侧的拉杆式位移传感器R的电压值U R若小于U L，感知到推移推杆的位姿向右侧偏移，此时刮板输送机中部槽与刮板输送机中部槽端正线负角度(以刮板输送机中部槽端正线为基准，从刮板输送机中部槽端正线起，刮板输送机中部槽逆时针与端正线成的角度为正角，刮板输送机中部槽顺时针与端正线成的角度为负角)，刮板输送机中部槽左下偏移，随着(U L-U R)值的增大而增大，通过执行机构调整U L和U R的值，使两者相等，即U L-U R＝0，此时推移推杆位姿处于中位(液压支架底座中间位置)，刮板输送机中部 槽与中部端正线平行，满足其直线度。 If the voltage value U R of the rod-type displacement sensor R on the right side of the hydraulic support base is less than U L , it is sensed that the posture of the push rod is shifted to the right. At this time, the middle groove of the scraper conveyor and the middle groove of the scraper conveyor Negative angle of the end positive line (based on the front line of the middle groove end of the scraper conveyor, from the front line of the middle groove end of the scraper conveyor, the angle formed by the counter groove of the middle groove of the scraper conveyor and the end line is positive angle, the scraper conveyor The angle formed by the middle groove clockwise and the positive end line is a negative angle), the middle groove of the scraper conveyor is offset to the lower left, and increases with the increase of (U L -U R ) value. Adjust the U L and U through the actuator The value of R makes the two equal, that is, U L -U R =0, at this time, the push rod position is in the middle position (the middle position of the hydraulic support base), and the middle groove of the scraper conveyor is parallel to the center line of the middle end. Straightness.
作为本发明技术方案的优选实施例，所述执行机构为设置在每个液压支架底座和推移推杆之间的液压缸。As a preferred embodiment of the technical solution of the present invention, the actuator is a hydraulic cylinder disposed between each hydraulic support base and the push rod.

Claims (7)

  1. 一种综采面液压支架推移推杆位姿感知装置，包括综采工作面，该综采工作面包括若干个液压支架底座，每个液压支架底座的推移推杆均与一个刮板输送机中部槽连接；其特征在于，每个推移推杆的左、右两侧分别设有用于实时感知所述推移推杆位姿的左侧位姿感应单元和右侧位姿感应单元，A position and posture sensing device for a push rod of a hydraulic support in a fully mechanized mining face includes a fully mechanized mining face, which includes a plurality of hydraulic support bases, and the push rods of each hydraulic support base are connected to the middle of a scraper conveyor Slot connection; characterized in that the left and right sides of each push rod are provided with a left and right posture sensing unit and a right posture sensing unit for real-time sensing the posture of the push rod,
    中央信号处理单元，根据左侧位姿感应单元所反馈的位移s L，和根据右侧位姿感应单元所反馈的位移s R，通过一一判断位移s L和位移s R的大小，来感知推移推杆的偏移程度； The central signal processing unit, based on the displacement s L fed back by the left pose sensing unit and the displacement s R fed back by the right pose sensing unit, judges the displacement s L and the displacement s R by one by one The degree of deflection of the push rod;
    执行机构，设置在每个液压支架底座和推移推杆之间，接收所述中央信号处理单元的控制信号对推移推杆的位姿进行调整。The actuator is arranged between each hydraulic support base and the push rod, and receives the control signal of the central signal processing unit to adjust the position of the push rod.
  2. 根据权利要求1所述的综采面液压支架推移推杆位姿感知装置，其特征在于，所述左侧位姿感应单元和右侧位姿感应单元为结构相同的四边形平面连杆机构，且四边形平面连杆机构对称安装在每个推移推杆两侧，其中，The position and posture sensing device of the push rod of the fully-mechanized mining face hydraulic support according to claim 1, characterized in that the left-side posture sensing unit and the right-side posture sensing unit are quadrilateral planar link mechanisms with the same structure, and The quadrilateral plane linkage mechanism is installed symmetrically on both sides of each push rod, where,
    所述四边形平面连杆机构包括：机架、第一连架杆、第二连架杆和导向滑架，其中，所述机架固定于液压支架底座的底座内侧壁上，导向滑架与推移推杆相邻一侧嵌入推移推杆的杆壁中，并且可在推移推杆的杆壁中沿水平方向前、后滑动；The quadrilateral planar link mechanism includes: a frame, a first link bar, a second link bar and a guide carriage, wherein the frame is fixed on the inner side wall of the base of the hydraulic support base, the guide carriage and the push The adjacent side of the push rod is embedded in the wall of the push rod, and can slide forward and backward in the horizontal direction in the wall of the push rod;
    所述第一连架杆和第二连架杆相互平行且结构相同，均是由连架杆滑杆和连架杆杆腔组成的导向滑杆机构，其中，The first connecting rod and the second connecting rod are parallel to each other and have the same structure, and are both guide sliding rod mechanisms composed of a connecting rod sliding rod and a connecting rod rod cavity, wherein,
    第一连架杆的连架杆滑杆端通过销轴与机架底端铰接，连架杆杆腔端通过销轴与导向滑架底端铰接；The sliding rod end of the connecting rod of the first connecting rod is hinged with the bottom end of the frame through a pin shaft, and the rod cavity end of the connecting rod is hinged with the bottom end of the guide carriage through a pin shaft;
    第二连架杆的连架杆滑杆端通过销轴与机架上端铰接，连架杆杆腔端通过销轴与导向滑架上端铰接；The sliding rod end of the connecting rod of the second connecting rod is hinged to the upper end of the frame through the pin shaft, and the rod cavity end of the connecting rod is hinged to the upper end of the guide sliding frame through the pin shaft;
    位移传感器，安装在四边形平面连杆机构的连架杆杆腔内，用于根据与导向滑架的相对运动，检测出推移推杆两侧相应的位移s L和位移s R，并将所检测到的位移s L和位移s R实时反馈至中央信号处理单元。 Displacement sensors, installed in the link rod cavity of the quadrilateral plane link mechanism, are used to detect the corresponding displacement s L and displacement s R on both sides of the push rod according to the relative movement with the guide carriage, and detect The obtained displacement s L and displacement s R are fed back to the central signal processing unit in real time.
  3. 根据权利要求1所述的综采面液压支架推移推杆位姿感知装置，其特征在于，所述执行机构为液压缸，液压缸固定在液压支架底座内部，液压缸的伸缩轴端与推移推杆的外壁铰接。The position and posture sensing device of the push rod of the hydraulic support of the fully mechanized mining face according to claim 1, characterized in that the actuator is a hydraulic cylinder, the hydraulic cylinder is fixed inside the base of the hydraulic support, and the telescopic shaft end of the hydraulic cylinder and the push push The outer wall of the rod is hinged.
  4. 根据权利要求2所述的综采面液压支架推移推杆位姿感知装置，其特征在于，所述位移传感器为拉杆式位移传感器，所述拉杆式位移传感器的拉杆固定在连架滑杆的底端。The position and posture sensing device of the push rod of the hydraulic support of the fully mechanized mining face according to claim 2, characterized in that the displacement sensor is a rod-type displacement sensor, and the rod of the rod-type displacement sensor is fixed to the bottom of the connecting rod end.
  5. 根据权利要求1所述的综采面液压支架推移推杆位姿感知装置，其特征在于，所述推移推杆的外壁上设有沿水平方向布置的滑槽，所述滑槽内滑动连接所述四边形平面连杆机构上的导向滑架。The position and posture sensing device of the push rod of the hydraulic support for fully mechanized mining face according to claim 1, characterized in that a sliding slot arranged along the horizontal direction is provided on the outer wall of the sliding rod, and the sliding slot is slidingly connected to the The guide carriage on the quadrilateral plane linkage mechanism.
  6. 一种综采面液压支架推移推杆机构，其特征在于，采用如权利要求1所述的综采面液压支架推移推杆位姿感知装置。A push rod mechanism of hydraulic support for fully mechanized mining face is characterized by adopting the posture and posture sensing device for hydraulic support of fully mechanized mining face according to claim 1.
  7. 一种基于权利要求1～5中任一所述综采面液压支架推移推杆位姿感知装置的位姿调整方法，其特征在于：A position and attitude adjustment method based on any one of claims 1 to 5 based on the position and posture sensing device of a hydraulic support push rod in a fully mechanized mining face, characterized in that:
    推移推杆左侧的左侧位姿感应单元将位移s L转换为电压值U L，液压支架底座右侧的左侧位姿感应单元将位移s R转换为电压值U R，若U R＞U L，感知到推移推杆的位姿向左侧偏移，此时刮板输送机中部槽与刮板输送机中部槽端正线正角度，以刮板输送机中部槽端正线为基准，从刮板输送机中部槽端正线起，刮板输送机中部槽逆时针与端正线成的角度为正角， 刮板输送机中部槽顺时针与端正线成的角度为负角，刮板输送机中部槽右下偏移，随着(U R-U L)值的增大而增大，通过执行机构动作拉动所述推移推杆向右移动，调整U L和U R的值，使两者相等，即U R-U L＝0，此时推移推杆位姿处于中位，即液压支架底座中间位置，刮板输送机中部槽与中部端正线平行，满足其直线度； The left position and attitude sensing unit on the left side of the push rod converts the displacement s L into a voltage value U L , and the left position and attitude sensing unit on the right side of the hydraulic support base converts the displacement s R into a voltage value U R if U R > U L , it is sensed that the position of the push rod is shifted to the left. At this time, the positive line of the middle groove of the scraper conveyor and the middle end of the middle of the scraper conveyor are at a positive angle, based on the positive line of the middle groove end of the scraper conveyor. The middle groove end of the scraper conveyor starts from the positive line, the angle of the middle groove of the scraper conveyor counterclockwise and the end line is a positive angle, and the angle of the middle groove of the scraper conveyor clockwise and the end line is a negative angle, the scraper conveyor The middle groove offsets to the lower right and increases as the value of (U R -U L ) increases. The actuator pushes the push rod to move to the right to adjust the values of U L and U R so that both Equal, that is, U R -U L =0, at this time, the push rod position is in the middle position, that is, the middle position of the hydraulic support base, the middle groove of the scraper conveyor is parallel to the center line of the middle end, and its straightness is satisfied;
    若U R＜U L，感知到推移推杆的位姿向右侧偏移，此时刮板输送机中部槽与刮板输送机中部槽端正线负角度，以刮板输送机中部槽端正线为基准，从刮板输送机中部槽端正线起，刮板输送机中部槽逆时针与端正线成的角度为正角，刮板输送机中部槽顺时针与端正线成的角度为负角，刮板输送机中部槽左下偏移，随着(U L-U R)值的增大而增大，通过执行机构动作推动所述推移推杆向左移动，调整U L和U R的值，使两者相等，即U L-U R＝0，此时推移推杆位姿处于中位，即液压支架底座中间位置，刮板输送机中部槽与中部端正线平行，满足其直线度。 If U R ＜U L , it is sensed that the position of the push rod is shifted to the right. At this time, the negative angle of the positive line of the middle groove end of the scraper conveyor and the middle groove end of the scraper conveyor is the positive line of the middle groove end of the scraper conveyor For reference, from the positive line of the middle groove end of the scraper conveyor, the angle formed by the middle groove of the scraper conveyor counterclockwise and the end line is a positive angle, and the angle formed by the middle groove of the scraper conveyor clockwise and the end line is a negative angle. The lower left offset of the middle groove of the scraper conveyor increases with the increase of (U L -U R ) value. The actuator pushes the push rod to move to the left to adjust the values of U L and U R , Make the two equal, that is, U L -U R =0, at this time, the push rod position is in the middle position, that is, the middle position of the hydraulic support base, the middle groove of the scraper conveyor is parallel to the center line of the middle end, and its straightness is satisfied.
PCT/CN2019/091623 2018-12-11 2019-06-18 Pose sensing device for hydraulic support push push rod in fully mechanized mining face, and mechanism and method for hydraulic support push push rod in fully mechanized mining face WO2020119054A1 (en)

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CN113294192B (en) * 2021-03-19 2022-06-24 郑州煤机液压电控有限公司 Anti-biting frame control method based on attitude detection
CN113124797A (en) * 2021-03-24 2021-07-16 太原理工大学 Hydraulic support group pose simulation system based on adjustable bottom plate
CN113124797B (en) * 2021-03-24 2022-10-21 太原理工大学 Hydraulic support group pose simulation system based on adjustable bottom plate

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CN109736868B (en) 2020-07-28
CA3086270A1 (en) 2020-06-18
CN109736868A (en) 2019-05-10
AU2019390996A1 (en) 2020-07-02
CA3086270C (en) 2021-07-27
RU2738830C1 (en) 2020-12-17

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