WO2020181672A1 - 一种液压支架与采煤机截割部干涉保护装置与方法 - Google Patents

一种液压支架与采煤机截割部干涉保护装置与方法 Download PDF

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WO2020181672A1
WO2020181672A1 PCT/CN2019/091620 CN2019091620W WO2020181672A1 WO 2020181672 A1 WO2020181672 A1 WO 2020181672A1 CN 2019091620 W CN2019091620 W CN 2019091620W WO 2020181672 A1 WO2020181672 A1 WO 2020181672A1
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Prior art keywords
hydraulic support
ultrasonic transducer
shearer
execute
threshold
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PCT/CN2019/091620
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English (en)
French (fr)
Inventor
王忠宾
吴虹霖
谭超
路绪良
刘博文
李小玉
吴越
周红亚
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China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
Xuzhou Goldfluid Hydraulic Technology Development Co Ltd
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China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
Xuzhou Goldfluid Hydraulic Technology Development Co Ltd
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Application filed by China University of Mining and Technology CUMT, China University of Mining and Technology Beijing CUMTB, Xuzhou Goldfluid Hydraulic Technology Development Co Ltd filed Critical China University of Mining and Technology CUMT
Priority to AU2019369210A priority Critical patent/AU2019369210B2/en
Priority to CA3080419A priority patent/CA3080419C/en
Priority to US16/762,946 priority patent/US11286774B2/en
Publication of WO2020181672A1 publication Critical patent/WO2020181672A1/zh
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C27/00—Machines which completely free the mineral from the seam
    • E21C27/02—Machines which completely free the mineral from the seam solely by slitting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D33/00—Accessories for shearing machines or shearing devices
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/04—Safety 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
    • E21D23/12—Control, e.g. using remote control
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/18—Special adaptations of signalling or alarm devices

Definitions

  • the invention relates to the field of interference protection of a hydraulic support and a cutting part of a shearer, in particular to an interference protection device and method for a hydraulic support and a cutting part of a shearer.
  • the problem of interference between the cutting part of the shearer and the fender of the hydraulic support is still an aspect of the problem to be solved by the intelligentization of fully mechanized mining.
  • the cutting interference between the cutting part of the shearer and the protective plate of the hydraulic support means that when the cutting part of the shearer drum moves to a certain position of the hydraulic support, if the protective plate of the hydraulic support is not recovered in time, it will cause the shearer drum The cutting teeth collide with the hydraulic support fender that has not been recovered in time, which will not only damage the shearer cutting drum but also damage the fender of the hydraulic support. If the situation is serious, it will cause the entire fully mechanized mining face Paralysis.
  • the purpose of the present invention is to provide a hydraulic support and a shearer cutting part interference protection device and method, which are based on the ultrasonic signals received by the second ultrasonic transducer and the receiver on the hydraulic support.
  • the time difference of the light signal is used to calculate the distance between the shearer and the hydraulic support, and then the hydraulic support fender is controlled to be retracted in time to prevent the hydraulic support from interfering with the cutting part of the shearer, which is low-cost, highly adaptable, reliable and safe.
  • the present invention adopts the following technical solutions:
  • the invention provides a protection device for interference between a hydraulic support and a cutting part of a shearer, which includes several dustproof boxes uniformly fixedly arranged on the surface of the traction part of the shearer facing away from the coal wall, and a protective device fixed on the hydraulic support.
  • a dust-proof housing in which an ultrasonic transducer 1 and a flash lamp are fixedly arranged in the dust-proof housing, and an ultrasonic transducer 2, a receiver, and a data processing module are fixedly arranged in the dust-proof housing;
  • the second ultrasonic transducer is electrically connected with the receiver, the first ultrasonic transducer and the flash lamp are electrically connected with an external single-chip microcomputer, and the data processing module is electrically connected with the hydraulic support control computer.
  • the number of said dustproof boxes is five.
  • both the dust-proof box and the dust-proof housing adopt pc transparent endurance boards.
  • the dust-proof housing is fixed at a position that is forward of the middle of the lower side of the top beam of the hydraulic support.
  • a threshold d threshold 1 that sets the minimum distance between the ultrasonic transducer 2 on the hydraulic support and the ultrasonic transducer 1 on the shearer when the shearer is close to the hydraulic support and the hydraulic pressure when the shearer is far away from the hydraulic support
  • the threshold value dthreshold 2 of the minimum distance between the second ultrasonic transducer on the support and the first ultrasonic transducer on the shearer, and the time threshold tthreshold is set;
  • the hydraulic support control computer sends a signal to control the fenders to be retracted, and execute (4);
  • the hydraulic support control computer sends a signal to control the extension of the fender, and execute (4).
  • the beneficial effect of the present invention is that the device calculates the distance between the shearer and the hydraulic support according to the time difference between the ultrasonic signal and the optical signal received by the ultrasonic transducer and the receiver on the hydraulic support, and then controls the hydraulic support fender in a timely manner It is stowed to prevent the hydraulic support from interfering with the cutting part of the shearer.
  • Dust-proof boxes and dust-proof shells are used to protect the parts from dust, prevent coal dust from entering, and increase the service life of the parts.
  • the device is low-cost and practical High performance, high reliability, long service life, safe and accurate use.
  • Figure 1 is a schematic diagram of the arrangement of the dust box equipped with the first ultrasonic transducer and the flash lamp on the traction part of the shearer in the present invention
  • FIG. 2 is a schematic diagram of the arrangement of the dust-proof housing equipped with the second ultrasonic transducer, the receiver and the data processing module on the hydraulic support in the present invention
  • Figure 3 is a bottom view of the arrangement of the dust-proof housing on the hydraulic support in Figure 2;
  • Figure 4 is a flow chart of controlling the fender of the hydraulic support.
  • a protection device for the interference between the hydraulic support and the cutting part of the shearer includes a number of dustproof boxes, fixed and fixed on the surface of the traction part of the shearer facing away from the coal wall.
  • the dust-proof box is fixedly provided with an ultrasonic transducer 1 and a flash lamp, and the installation direction of each ultrasonic transducer 1 is different to ensure that the ultrasonic signal is comprehensively covered;
  • the second ultrasonic transducer, the receiver, and the data processing module are fixedly arranged in the housing; the data processing module is electrically connected to the second ultrasonic transducer and the receiver, and the first ultrasonic transducer is electrically connected to the receiver.
  • the flash lamps are electrically connected with an external single-chip microcomputer, and the data processing module is electrically connected with the hydraulic support control computer.
  • the number of said dustproof boxes is 5.
  • Both the dust-proof box and the dust-proof shell adopt a pc transparent endurance board, which has good light permeability.
  • the dust-proof shell is fixed at a position leaning forward to the middle of the lower side of the top beam of the hydraulic support.
  • the hydraulic support control computer sends a signal to control the fenders to be retracted, and execute (4);
  • the hydraulic support control computer sends a signal to control the extension of the fender, and execute (4).
  • the ultrasonic transducer and flash lamp on the shearer need to be controlled by an external microcontroller to ensure that they are running and closed at the same time.
  • the ultrasonic transducer and receiver on the hydraulic support always keep running.
  • the time difference between the ultrasonic signal and the optical signal received by the ultrasonic transducer and receiver respectively is used to calculate the distance between the shearer and the hydraulic support, and then the hydraulic support fender is controlled in time to prevent the hydraulic support and the shearer from cutting Department interference.
  • the device calculates and learns the distance between the shearer and the hydraulic support according to the time difference between the ultrasonic signal and the optical signal received by the ultrasonic transducer and the receiver on the hydraulic support, and then controls the hydraulic support guard to retract in time.
  • the dust-proof box and the dust-proof shell are used to protect the parts from dust, prevent coal dust from entering, and improve the service life of the parts.
  • the device has low cost and high practicability. High reliability, safe and accurate to use.

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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)
  • Mechanical Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)
  • Shearing Machines (AREA)
  • Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
  • Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

公开了一种液压支架与采煤机截割部干涉保护装置，该装置包括采煤机牵引部背向煤壁一侧的表面上均匀固定设置的若干个防尘盒、固定在液压支架上的防尘外壳，防尘盒内固定设有超声波换能器一和闪光灯，防尘外壳内固定设有超声波换能器二、接收器以及数据处理模块；数据处理模块分别与超声波换能器二和接收器电性连接，超声波换能器一和闪光灯均与外部单片机电性连接，数据处理模块与液压支架控制计算机电性连接，根据液压支架上的超声波换能器二和接收器分别接收到的超声波信号和光信号的时间差来计算获知采煤机与液压支架距离，进而适时控制护帮板收起，具有低成本、高适应性、高可靠性等优点。还公开了一种使用方法。

Description

一种液压支架与采煤机截割部干涉保护装置与方法 技术领域
本发明涉及液压支架与采煤机截割部干涉保护领域，具体涉及一种液压支架与采煤机截割部干涉保护装置与方法。
背景技术
随着机械化采煤的工艺的不断进步和发展，学者相继提出“无人化”或“少人化”采煤工作面的构想。这种构想对采煤机、液压支架和刮板输送机三机配套工作提出了更高的要求。采煤机作为综采工作的三机配套的主要设备，主要完成采煤和落煤的任务，而液压支架则配合采煤机完成支撑和保护工作面的任务。采煤机和液压支架，包括刮板输送机协同工作能力好坏决定着综采工作的效率和整个综采工作面的安全。
现在，综采工作面智能化还处于发展阶段，部分矿井的自动化水平还很低。采煤机的截割部与液压支架护帮板的干涉问题仍然是综采智能化所要解决问题中的一个方面。采煤机截割部与液压支架护帮板的截割干涉即：在采煤机滚筒截割部运动到某一液压支架位置时，若液压支架护帮板回收不及时，导致采煤机滚筒的截割齿与未及时回收的液压支架护帮板发生碰撞，这样不但会损伤采煤机截割滚筒还会对液压支架的护帮板造成损坏，如果情况严重则会造成整个综采工作面的瘫痪。
发明内容
针对上述存在的技术不足，本发明的目的是提供一种液压支架与采煤机截割部干涉保护装置与方法，其根据液压支架上的超声波换能器二和接收器分别接收到的超声波信号和光信号的时间差来计算获知采煤机与液压支架距离，进而适时控制液压支架护帮板收起，以防止液压支架与采煤机截割部干涉，低成 本、适应性高、可靠安全。
为解决上述技术问题，本发明采用如下技术方案：
本发明提供一种液压支架与采煤机截割部干涉保护装置，包括采煤机牵引部背向煤壁一侧的表面上均匀固定设置的若干个防尘盒、固定在液压支架上的防尘外壳，所述防尘盒内固定设置有超声波换能器一和闪光灯，所述防尘外壳内固定设置有超声波换能器二、接收器以及数据处理模块；所述数据处理模块分别与所述超声波换能器二和所述接收器电性连接，所述超声波换能器一和所述闪光灯均与外部单片机电性连接，所述数据处理模块与液压支架控制计算机电性连接。
优选地，所述防尘盒的数量为5个。
优选地，所述防尘盒与所述防尘外壳均采用pc透明耐力板。
优选地，所述防尘外壳固定在液压支架顶梁下侧中间偏前的位置。
(1)一种设定采煤机靠近液压支架时的液压支架上超声波换能器二到采煤机上超声波换能器一的最小距离的阈值d阈1和采煤机远离液压支架时的液压支架上超声波换能器二到采煤机上超声波换能器一的最小距离的阈值d阈2，设定时间阈值t阈；
(2)利用外部单片机控制采煤机上的超声波换能器一和闪光灯同时运行和关闭，每隔周期T＝1s打开一次超声波换能器一和闪光灯；
(3)令i＝0(记录i是为了之后对di和di-1进行大小比较)；
(4)若液压支架上的接收器接收到闪光灯发出的光信号，则执行(5)，否则执行(6)；
(5)若液压支架上的超声波换能器二接收到采煤机上超声波换能器一发出的超声波信号，则执行(7)-(11)，否则执行(4)；
(6)记录液压支架上的接收器未接收到闪光灯发出的光信号时长为t未，若t未＞t阈，则执行(3)，否则执行(4)；
(7)令i＝i+1；
(8)开始记录接收器接收到光信号的时刻ti和液压支架上超声波换能器二接收到超声波信号的时刻t′i；
(9)液压支架上的超声波换能器二和接收器分别接收到超声波信号和光信号的时间差是Δti＝t′i-ti；
(10)液压支架上超声波换能器二到采煤机上超声波换能器一的距离di＝v·Δti，由于光速远大于声速，故此处v取声速；
(11)若i＞2，则执行(12)，否则，执行(13)；
(12)若di≤di-1，则执行(13)，否则执行(15)；
(13)记录此时为采煤机接近液压支架状态，将得到的液压支架上超声波换能器二到采煤机上超声波换能器一的距离di与设定的阈值d阈1进行比较，若di小于d阈1，则执行(14)，否则执行(4)；
(14)液压支架控制计算机发出信号控制护帮板收起，执行(4)；
(15)记录此时为采煤机远离液压支架状态，将得到的液压支架上超声波换能器二到采煤机上超声波换能器一的距离di与设定的阈值d阈2进行比较，若di大于d阈2，则执行(16)，否则执行(4)；
(16)液压支架控制计算机发出信号控制护帮板伸出，执行(4)。
本发明的有益效果在于：本装置根据液压支架上的超声波换能器和接收器分别接收到的超声波信号和光信号的时间差来计算获知采煤机与液压支架距离，进而适时控制液压支架护帮板收起，以防止液压支架与采煤机截割部干涉，采用防尘盒和防尘外壳对零部件进行防尘保护，防止煤炭灰尘进入，提高了零部件使用寿命，本装置成本低廉、实用性高、可靠性高、使用寿命长，使用起来安全准确。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施 例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明中装有超声波换能器一和闪光灯的防尘盒在采煤机牵引部上的布置示意图；
图2为本发明中装有超声波换能器二、接收器和数据处理模块的防尘外壳在液压支架上的布置示意图；
图3为是图2中防尘外壳在液压支架上的布置的仰视图；
图4为对液压支架护帮板控制的流程图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所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做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1至图3所示，一种液压支架与采煤机截割部干涉保护装置，包括采煤机牵引部背向煤壁一侧的表面上均匀固定设置的若干个防尘盒、固定在液压支架上的防尘外壳，所述防尘盒内固定设置有超声波换能器一和闪光灯，每个超声波换能器一的安装方向不同，保证其超声波信号覆盖全面；的所述防尘外壳内固定设置有超声波换能器二、接收器以及数据处理模块；所述数据处理模块分别与所述超声波换能器二和所述接收器电性连接，所述超声波换能器一和所述闪光灯均与外部单片机电性连接，所述数据处理模块与液压支架控制计算机电性连接。
所述防尘盒的数量为5个。
所述防尘盒与所述防尘外壳均采用pc透明耐力板，其具有很好的透光性。 所述防尘外壳固定在液压支架顶梁下侧中间偏前的位置。
如图4所示，一种液压支架与采煤机截割部干涉保护方法，具体步骤为：
(1)设定采煤机靠近液压支架时的液压支架上超声波换能器二到采煤机上超声波换能器一的最小距离的阈值d阈1和采煤机远离液压支架时的液压支架上超声波换能器二到采煤机上超声波换能器一的最小距离的阈值d阈2，设定时间阈值t阈；
(2)利用外部单片机控制采煤机上的超声波换能器一和闪光灯同时运行和关闭，每隔周期T＝1s打开一次超声波换能器一和闪光灯；
(3)令i＝0(记录i是为了之后对di和di-1进行大小比较)；
(4)若液压支架上的接收器接收到闪光灯发出的光信号，则执行(5)，否则执行(6)；
(5)若液压支架上的超声波换能器二接收到采煤机上超声波换能器一发出的超声波信号，则执行(7)-(11)，否则执行(4)；
(6)记录液压支架上的接收器未接收到闪光灯发出的光信号时长为t未，若t未＞t阈，则执行(3)，否则执行(4)；
(7)令i＝i+1；
(8)开始记录接收器接收到光信号的时刻ti和液压支架上超声波换能器二接收到超声波信号的时刻t′i；
(9)液压支架上的超声波换能器二和接收器分别接收到超声波信号和光信号的时间差是Δti＝t′i-ti；
(10)液压支架上超声波换能器二到采煤机上超声波换能器一的距离di＝v·Δti，由于光速远大于声速，故此处v取声速；
(11)若i＞2，则执行(12)，否则，执行(13)；
(12)若di≤di-1，则执行(13)，否则执行(15)；
(13)记录此时为采煤机接近液压支架状态，将得到的液压支架上超声波换能器二到采煤机上超声波换能器一的距离di与设定的阈值d阈1进行比 较，若di小于d阈1，则执行(14)，否则执行(4)；
(14)液压支架控制计算机发出信号控制护帮板收起，执行(4)；
(15)记录此时为采煤机远离液压支架状态，将得到的液压支架上超声波换能器二到采煤机上超声波换能器一的距离di与设定的阈值d阈2进行比较，若di大于d阈2，则执行(16)，否则执行(4)；
(16)液压支架控制计算机发出信号控制护帮板伸出，执行(4)。
工作时，采煤机上的超声波换能器与闪光灯需要外部连接单片机对其进行控制，保证其同时运行与关闭，液压支架上的超声波换能器和接收器则一直保持运行状态，根据液压支架上的超声波换能器和接收器分别接收到的超声波信号和光信号的时间差来计算获知采煤机与液压支架距离，进而适时控制液压支架护帮板收起，以防止液压支架与采煤机截割部干涉。
本发明优点：本装置根据液压支架上的超声波换能器和接收器分别接收到的超声波信号和光信号的时间差来计算获知采煤机与液压支架距离，进而适时控制液压支架护帮板收起，以防止液压支架与采煤机截割部干涉，采用防尘盒和防尘外壳对零部件进行防尘保护，防止煤炭灰尘进入，提高了零部件使用寿命，本装置成本低廉、实用性高、可靠性高、使用起来安全准确。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (5)

  1. 一种液压支架与采煤机截割部干涉保护装置，其特征在于，包括采煤机牵引部背向煤壁一侧的表面上均匀固定设置的若干个防尘盒、固定在液压支架上的防尘外壳，所述防尘盒内固定设置有超声波换能器一和闪光灯，所述防尘外壳内固定设置有超声波换能器二、接收器以及数据处理模块；所述数据处理模块分别与所述超声波换能器二和所述接收器电性连接，所述超声波换能器一和所述闪光灯均与外部单片机电性连接，所述数据处理模块与液压支架控制计算机电性连接。
  2. 如权利要求1所述的一种液压支架与采煤机截割部干涉保护装置，其特征在于，所述防尘盒的数量为5个。
  3. 如权利要求1所述的一种液压支架与采煤机截割部干涉保护装置，其特征在于，所述防尘盒与所述防尘外壳材质均采用pc透明耐力板。
  4. 如权利要求1所述的一种液压支架与采煤机截割部干涉保护装置，其特征在于，所述防尘外壳固定在液压支架顶梁下侧中间偏前的位置。
  5. 一种液压支架与采煤机截割部干涉保护方法，其特征在于，包括以下步骤：
    (1)设定采煤机靠近液压支架时的液压支架上超声波换能器二到采煤机上超声波换能器一的最小距离的阈值d阈1和采煤机远离液压支架时的液压支架上超声波换能器二到采煤机上超声波换能器一的最小距离的阈值d阈2，设定时间阈值t阈；
    (2)利用外部单片机控制采煤机上的超声波换能器一和闪光灯同时运行和关闭，每隔周期T＝1s打开一次超声波换能器一和闪光灯；
    (3)令i＝0；
    (4)若液压支架上的接收器接收到闪光灯发出的光信号，则执行(5)，否则执行(6)；
    (5)若液压支架上的超声波换能器二接收到采煤机上超声波换能器一发 出的超声波信号，则执行(7)-(11)，否则执行(4)；
    (6)记录液压支架上的接收器未接收到闪光灯发出的光信号时长为t未，若t未＞t阈，则执行(3)，否则执行(4)；
    (7)令i＝i+1；
    (8)开始记录接收器接收到光信号的时刻ti和液压支架上超声波换能器二接收到超声波信号的时刻t′i；
    (9)液压支架上的超声波换能器二和接收器分别接收到超声波信号和光信号的时间差是Δti＝t′i-ti；
    (10)液压支架上超声波换能器二到采煤机上超声波换能器一的距离di＝v·Δti，由于光速远大于声速，故此处v取声速；
    (11)若i＞2，则执行(12)，否则，执行(13)；
    (12)若di≤di-1，则执行(13)，否则执行(15)；
    (13)记录此时为采煤机接近液压支架状态，将得到的液压支架上超声波换能器二到采煤机上超声波换能器一的距离di与设定的阈值d阈1进行比较，若di小于d阈1，则执行(14)，否则执行(4)；
    (14)液压支架控制计算机发出信号控制护帮板收起，执行(4)；
    (15)记录此时为采煤机远离液压支架状态，将得到的液压支架上超声波换能器二到采煤机上超声波换能器一的距离di与设定的阈值d阈2进行比较，若di大于d阈2，则执行(16)，否则执行(4)；
    (16)液压支架控制计算机发出信号控制护帮板伸出，执行(4)。
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