CN105221178B - Electrichydraulic control waste filling mining hydraulic bracket and its Research on Automatic Filling - Google Patents
Electrichydraulic control waste filling mining hydraulic bracket and its Research on Automatic Filling Download PDFInfo
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- CN105221178B CN105221178B CN201510539800.5A CN201510539800A CN105221178B CN 105221178 B CN105221178 B CN 105221178B CN 201510539800 A CN201510539800 A CN 201510539800A CN 105221178 B CN105221178 B CN 105221178B
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Abstract
The present invention relates to coal mining design field, more particularly to the research and design of waste filling production practice and waste filling mining hydraulic bracket, and in particular to a kind of electrichydraulic control waste filling mining hydraulic bracket and its Research on Automatic Filling.Electrichydraulic control waste filling mining hydraulic bracket provided by the invention and its Research on Automatic Filling, pass through the pressure sensor being connected provided with electrohydraulic control system and with electrohydraulic control system signal, stroke sensor, first obliquity sensor, second obliquity sensor and the 3rd obliquity sensor, realize by hydraulic way to waste filling mining hydraulic bracket Automated condtrol, effectively reduce the waste filling time, improve pack effectiveness, alleviate the labor intensity of operating personnel, waste filling effect is improved by electrohydraulic control system simultaneously, realize that fully-mechanized mining working electrohydraulic control system domesticizes, be advantageous to save equipment investment cost and promote coal high-yield and high-efficiency intensivization development.
Description
Technical field
The present invention relates to coal mining design field, more particularly to waste filling production practice and waste filling exploitation
The research and design of hydraulic support, and in particular to a kind of electrichydraulic control waste filling mining hydraulic bracket and its automatic filling side
Method.
Background technology
Coal is the pillar of China's energy, and in traditional progress of coal mining, people generally only focus on coal mining
Economic value, and lack and consider coal mining to negative effect caused by human environment, the spoil that particularly ground is deposited, both
Need to take substantial amounts of land area, and serious pollution is caused to environment.Meanwhile the goaf formed in underground of mining, hold
Easily cause ground surface to collapse, surface structures and highway is suffered damage.Waste filling is solved because of the cash in progress of coal mining
Stone accumulates the hillock to be formed on ground, eliminates pollution of the pernicious gas to environment caused by spoil nature, while also solve
Determine because the surface subsidence of the mined out rear formation of coal is the destruction of surface structures and highway.Therefore the exploitation and popularization of support are filled
It is the trend that coal mining develops from now on using the big innovation for being coal mining mode.
In waste filling mining operations, both needed constantly to be conveyed through the spoil filler of crushing to goaf, again
Need to ensure the personal security for carrying out packing job operation.Existing hydraulic support for filling waste rock, rely primarily on the nature of spoil
Accumulation is filled to goaf, but due to the limitation of its mechanical structure in the height direction, in goaf top plate and obturator
Between leave larger gap, spoil obturator can not directly contact with top plate, and because the spoil obturator coefficient of volumetric expansion it is big, from
And cause filling effect undesirable and ground still suffer from larger depression unfavorable situation phenomenon.Filling mining hydraulic support is deposited
Above-mentioned mentioned undesirable and the problem of ground still collapses not with top plate contact and filling effect, coal mining can be limited
Technique is under building, the mining operations scope under water body and under railway, cause stope continue it is nervous, shorten mining area coal
Charcoal produces the length of service, mining area is prematurely entered the aging date of retirement, this not only causes greatly to waste, will also drawn to country
Send out the social concern of resources sustainable development.
Therefore, the deficiency for more than, the invention provides a kind of electrichydraulic control waste filling mining hydraulic bracket and its certainly
Dynamic fill method.
The content of the invention
(1) technical problems to be solved
The technical problem to be solved in the present invention is back production and the filling operation for solving existing waste filling mining hydraulic bracket
Efficiency is low, causes that waste filling effect is undesirable, labor intensity of operating staff is high, operating environment is multiple because filling quality is uneven
Security of the miscellaneous and operating personnel in operation process is not high enough, goaf top plate sinkage cannot effectively be alleviated, together
When be also unfavorable for adapt to the intensivization development of coal production high-yield and high-efficiency and realize fully-mechanized mining working electrohydraulic control system production domesticization
Problem.
(2) technical scheme
In order to solve the above-mentioned technical problem, should the invention provides a kind of electrichydraulic control waste filling mining hydraulic bracket
Hydraulic support includes electrohydraulic control system, base, back timber, front column and rear column, and one end of the front column is fixedly connected on
On the base, the other end is fixedly connected on the back timber, and one end of the rear column is fixedly connected on the base, another
End is fixedly connected on the back timber；
The back timber is connected with balance arm by balance arm jack, and the balance arm is connected to the bottom by being compacted jack
Seat；The base is provided with the first obliquity sensor, and the back timber is provided with the second obliquity sensor, and the balance arm is provided with the
Three obliquity sensors and shovel board；The compacting jack is provided with pressure sensor and stroke sensor；
The electrohydraulic control system passes with the pressure sensor, stroke sensor, the first obliquity sensor, the second inclination angle
Sensor and the connection of the 3rd obliquity sensor signal, and the electrohydraulic control system is carried out automatically by hydraulic way to hydraulic support
Control.
Wherein, the electrohydraulic control system includes digital monitor system, main valve body and controller；The main valve body passes through shield
Set of connectors is connected with controller, the pressure sensor, stroke sensor, the first obliquity sensor, the second obliquity sensor
Be connected with the 3rd obliquity sensor with the controller signals, and the controller by control bound body to the base, pendulum
Beam, back timber and compacting jack are automatically controlled；The digital monitor system receives and shown the pressure sensor, stroke
The transmission data of the obliquity sensor of sensor first, the second obliquity sensor and the 3rd obliquity sensor.
Wherein, hydraulic support also includes fixed mount, and the fixed mount is provided with blanking sensor, and the blanking sensor is real
When monitoring fall cash amount, and the information transfer of cash amount will be fallen to the electrohydraulic control system.
Wherein, hydraulic support also includes advancing jack, and stroke sensor, the row are provided with the advancing jack
Journey sensor monitors the distance of advancing jack motion in real time, and by the information transfer of advancing jack move distance to the electricity
Liquid control system.
Wherein, the back timber has upper connecting rod by hinge, and the other end of the upper connecting rod passes through hinge respectively
There are front rod and back link, and the front rod is located at the top of the back link, the other end of the front rod and back link
It is connected on the base.
Wherein, the front column and rear column are provided with pressure sensor and laser range finder, and the laser range finder is used
In the distance for detecting the back timber and base, and by column pressure value and distance information transmission to the electrohydraulic control system.
Wherein, the controller is provided with operation interface, and the operation interface is provided with support holding function key, the branch
Frame holding function key is used to send operational order to hydraulic support.
Wherein, the quantity for the hydraulic support that the operation interface controls is a frame or multi rack, and can control multi rack hydraulic pressure branch
The progressive direction for acting and acting in groups in groups of frame.
Present invention also offers a kind of Research on Automatic Filling of electrichydraulic control waste filling mining hydraulic bracket, following operation
Step：
S1, start electrohydraulic control system, open and put cash mouth, the spoil on spoil transporter falls into designated area, by falling
Expecting sensor, monitoring falls cash amount in real time, and cash amount to be fallen, which reaches, presets requirement, and cash mouth is put in closing；
S2, start compacting jack untill it reaches contact spoil, electrohydraulic control system control is compacted very heavy top pull
Extend the time of spoil distance；
S3, start balance arm and balance arm jack so that hydraulic support carries out stretching compacting and receives balance arm instruction simultaneously, to spoil
Carry out tamping filling；
S4, the real-time pressure value and stroke for being monitored by pressure sensor and stroke sensor and recording compacting jack
Value, if reaching pressure value and stroke value set in advance, stops compacting operation；If pressure value not up to set in advance and row
Journey value, the default maximum duration is waited until, stop compacting operation and record real-time pressure value and stroke value；
S5, distinguished by the first obliquity sensor, the second obliquity sensor and the 3rd obliquity sensor monitoring record base,
The angle value of back timber and balance arm, when inclination angle meets to preset condition, then stopping balance arm operating；If not up to default inclination value,
The default maximum duration is waited until, stops balance arm operation；
After the completion of S6, tamping filling, while compacting jack and balance arm are received, avoid shovel board from taking back spoil, be compacted receiving
In operation, judge whether to reach pressure value and stroke value set in advance, if reaching preset value, stop compacting operation；If not
Reach preset value, wait until the default maximum duration, stop compacting operation；In balance arm operation is received, whether inclination angle is judged
Meet preset value, if reaching preset value, stop balance arm operation；If not up to preset value, when waiting until default maximum lasting
Between, stop balance arm operation；
S7, balance arm is stretched, balance arm is returned to initial position, judge whether inclination angle meets preset value, if reaching preset value, stopped
Only balance arm operates；If not up to preset value, the default maximum duration is waited until, stops balance arm operation；Finally according to step
Pressure value and stroke value in S4 judge whether to secondary filling, if reaching default pressure value and stroke value, entirely certainly
Dynamic filling process terminates；If not up to default pressure value and stroke value, return to step S1.
Wherein, in step s 5, realized by the first obliquity sensor, the second obliquity sensor and the 3rd obliquity sensor
Control to balance arm raising height, the shovel board during tamping is avoided to touch spoil transporter.
(3) beneficial effect
The above-mentioned technical proposal of the present invention has the following advantages that：Hydraulic pressure is exploited in electrichydraulic control waste filling provided by the invention
Support and its Research on Automatic Filling, pass through the pressure sensing being connected provided with electrohydraulic control system and with electrohydraulic control system signal
Device, stroke sensor, the first obliquity sensor, the second obliquity sensor and the 3rd obliquity sensor, are realized by hydraulic pressure side
Formula effectively reduces the waste filling time, improves pack effectiveness, mitigate to waste filling mining hydraulic bracket Automated condtrol
The labor intensity of operating personnel, while waste filling effect improved by the real-time monitoring of electrohydraulic control system, realize comprehensive
Mining face electrohydraulic control system domesticizes, and is advantageous to save equipment investment cost and promotes the intensive hair of coal high-yield and high-efficiency
Exhibition.
Brief description of the drawings
Fig. 1 is the sensor configuration figure of electrichydraulic control waste filling mining hydraulic bracket of the embodiment of the present invention；
Fig. 2 is the structural representation of electrichydraulic control waste filling mining hydraulic bracket of the embodiment of the present invention；
Fig. 3 is the assembling schematic diagram of main valve body of the embodiment of the present invention；
Fig. 4 is the operation interface schematic diagram of controller of the embodiment of the present invention；
Fig. 5 is the flow chart of the Research on Automatic Filling of electrichydraulic control waste filling mining hydraulic bracket of the embodiment of the present invention.
In figure：1：Pressure sensor；2：Stroke sensor；3-1：First obliquity sensor；3-2：Second obliquity sensor；
3-3：3rd obliquity sensor；4：Blanking sensor；5：Base；6：Balance arm；7：Back timber；8-1：Front column；8-2：Rear column；9：
It is compacted jack；10：Advancing jack；11：Balance arm jack；12：Upper connecting rod；13：Front rod；14：Back link；15：Control
Device；16：Main valve body；17：Fixed mount.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained on the premise of creative work is not made, belongs to the scope of protection of the invention.
As shown in Figures 1 to 4, a kind of electrichydraulic control waste filling mining hydraulic bracket provided in an embodiment of the present invention, should
Hydraulic support includes electrohydraulic control system, base 5, back timber 7, front column 8-1 and rear column 8-2, and front column 8-1 one end is fixed
It is connected on base 5, the other end is fixedly connected on back timber 7, and rear column 8-2 one end is fixedly connected on base 5, and the other end is solid
Surely it is connected to back timber 7；
Back timber 7 is connected with balance arm 6 by balance arm jack 11, and balance arm 6 is connected to base 5 by being compacted jack 9；Bottom
Seat 5 is provided with the first obliquity sensor 3-1, and back timber 7 is provided with the second obliquity sensor 3-2, and balance arm 6 passes provided with the 3rd inclination angle
Sensor 3-3 and shovel board, the control to the raising height of balance arm 6 is realized during automatic filling, efficiently avoid and consolidating
Shovel board can touch the situation of stowage conveyer in journey；Compacting jack 9 is provided with pressure sensor 1 and stroke sensor 2, passes through
Pressure sensor 1 and stroke sensor 2 detect the real-time pressure value and stroke value of compacting jack 9, judges to fill with this
The quality of effect, so as to choose whether to carry out secondary filling, improve filling effect.
Electrohydraulic control system senses with pressure sensor 1, stroke sensor 2, the first obliquity sensor 3-1, the second inclination angle
Device 3-2 and the connection of the 3rd obliquity sensor 3-3 signals, and electrohydraulic control system is carried out automatically by hydraulic way to hydraulic support
Control, and according to the whole flow process at waste filling scene, realize the program that comprehensive mechanization filling coal mining system automatically controls
System.
Electrohydraulic control system includes digital monitor system, main valve body 16 and controller 15；Main valve body 16 is connected by sheath
Device is connected with controller 15, pressure sensor 1, stroke sensor 2, the first obliquity sensor 3-1, the second obliquity sensor 3-2
Be connected with the 3rd obliquity sensor 3-3 with the signal of controller 15, and controller 15 by control bound body 16 to base 5, balance arm
6th, back timber 7 and compacting jack 9 are automatically controlled；Digital monitor system receives and display pressure sensor 1, stroke sensor
2nd, the first obliquity sensor 3-1, the second obliquity sensor 3-2 and the 3rd obliquity sensor 3-3 transmission data, that is, pass through numeral
Monitoring system would know that the job state of controlled support.
Control mode is chosen by hydraulic bracket controller 15, corresponding control command is then sent and (provides corresponding
Electric signal), make corresponding electromagnetic pilot valve events, control bound 16 is opened, and to the hydraulic cylinder feed flow connected, makes hydraulic support
Make corresponding action.Hydraulic support working condition is by pressure sensor 1, stroke sensor 2, the first obliquity sensor 3-1, second
Obliquity sensor 3-2 and the 3rd obliquity sensor 3-3 feeds back to controller 15, and controller 15 determines further according to the signal of offer
Next action of hydraulic support.
Hydraulic support also includes fixed mount 17, and fixed mount 17 is provided with blanking sensor 4, and blanking sensor 4 monitors in real time
Fall cash amount, and the information transfer for falling cash amount to electrohydraulic control system, electrohydraulic control system is sent into instruction control by fluid pressure line
System falls the start or stop of cash mouth, that is, starts the opening of fixed mount 17 and put cash mouth, monitored by blanking sensor 4 and record cash amount, wait
After cash amount reaches requirement set in advance, it is that cash mouth is put in closing to close fixed mount 17, stops blanking operation.
Hydraulic support also includes advancing jack 10, and stroke sensor 2, stroke sensor are provided with advancing jack 10
2 distances that monitoring advancing jacks 10 move in real time, and by the information transfer of the move distance of advancing jack 10 to electrichydraulic control
System, electrohydraulic control system is issued an instruction to control the pushing and sliding of hydraulic support and tried to stop people from fighting each other by fluid pressure line, it is achieved thereby that right
The automatic pushing and sliding of controlled hydraulic support and the control for the stroke tried to stop people from fighting each other.
Back timber 7 has upper connecting rod 12 by hinge, and the other end of upper connecting rod 12 has front rod by hinge respectively
13 and back link 14, and front rod 13 is located at the top of back link 14, the other end of front rod 13 and back link 14 is connected to bottom
It is good using the filling hydraulic pressure support stability of this bar linkage structure on seat 5, on the basis of enough supporting intensities are ensured, structure
Simpler, stent size is more compact, in light weight, and globality is strong.
Front column 8-1 and rear column 8-2 is provided with pressure sensor 1 and laser range finder, and laser range finder is used to detect
The distance of back timber 7 and base 5, and column pressure value and distance information transmission to electrohydraulic control system, electrohydraulic control system are led to
Fluid pressure line is crossed to issue an instruction to control the drop frame of hydraulic support and rise frame, it is achieved thereby that to the drop frame of control hydraulic support with
Rise frame operation.
Controller 15 is provided with operation interface, and operation interface is provided with support holding function key, and support holding function key is used
In sending operational order to hydraulic support, the operational order include drop post, move frame, setting prop, pushing and sliding, stretch after stretch, receive after stretch
Contract, stretch front side shield, receive front side shield, stretch rear side shield, receive rear side shield, stretch balance arm, receive balance arm, over cash, folding and unfolding cash, be stretched flat weighing apparatus, receive
Balance, stretch compacting and receive compacting；According to actual specific required operational order, the corresponding support holding function key of sustained hold,
Until the completion of instruction action.
The quantity for the hydraulic support that operation interface controls is a frame or multi rack, and can control moving in groups for multi rack hydraulic support
The progressive direction made and acted in groups.Controlled support generally can from one side neighbour's frame, from both sides neighbour's frame, from into the last of pack support
One frame is manipulated.Controller 15 includes single support control unit system and the cellular system on all supports is passed through into necessity
Share or the control network that links up of optional equipment, realize the control to hydraulic support action and the monitoring of state.Wherein,
In groups action include in groups automatically move frame, in groups pushing and sliding, in groups draw slip, stretch in groups extensible canopy, stretch in groups extensible canopy linkage, in groups
Receive extensible canopy, receipts extensible canopy links, stretches wall supporting, in groups receipts wall supporting and spraying etc. in groups in groups in groups.
As shown in figure 5, present invention also offers a kind of automatic filling side of electrichydraulic control waste filling mining hydraulic bracket
Method, following operating procedure：
S1, start electrohydraulic control system, it is that opening puts cash mouth to start fixed mount 17, and the spoil on spoil transporter falls into finger
Determine region, monitoring falls cash amount in real time by blanking sensor 4, and cash amount to be fallen, which reaches, presets requirement, and cash mouth is put in closing；
S2, start compacting jack 9, carry out stretching compacting operation until compacting jack 9 contacts spoil, compacting operation stops
Only, electrohydraulic control system control compacting jack 9 is stretched to the time of spoil distance；
S3, start balance arm 6 and balance arm jack 11 so that hydraulic support carries out stretching compacting and receives balance arm operation simultaneously, right
Spoil carries out tamping filling；
S4, the compaction pressure value and row for being monitored by pressure sensor 1 and stroke sensor 2 and recording compacting jack 9
Journey value, if reaching (YES) compaction pressure value set in advance and stroke value, stop compacting operation, if it is advance to be not reaching to (no)
The compaction pressure value and stroke value of setting, wait until and reach the maximum actuation duration set in advance, stop compacting operation simultaneously
The compaction pressure value and stroke value of record at that time；
S5, monitored respectively by the first obliquity sensor 3-1, the second obliquity sensor 3-2 and the 3rd obliquity sensor 3-3
The angle value of base 5, back timber 7 and balance arm 6 is recorded, condition is preset when inclination angle reaches (YES), then stops balance arm operation, if not having
Have and reach (no) inclination value set in advance, wait until and reach the maximum actuation duration set in advance, stop balance arm operation；
After the completion of S6, tamping filling, a high position waits, that is, waits the next step instruction of digital monitor system, while is received
The operation of jack 9 (receive compacting), balance arm 6 and balance arm jack 11 (receipts balance arm) is compacted, so to avoid shovel board by waste pack
Return, all need respectively to judge compaction pressure value, stroke value and inclination value when carrying out and receiving compacting and the operation of receipts balance arm, if
Reach the operation that (YES) preset value then carries out next step, waited until if not up to (no) and reach set in advance maximum dynamic
Make the duration, then carry out the operation of next step；
S7, carry out stretching balance arm operation, balance arm 6 is returned to initial position, judge whether to have reached inclination value set in advance,
Reaching (YES), then balance arm stops, and is waited until if not up to (no) and reaches maximum actuation duration set in advance, balance arm
Stop；After balance arm stops, if reaching (YES) compaction pressure value set in advance and stroke value, the automatic padding of hydraulic support
Stop, if being not reaching to (no) compaction pressure value set in advance and stroke value, see whether reach filling time set in advance
Number, the automatic padding stopping of hydraulic support if (YES) is reached, need to be from step S1 resume operations if not up to (no).
In step s 5, the first obliquity sensor 3-1, the second obliquity sensor 3-2 and the 3rd obliquity sensor 3-3 are passed through
The control to the raising height of balance arm 6 is realized, avoids the shovel board during tamping from touching spoil transporter.
The specific work process of electrichydraulic control waste filling mining hydraulic bracket of the present invention is：Start electrichydraulic control system
System, it is that opening puts cash mouth to start fixed mount 17, and the spoil on spoil transporter falls into designated area, and it is real to pass through blanking sensor 4
When monitoring fall cash amount, cash amount to be fallen, which reaches, presets requirements, close put cash mouth；Start compacting jack 9 until it reaches and connect
Spoil is touched, compacting operation stops；Start balance arm 6 and balance arm jack 11 so that hydraulic support carries out stretching compacting and receives pendulum simultaneously
Beam is instructed, and tamping filling is carried out to spoil；Monitored by pressure sensor 1 and stroke sensor 2 and record compacting jack 9
Compaction pressure value and stroke value；Pass through the first obliquity sensor 3-1, the second obliquity sensor 3-2 and the 3rd obliquity sensor 3-3
The angle value of monitoring record base 5, back timber 7 and balance arm 6 respectively；If reach default compaction pressure value, stroke value and inclination value
Afterwards, that is, tamping filling operation is completed, while carries out receiving compacting and receives balance arm operation；Finally carry out stretching balance arm operation, return balance arm 6
To initial position, the automatic filling operation of spoil is thus completed.
In summary, electrichydraulic control waste filling mining hydraulic bracket provided by the invention and its Research on Automatic Filling, lead to
Cross and passed provided with electrohydraulic control system and the pressure sensor being connected with electrohydraulic control system signal, stroke sensor, the first inclination angle
Sensor, the second obliquity sensor and the 3rd obliquity sensor, are realized by hydraulic way to waste filling mining hydraulic bracket
Automated condtrol, the waste filling time is effectively reduced, improves pack effectiveness, alleviate the labor intensity of operating personnel, together
When waste filling effect improved by the real-time monitoring of electrohydraulic control system, realize that fully-mechanized mining working electrohydraulic control system is domestic
Change, be advantageous to save equipment investment cost and promote coal high-yield and high-efficiency intensivization development.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (8)
- A kind of 1. electrichydraulic control waste filling mining hydraulic bracket, it is characterised in that：Including electrohydraulic control system, base (5), top Beam (7), front column (8-1) and rear column (8-2), one end of the front column (8-1) are fixedly connected on the base (5), The other end is fixedly connected on the back timber (7), and one end of the rear column (8-2) is fixedly connected on the base (5), another End is fixedly connected on the back timber (7)；The back timber (7) is connected with balance arm (6) by balance arm jack (11), and the balance arm (6) is by being compacted jack (9) It is connected to the base (5)；The base (5) is provided with the first obliquity sensor (3-1), and the back timber (7) is provided with second Obliquity sensor (3-2), the balance arm (6) are provided with the 3rd obliquity sensor (3-3) and shovel board；The compacting jack (9) It is provided with pressure sensor (1) and stroke sensor (2)；The electrohydraulic control system and the pressure sensor (1), stroke sensor (2), the first obliquity sensor (3-1), the Two obliquity sensors (3-2) connect with the 3rd obliquity sensor (3-3) signal, and the electrohydraulic control system passes through hydraulic way Hydraulic support is automatically controlled；Also include fixed mount (17), the fixed mount (17) is provided with blanking sensor (4), institute State blanking sensor (4) monitoring in real time and fall cash amount, and the information transfer of cash amount will be fallen to the electrohydraulic control system；Also include advancing jack (10), stroke sensor (2), the stroke sensing are installed in the advancing jack (10) Device (2) monitors the distance of advancing jack (10) motion in real time, and by the information transfer of advancing jack (10) move distance extremely The electrohydraulic control system.
- 2. electrichydraulic control waste filling mining hydraulic bracket according to claim 1, it is characterised in that：The electrichydraulic control System includes digital monitor system, main valve body (16) and controller (15)；The main valve body (16) passes through protector connector and control Device (15) connection processed, the pressure sensor (1), stroke sensor (2), the first obliquity sensor (3-1), the second inclination angle sensing Device (3-2) and the 3rd obliquity sensor (3-3) are connected with the controller (15) signal, and the controller (15) passes through control Main valve body (16) automatically controls to the base (5), balance arm (6), back timber (7) and compacting jack (9)；The numeral prison Control system receives and shown the pressure sensor (1), stroke sensor (2), the first obliquity sensor (3-1), the second inclination angle The transmission data of sensor (3-2) and the 3rd obliquity sensor (3-3).
- 3. electrichydraulic control waste filling mining hydraulic bracket according to claim 1, it is characterised in that：The back timber (7) Have a upper connecting rod (12) by hinge, the other end of the upper connecting rod (12) respectively by hinge have front rod (13) and Back link (14), and the front rod (13) is located at the top of the back link (14), the front rod (13) and back link (14) the other end is connected on the base (5).
- 4. electrichydraulic control waste filling mining hydraulic bracket according to claim 1, it is characterised in that：The front column (8-1) and rear column (8-2) are provided with pressure sensor (1) and laser range finder, and the laser range finder is described for detecting The distance of back timber (7) and base (5), and by column pressure value and distance information transmission to the electrohydraulic control system.
- 5. electrichydraulic control waste filling mining hydraulic bracket according to claim 2, it is characterised in that：The controller (15) it is provided with operation interface, the operation interface is provided with support holding function key, and the support holding function key is used for pair Hydraulic support sends operational order.
- 6. electrichydraulic control waste filling mining hydraulic bracket according to claim 5, it is characterised in that：The operation interface The quantity of the hydraulic support controlled is a frame or multi rack, and acting in groups for multi rack hydraulic support can be controlled to be passed with what is acted in groups Enter direction.
- A kind of 7. automatic filling of electrichydraulic control waste filling mining hydraulic bracket according to any one of claim 1-6 Method, it is characterised in that：Including following operating procedure：S1, start electrohydraulic control system, open and put cash mouth, the spoil on spoil transporter falls into designated area, is passed by blanking Monitoring falls cash amount to sensor (4) in real time, and cash amount to be fallen, which reaches, presets requirement, and cash mouth is put in closing；S2, start compacting jack (9) untill it reaches contact spoil, electrohydraulic control system control compacting jack (9) It is stretched to the time of spoil distance；S3, start balance arm (6) and balance arm jack (11) so that hydraulic support carries out stretching compacting and receives balance arm instruction simultaneously, right Spoil carries out tamping filling；S4, the real-time pressure value for being monitored by pressure sensor (1) and stroke sensor (2) and recording compacting jack (9) and Stroke value, if reaching pressure value and stroke value set in advance, stop compacting operation；If pressure value not up to set in advance And stroke value, the default maximum duration is waited until, stops compacting operation and records real-time pressure value and stroke value；S5, supervised respectively by the first obliquity sensor (3-1), the second obliquity sensor (3-2) and the 3rd obliquity sensor (3-3) The angle value of record base (5), back timber (7) and balance arm (6) is surveyed, when inclination angle meets to preset condition, then stopping balance arm operating； If not up to default inclination value, waits until the default maximum duration, stop balance arm operation；After the completion of S6, tamping filling, while compacting jack (9) and balance arm (6) are received, avoid shovel board from taking back spoil, pressed receiving During practical operation is made, judge whether to reach pressure value and stroke value set in advance, if reaching preset value, stop compacting operation；If Not up to preset value, the default maximum duration is waited until, stop compacting operation；In balance arm operation is received, judge that inclination angle is It is no to meet preset value, if reaching preset value, stop balance arm operation；If not up to preset value, wait until default maximum lasting Time, stop balance arm operation；S7, balance arm (6) is stretched, balance arm (6) is returned to initial position, judge whether inclination angle meets preset value, if reaching preset value, Stop balance arm operation；If not up to preset value, the default maximum duration is waited until, stops balance arm operation；Finally according to step Pressure value and stroke value in rapid S4 judge whether to secondary filling, if reaching default pressure value and stroke value, entirely Automatic filling process terminates；If not up to default pressure value and stroke value, return to step S1.
- 8. the Research on Automatic Filling of electrichydraulic control waste filling mining hydraulic bracket according to claim 7, its feature exist In：In step s 5, the first obliquity sensor (3-1), the second obliquity sensor (3-2) and the 3rd obliquity sensor (3- are passed through 3) control to balance arm (6) raising height is realized, avoids the shovel board during tamping from touching spoil transporter.
Priority Applications (1)
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| CN108729946A (en) * | 2018-04-30 | 2018-11-02 | 中山市宝军电子有限公司 | A kind of mineral products goaf backfill material compactor structure |
| CN108518221B (en) * | 2018-05-10 | 2024-02-20 | 天地科技股份有限公司 | Automatic coal mining system and method based on multidimensional positioning and deep learning |
| CN109989787B (en) * | 2019-05-09 | 2024-01-19 | 陕西长武亭南煤业有限责任公司 | Coal mine gangue filling combined tamping mechanism |
| CN110406951A (en) * | 2019-07-23 | 2019-11-05 | 华电郑州机械设计研究院有限公司 | A kind of method and apparatus controlling filling drag conveyor discharging window using ultrasonic distance measurement |
| CN113217068A (en) * | 2021-04-28 | 2021-08-06 | 太原理工大学 | Working face detection device, method, terminal and storage medium |
| CN115159023B (en) * | 2022-07-29 | 2023-09-01 | 郑州煤矿机械集团股份有限公司 | Scraper conveyor head and tail cushion frame height adjusting system and adjusting method |
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