CN107237632A - Highly gassy mine fully-mechanized mining working memory cut Triangle Coal automated system and method - Google Patents
Highly gassy mine fully-mechanized mining working memory cut Triangle Coal automated system and method Download PDFInfo
- Publication number
- CN107237632A CN107237632A CN201710460869.8A CN201710460869A CN107237632A CN 107237632 A CN107237632 A CN 107237632A CN 201710460869 A CN201710460869 A CN 201710460869A CN 107237632 A CN107237632 A CN 107237632A
- Authority
- CN
- China
- Prior art keywords
- coal
- winning machine
- machine
- cuts
- bed plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003245 coal Substances 0.000 title claims abstract description 256
- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000005065 mining Methods 0.000 title claims abstract description 50
- 230000003936 working memory Effects 0.000 title claims abstract description 10
- 238000012544 monitoring process Methods 0.000 claims abstract description 45
- 230000008569 process Effects 0.000 claims abstract description 21
- 238000005086 pumping Methods 0.000 claims abstract description 21
- 239000007788 liquid Substances 0.000 claims abstract description 20
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims abstract description 15
- 239000000839 emulsion Substances 0.000 claims abstract description 14
- 230000008859 change Effects 0.000 claims abstract description 10
- 238000004458 analytical method Methods 0.000 claims abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 9
- 238000005096 rolling process Methods 0.000 claims abstract description 8
- 238000005520 cutting process Methods 0.000 claims description 53
- 238000005452 bending Methods 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 15
- 238000010408 sweeping Methods 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 4
- 238000009738 saturating Methods 0.000 claims description 4
- 239000003795 chemical substances by application Substances 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000006855 networking Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 21
- 230000006870 function Effects 0.000 description 16
- 238000004519 manufacturing process Methods 0.000 description 16
- 241000196324 Embryophyta Species 0.000 description 15
- 238000004891 communication Methods 0.000 description 11
- 230000015654 memory Effects 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 4
- 239000012530 fluid Substances 0.000 description 4
- 230000004927 fusion Effects 0.000 description 4
- 239000013589 supplement Substances 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000004945 emulsification Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000002156 mixing Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000007115 recruitment Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006477 desulfuration reaction Methods 0.000 description 1
- 230000023556 desulfurization Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Solid Fuels And Fuel-Associated Substances (AREA)
Abstract
The present invention relates to a kind of highly gassy mine fully-mechanized mining working memory cut Triangle Coal automated system and method, working face installs firedamp sensor additional, face gas sensing data is transferred on crossheading monitoring host computer by Integrated access device, configured according to the gas density point of default, coal shearer speed is adjusted, shearer haulage speed and gas density coordinated signals is realized.Along feed tube pressure sensor is installed additional every ten frame supports, change of the monitoring water influent pipeline along line pressure and pumping plant outlet pressure in real time, number of units is run according to emulsion pump is automatically adjusted with the analysis of the data of relation between liquid with the speed of coal-winning machine, emulsion power pack pressure and force piece during machine automatically.Using frame advance support, " coal machine+support " chain control each other is crossed in advance, solve ore deposit and press dominant, the serious Triangle Coal region of rolling side is with machine process difficulties.
Description
Technical field
The present invention relates to a kind of highly gassy mine coal winning technology, particularly highly gassy mine fully-mechanized mining working memory cut three
Angle coal automated system and method.
Background technology
Fully mechanized mining automatic technology is started late at home, for highly gassy mine fully-mechanized mining working, due to
Influenceed by coal-bed gas, the life security to underground operators causes serious threat, while also constraining indirectly comprehensive
The raising of mining face production efficiency.At present, fully mechanized mining automatic technology starts popularization and application in many big-and-middle-sized mines, but
Restricted by geological conditions and technical conditions, automation application degree is not quite similar, fully-mechanized mining working is in exploitation process, especially
It is it is traditional cut Triangle Coal technique, be related to end management, coal-winning machine and support independently working, each post personnel participate in many,
Operating environment unsafe factor is more.But because technical conditions are immature, Triangle Coal function is cut automatically and is constantly among exploration,
Safety automation intelligent control system under high methane environment is studied also in initial stage, and at present, China carries forward vigorously work
Industryization 4.0, to realize intelligent coal mine production model, is analyzed, to work using the multifactor big data such as coal mine environment, equipment
The many factors such as face gas density, coal machine speed, ore deposit pressure, ventilation progress comprehensive analysis, the intelligent coal cutting of fully-mechanized mining working, from
Dynamicization turns into the unmanned coal-mining technique research and development direction of highly gassy mine with machine technical research.
The content of the invention
The technical problem to be solved in the present invention, which is given, provides a kind of highly gassy mine fully-mechanized mining working memory cut Triangle Coal certainly
Dynamicization system and method, so that the influence by comprehensive analysis coal shearer speed, face roof pressure to working face high methane
Degree, realizes the intelligent control of coal-winning machine coal cutting speed, and high methane is solved the problems, such as using multi-factor comprehensives such as coal cutting speed, ore deposit pressures.
According to an aspect of the present invention there is provided a kind of highly gassy mine fully-mechanized mining working memory cut Triangle Coal it is automatic
Change system, including hydraulic support electrohydraulic control system, coal-winning machine control system and crossheading monitoring host computer, hydraulic support electrichydraulic control
System and coal-winning machine control system are connected with crossheading monitoring host computer respectively, and working face installs firedamp sensor additional, by face gas
Sensing data is transferred on crossheading monitoring host computer by Integrated access device, while coal shearer speed information transmission is led to monitoring
Machine, is sent to monitoring host computer, according to default by the Face Pressure Data of electro-hydraulic control system for hydraulic support in working face
Gas density point is configured, and coal shearer speed is adjusted, and realizes shearer haulage speed and gas density coordinated signals.
Further, including to the emulsion pump of hydraulic support feed flow, using it is double enter double back feed liquid way, in feed tube
Pressure sensor is installed additional every ten frame supports, in real time change of the monitoring water influent pipeline along line pressure and pumping plant outlet pressure along the line,
According to automatically with data of relation between the speed of coal-winning machine, emulsion power pack pressure and force piece liquid during machine
Analysis automatically adjusts emulsion pump operation number of units.
Further, described hydraulic support electrohydraulic control system includes bracket controller, pressure sensor, stroke sensing
Device, infrared sensor, electro-hydraulic reversing valve, power supply box and signal adapter, configure a branch on every hydraulic support of working face
Networking is interconnected in order between frame controller, bracket controller, builds a data link through fully-mechanized mining working
Fully-mechanized mining working ore deposit is pressed into data, hydraulic support passage data have been sent to progress Centralizing inspection monitoring on crossheading monitoring host computer.
Further, coal-winning machine control system includes coal-winning machine infrared ray position-detection sensor, left and right rocking arm mining height biography
The displacement transducer and obliquity sensor of sensor, running part.
Further, the bracket controller of described working face is grouped because of power supply relation, adjacent 6 supports control
Device is powered by dc source independent all the way, as a controller group, and the mark of packet is that one is all accessed between group and group
Isolating coupler, it has separated electric couple between group and group and has linked up data traffic signals further through photoelectric coupling.
There is provided a kind of automation of highly gassy mine fully-mechanized mining working memory cut Triangle Coal according to another aspect of the present invention
Method, using system as described above, zigzag is presented in full face mining machine cut coal process footprint, and leading coal mining machine cut is saturating
Whole working face, is then carried out forming Triangle Coal bending section, then coal-winning machine beveling feed returns knife and eat up triangle by hydraulic support
Coal, completes the coal mining process of a complete knife；Hydraulic support follows coal winning machine position to carry out with machine operation, using mistake frame branch in advance
Support, realizes the advance support during Triangle Coal coal cutting, and coal-winning machine, which is reached, waits support action to complete signal after specified location, adopt
Coal machine receives support and completes to carry out next step instruction after signal, sets up the control system of closed loop.
Further, the process described above includes step：
1. the knife of head first cuts upper slitter
Coal cutting scene：Coal-winning machine draws to the first switch-back point from middle part toward the automatic coal cutting of head, leads and stop, and drops the cylinder that rolls left；Initially
State：The cylinder that rolls left cuts top knife, right roller and cuts bed plate；First switch-back point：The cylinder that rolls left cuts bed plate, right roller and cuts bed plate；Coal-winning machine is therefrom
Support is often saved as coal-winning machine is automatically moved successively toward the automatic coal cutting of heading in portion；
2. the knife of head first cuts bed plate
Coal cutting scene：Coal-winning machine goes upward to wait frame of trying to stop people from fighting each other from head toward middle part, leads and stops, and waits signal of trying to stop people from fighting each other；Initial state：Roll left
Cylinder cuts bed plate, right roller and cuts bed plate；
3. the knife of head first sweeps coal
Coal cutting scene：Coal-winning machine carries out sweeping coal operation in setting regions；Initial state：The cylinder that rolls left cuts bed plate, right roller and cuts bed plate；
Sweep coal flow as follows：
1）From right to left for the first time, forward and backward roller is in planted agent's scope of setting, and coal-winning machine is descending toward head；
2）Coal-winning machine slows down during the deceleration area that coal machine is set to head, to prevent cutting mill head bracket and equipment；
3）When coal machine is to the first switch-back point set, coal-winning machine commutation, and given speed；
4）When coal machine is to the second switch-back point set, coal-winning machine commutation, speed is constant；
5）Coal machine according to setting sweep coal number of times sweep repeated in coal region sweep coal action；
4. the knife of head first is swept coal and terminated
Coal cutting scene：Coal-winning machine is up from head toward middle part；Initial state：The cylinder that rolls left cuts bed plate, right roller and cuts bed plate；Bending section：
The cylinder that rolls left cuts bed plate, right roller and cuts top knife；Wait frame：The cylinder that rolls left cuts top knife, right roller and cuts bed plate；It is divided into following three kinds of situations,
1）, normal termination sweep coal technique
At the end of sweeping coal according to normal process, coal-winning machine is up from head to middle part, during to bending section, and front roll cuts top knife, after
Roller cuts bed plate, leads and stops during traction to wait frame, waits pushing and sliding signal；
2）, terminate to sweep the coal stage in advance
It is artificial to give to right signal when sweeping coal number of times and being not reaching to setting value, when coal-winning machine uses the second+2 frame of switch-back point, it is believed that
Sweep coal to terminate, coal-winning machine is up from head to middle part, during to bending section, front roll cuts top knife, back roll cuts bed plate, traction to etc.
Lead and stop when frame, wait pushing and sliding signal.
3) increase, is needed to sweep coal number of times
It is artificial to give to left signal when sweeping coal number of times and reaching setting value, coal-winning machine anti-knife coal cutting again, it is believed that sweep coal it is clean when,
Coal is swept when rolling the second switch-back point away to right signal to coal-winning machine to terminate, coal-winning machine is up from head to middle part, it is preceding during to bending section
Roller cuts top knife, and back roll cuts bed plate, leads and stop during traction to wait frame, wait pushing and sliding signal.
5. the knife of head second cuts upper slitter
Coal cutting scene：Coal-winning machine receives pushing and sliding and completes signal, draws to the first switch-back point, leads and stop, and drops the cylinder that rolls left；Initial state：It is left
Roller cuts top knife, right roller and cuts bed plate；First switch-back point：The cylinder that rolls left cuts bed plate, right roller and cuts bed plate.
Beneficial effects of the present invention are embodied in：
1）Break the single index limitation of Gas Outburst working face coal machine speed, control coal shearer speed according to gas density, set up
The intelligent coal cutting control system of the multi-parameter fusions such as gas density, coal shearer speed, ore deposit pressure, realizes that working face production capacity is maximized.
2）Total score is carried out with the data such as machine amount of action and pumping plant fluid supply capacity to coal-winning machine coal cutting speed, hydraulic support
Analysis, set up coal-winning machine, hydraulic support, emulsion power pack comprehensive coordination operation with machine automate integrated system.
3）Using frame advance support, " coal machine+support " chain control each other is crossed in advance, coal and gas outburst mine is realized
The full-automation of " the automatic cut Triangle Coal+support of coal-winning machine is automatically with machine " solves ore deposit and presses dominant, rolling side is serious with machine function
Triangle Coal region with machine process difficulties.
Brief description of the drawings
Fig. 1 is hydraulic support electrohydraulic control system structure chart.
Fig. 2 is shearer haulage speed and gas density coordinated control system connection figure.
Fig. 3 is working surface coal mining machine coal cutting running orbit.
Fig. 4 is that coal-winning machine initial state enters trigonum.
Fig. 5 is the saturating head of coal mining machine cut (the supplement pushing and sliding of 16-21 framves form bending section).
Fig. 6 leads for coal-winning machine to stop dropping roller.
Fig. 7 is coal-winning machine operating diagram.
Fig. 8 is that coal-winning machine waits action of trying to stop people from fighting each other（7-13 framves supplement is tried to stop people from fighting each other）.
Fig. 9 enters for coal-winning machine after the completion of trying to stop people from fighting each other sweeps the coal stage.
Figure 10 is that coal operation is swept in coal-winning machine to the left progress of dextrad.
Figure 11 is that coal-winning machine carries out sweeping coal operation to from left to right.
Figure 12 is that coal-winning machine sweeps the backward middle part beveling feed of coal completion（The pushing and sliding successively of 21-3 framves）.
Figure 13 is wait pushing and sliding signal after the completion of coal-winning machine feed.
Figure 14 is that coal-winning machine adjusts roller posture.
Figure 15 is that coal-winning machine the second knife head cuts top knife.
Figure 16 acts for coal mining machine cut top knife support.
Figure 17 is the saturating head of coal mining machine cut（14-29 framves are tried to stop people from fighting each other successively）.
Figure 18 is that coal-winning machine adjusts roller posture.
Figure 19 is that coal-winning machine carries out sweeping coal operation to from left to right.
Figure 20 is that coal operation is swept in coal-winning machine to the left progress of dextrad.
Figure 21 sweeps coal completion head rack for coal-winning machine and tried to stop people from fighting each other.
Figure 22 is coal-winning machine to the automatic coal cutting in middle part.
Figure 23 is to turn to push away to form snakelike section with machine.
Figure 24 is beveling feed according to program.
Figure 25 be cut Triangle Coal according to program.
Figure 26 is clear float coal according to program.
Figure 27 is next knife according to program.
In figure, 1- bracket controllers, 2- power supplys, 3- isolating couplers, 4-FPGA type isolating couplers, 5- Integrated access
Device, 6- cameras, 7- continues device, 8- firedamp sensors, 9- monitoring host computers, 10- interchangers, 11- coal-winning machines.
Embodiment
A kind of typical embodiment of the present invention provides a kind of highly gassy mine fully-mechanized mining working memory cut Triangle Coal certainly
Dynamicization system, including hydraulic support electrohydraulic control system, coal-winning machine control system and crossheading monitoring host computer, the electro-hydraulic control of hydraulic support
System processed and coal-winning machine control system are connected with crossheading monitoring host computer respectively, and working face installs firedamp sensor additional, by working face watt
This sensing data is transferred on crossheading monitoring host computer by Integrated access device, while coal shearer speed information transmission is led to monitoring
Machine, is sent to monitoring host computer, according to default by the Face Pressure Data of electro-hydraulic control system for hydraulic support in working face
Gas density point is configured, and coal shearer speed is adjusted, and realizes shearer haulage speed and gas density coordinated signals.
By gas density, coal shearer speed, pressure relation trend, realize that shearer haulage speed and gas density join
Dynamic control function.By the way that coal machine cut coal speed, ore deposit pressure are carried out into intelligent association control with gas density, it is effectively controlled and is adopting
Gas density during coal production operation, improves Safety of Coal Mine Production coefficient, by realizing the automatic with machine of full face
Change control, Remote is carried out in crossheading monitoring host computer, so that coal miner be liberated from severe working face coal mining environment
Out, the work situation of coal miner is improved, the labor intensity of operating personnel is reduced.
Fully-mechanized mining working automated system is automatic control technology, sensor technology, computer technology, equipment working condition monitoring
And the fusion of a variety of automatic technologies such as fault diagnosis technology, electrohydraulic control technology, centralized control technique, so as to constitute electromechanics one
The comprehensive mechanical coal mining automatic technology of body.Automatic coal face key technology includes:Hydraulic support electrichydraulic control
Technology;The automatic coal-mining technique of coal-winning machine;The electro-hydraulic control of support and coal mining machine data interaction technique；Crossheading centralized control technique (three machines
Control, pumping plant control).
Hydraulic support electrohydraulic control system
Hydraulic support electrohydraulic control system carries out hydraulic support control, and hydraulic support electrohydraulic control system is by bracket controller, pressure
Force snesor, stroke sensor, infrared sensor, electro-hydraulic reversing valve, isolating coupler, power supply box, signal adapter, monitoring master
Machine and connection cable etc. are constituted, shown in the configuration of full face electrohydraulic control system and connection figure 1.In every hydraulic pressure branch of working face
Configured on frame between a bracket controller 1, bracket controller 1 and interconnect networking in order, built one through fully mechanized mining work
Make the data link in face, fully-mechanized mining working ore deposit is pressed data by it, hydraulic support elapses the information transmissions such as data and arrived crossheading
Centralizing inspection monitoring is carried out on Surveillance center's computer.The bracket controller 1 of working face is grouped because of power supply relation, adjacent
6 bracket controllers 1 are powered by dc source 2 independent all the way, as a controller group.The mark of packet is group and group
Between all access an isolating coupler 3, it has separated electric couple between group and group and has linked up data further through photoelectric coupling and lead to
Believe signal, this mode is to reach measure that essential safety performance is taken.In addition isolating coupler 3 is that power supply draws 2 and enters to carry
For passage.All bracket controllers 1 interconnect into network by trunk cable.Order will be complete since the frame controller of termination for trunk cable
Portion's bracket controller 1 is linked up.Each bracket controller 1 has address number, and address number is continuous in order.Main line electricity
Cable has 4 cored wires, wherein 3 common wires for insertion:No. 1 cored wire is power supply 12V, and No. 2 cored wires are all of referred to as TBUS
Public communication bus between frame controller 1, No. 3 cored wires are the order wires between referred to as Bidi adjacent frame, and No. 4 cored wires are power supply OV,
It is also the public zero-potential point of signal of communication.Network Terminator, bus lifter in system are the normal work of guarantee system
Servicing unit necessary to making.
To ensure the real time and reliability of electro-hydraulic control data, the design side of redundancy is proposed to working face data communication method
Case, increases and matches somebody with somebody FPGA types isolating coupler 4, and the Integrated access device 5 of working face is coupled between electric hydraulic control system, comprehensive coupler
Lasting device 7 is connected with, Ethernet high-speed channel is provided for the transmission of automatically controlled batch sensing data.Fig. 1 is hydraulic support of the present invention electricity
Liquid control system structure chart.
Hydraulic support electrohydraulic control system can realize that the support one action of hydraulic support is controlled manually, the drop of single-side stand
Post-shifting frame-setting prop automatically controlled, and support program(me) is controlled in groups, and hydraulic support follows automatically controlling for coal winning machine position, pressure
Sensor is used for detecting face roof pressure, and automatic compensation function when column is unloaded at work makes working face top
Plate pressure reaches default setting load, realizes the safety management of face roof pressure, and stroke sensor is used for carrying out hydraulic pressure branch
The passage control of frame, the sensor is to realize that working surface hydraulic support follows coal winning machine position to realize the key elapsed automatically automatically
Part, infrared sensor is used for detecting the position where coal-winning machine, according to coal winning technology, can be realized by coal winning machine position
Hydraulic support it is automatic with machine control.Hydraulic support electrohydraulic control system is according to coal winning machine position, according to coal winning technology to support
Requirement, according to the flow of artificial operation support, the automatic of support is realized according to pressure, stroke and obliquity sensor according to support
Control, configuration video monitoring system monitoring support action situation, realizes that working surface hydraulic support follows coal-winning machine coal cutting direction certainly
It is dynamic to perform lifting, passage and spraying operation, realize that support is automated with machine operation.Hydraulic support is connect by infrared receiver
By coal-winning machine infrared emitting signal, so as to determine coal winning machine position, further according to bracket controller program, determine part branch
Frame moves frame, pushing and sliding, receives and beat face guard；The stroke of hydraulic support passage oil cylinder is gathered by passage oil cylinder displacement transducer, it is ensured that
Pushing and sliding and try to stop people from fighting each other and can reach requirement；Liquid under column is gathered by hydraulic support column pressure sensor and suppresses force signal, it is ensured that
Hydraulic support is by frame pressure and rises the setting load after frame.Above technology for realize working surface hydraulic support automation provide it is most former
The data of beginning.
The remote control of hydraulic support：Hydraulic support SAC systems are typically mounted near crossheading integrated console, for supervising
All working face hydraulic support real-time status is controlled, concrete function is as follows:
（1）The modification of working face all hydraulic support program(me) can be achieved；
（2）Working face all hydraulic bracket upright post pressure, the monitoring and display of pass trip can be achieved；
（3）Coal winning machine position, the monitoring and display of direction of travel can be achieved；
（4）The upload of working face all hydraulic support real time data can be achieved；
（5）The calculating and display of face advanced distance can be achieved；
（6）Unlatching, stopping and program setting that working surface hydraulic support is automated with machine can be achieved.
Coal-winning machine Automated condtrol
Working face uses CAN bus system coal-winning machine, supports multiple bus interface：CAN fieldbus, 485 fieldbus, and prop up
Hold a variety of bus protocols.Coal-winning machine itself applies industrial CAN, stability and real-time is improved, in data acquisition and control
Large increase is there has also been in the speed of input and output processed.Also possess fabulous antijamming capability, extremely strong error detection simultaneously
And disposal ability, meet information transfer requirement of real-time；It is provided simultaneously with diagnosis and disposal ability of failure etc..
Compared with common PLC system coal-winning machine, CAN bus system coal-winning machine has the characteristics that：1st, it is real-time, new system
System processing information ability faster, so improves the real-time of control.2nd, interface is wide, and module supports multiple bus interface in itself.
3rd, extended capability is strong, expansible multiple analog quantitys or digital quantity interface.4th, strong antijamming capability, trouble diagnosibility are strong etc..
Communication characteristicses：Because distance is remote between working face and crossheading, add subsurface environment badly, use general communication to pass
The situation that transmission method easily breaks or disturbed, therefore coal-winning machine uses carrier communication mode, is coupled by power cable
Signal is transmitted, the stability of communication is improved.Transmission delay is within 200ms.Triangle Coal technique needs support, transporter etc. to match somebody with somebody
The information of complete equipment, so the communication with other equipment also seems important, crossheading controller is responsible for gathering third-party number
It is believed that breath, then performs Triangle Coal automated procedures according to corollary equipment information, then adopted by carrier-wave transmission control instruction
Coal machine.
Voice broadcasting system：Voice broadcast function is added in bus system, any operation information or report can be reported
Alert information, while information can also be reported by airborne display screen or the selectively configuration of crossheading industrial computer.
Position real time calibration algorithm：In automation coal cutting technique, the position of coal-winning machine feedback is vital, when the
When tripartite position is lost or be inaccurate, coal-winning machine can calibrate current location in specific position in itself, can also it is airborne,
Real time calibration coal seat in the plane is put on crossheading industrial computer, can so ensure that automated procedures are correctly performed.
Gas linkage protection system：On high gas face, gas linked system seems particularly practical and safe.This is
System can configure appropriate speed according to several crucial gas points of configuration, and when gas exceeding limit, system can pass through industrial computer, language
The systems such as sound are pointed out, and are provided and are ensured to safety in production.
In terms of automation, bus system coal-winning machine not only contains the memory coal cutting at middle part（Automatic coal cutting）, also include
Termination automation back production Triangle Coal function, can voluntarily switch, this improves whole work in different position automated procedures
The automaticity in face.This, which is also domestic first, to perform the coal mining of automated job at middle part and two ends termination full face
Machine automated system.
In bus system, all coal-winning machine itself key parameters and coal winning technology parameter can be carried out manually matching somebody with somebody
Put, without changing program, this improves the adaptability of system itself.
Coal cutter memorized cutting and remote control technology, working surface coal mining machine based on memory cut Automated condtrol, with
Production model supplemented by Remote realizes the unmanned exploitation of working face.Coal-winning machine memory coal cutting system adds coal-winning machine and branch
Frame linkage function, can work out different coal cutting modes in coal-winning machine FACEBOSS electric-control systems, once work out cutting process
And after starting, memory cut reappears coal cutting process, coal-winning machine will be in driver's irreducible minimum according to the data for having set or having succeeded in school
Automatic running under the intervention of degree.
Coal-winning machine remote control technology, operating personnel are by operating Surveillance center's coal-winning machine remote console to carry out coal-winning machine
Remote, coal machine remote monitoring system is made up of equipment such as flame proof computer, remote consoles, and operating personnel can pass through
Monitor that the related monitored picture of coal-winning machine, hydraulic support, video pictures carry out the Remote of coal-winning machine.
Shearer haulage speed and gas density coordinated control system
By installing firedamp sensor 8 additional in working face, face gas sensing data is transferred to by Integrated access device 5 suitable
On groove monitoring host computer 9, while the information transmission such as coal shearer speed is to monitoring host computer 9, by working surface hydraulic support electrichydraulic control system
The Face Pressure Data of system is sent to monitoring host computer 9, and interchanger 10, coal-winning machine are connected between coal-winning machine 11 and monitoring host computer
Hauling speed and gas density coordinated control system connection figure are as shown in Figure 2.
The data such as gas density, coal shearer speed are shown in real time on monitoring host computer.On high gas face,
Gas linked system seems particularly practical and safe.The gas of coal-winning machine links protection system to realize that this function provides base
Plinth condition, the system can be configured according to the gas density point of default, and coal shearer speed is automatically adjusted, when
During gas exceeding limit, system can be pointed out by systems such as industrial computer, voices, provided and ensured to safety in production.Maximum journey
The liberation coal-winning machine cutting speed of degree, improves production efficiency.
Below by taking the working face of Singapore dollar company of Yang Mei groups 3107 as an example, highly gassy mine fully-mechanized mining working of the present invention is remembered
Cut Triangle Coal method is illustrated.
Coal-winning machine Triangle Coal is with machine technique
Zigzag is presented for full face mining machine cut coal process footprint as shown in figure 3, leading coal mining machine cut whole working face thoroughly,
Then carried out forming Triangle Coal bending section by hydraulic support, then coal-winning machine beveling feed returns knife and eat up Triangle Coal, complete complete
The coal mining process of one knife, its technical process described separately below.
1. the knife of head first cuts upper slitter
Coal cutting scene：Coal-winning machine draws to the first switch-back point from middle part toward the automatic coal cutting of head, leads and stop, and drops the cylinder that rolls left；
Initial state：The cylinder that rolls left cuts top knife, right roller and cuts bed plate（Such as Fig. 4）；
First switch-back point：The cylinder that rolls left cuts bed plate, right roller and cuts bed plate（Such as Fig. 5）；
Coal-winning machine is from middle part toward the automatic coal cutting of heading（Beyond 26 framves）, support is often saved as coal-winning machine is automatically moved successively；
2. the knife of head first cuts bed plate（Such as Fig. 6-Fig. 8）
Coal cutting scene：Coal-winning machine goes upward to wait frame of trying to stop people from fighting each other from head toward middle part, leads and stops, and waits signal of trying to stop people from fighting each other；Initial state：Roll left
Cylinder cuts bed plate, right roller and cuts bed plate；
3. the knife of head first sweeps coal（Such as Fig. 9-Figure 11）
Coal cutting scene：Coal-winning machine carries out sweeping coal operation in setting regions；Initial state：The cylinder that rolls left cuts bed plate, right roller and cuts bed plate；
Sweep coal flow as follows：
1）From right to left for the first time, forward and backward roller is in planted agent's scope of setting, and coal-winning machine is descending toward head；
2）Coal-winning machine slows down during the deceleration area that coal machine is set to head, to prevent cutting mill head bracket and equipment；
3）When coal machine is to the first switch-back point set, coal-winning machine commutation, and given speed；
4）When coal machine is to the second switch-back point set, coal-winning machine commutation, speed is constant；
5）Coal machine according to setting sweep coal number of times sweep repeated in coal region sweep coal action；
4. the knife of head first is swept coal and terminated（Such as Figure 12-Figure 14）
Coal cutting scene：Coal-winning machine is up from head toward middle part；
Initial state：The cylinder that rolls left cuts bed plate, right roller and cuts bed plate；
Bending section：The cylinder that rolls left cuts bed plate, right roller and cuts top knife；
Wait frame：The cylinder that rolls left cuts top knife, right roller and cuts bed plate；
As shown in figure 13, sweep coal to terminate, coal machine row to 26 framves, the entirety pushing and sliding of 21-3 framves, pushing and sliding order is near coal machine to head
Direction.
It is divided into following three kinds of situations,
1）, normal termination sweep coal technique
At the end of sweeping coal according to normal process, coal-winning machine is up from head to middle part, during to bending section, and front roll cuts top knife, after
Roller cuts bed plate, leads and stops during traction to wait frame, waits pushing and sliding signal；
2）, terminate to sweep the coal stage in advance
It is artificial to give to right signal when sweeping coal number of times and being not reaching to setting value, when coal-winning machine uses the second+2 frame of switch-back point, it is believed that
Sweep coal to terminate, coal-winning machine is up from head to middle part, during to bending section, front roll cuts top knife, back roll cuts bed plate, traction to etc.
Lead and stop when frame, wait pushing and sliding signal.
3) increase, is needed to sweep coal number of times
It is artificial to give to left signal when sweeping coal number of times and reaching setting value, coal-winning machine anti-knife coal cutting again, it is believed that sweep coal it is clean when,
Coal is swept when rolling the second switch-back point away to right signal to coal-winning machine to terminate, coal-winning machine is up from head to middle part, it is preceding during to bending section
Roller cuts top knife, and back roll cuts bed plate, leads and stop during traction to wait frame, wait pushing and sliding signal.
5. the knife of head second cuts upper slitter（Such as Figure 15-Figure 22）
Coal cutting scene：Coal-winning machine receives pushing and sliding and completes signal, draws to the first switch-back point, leads and stop, and drops the cylinder that rolls left；Initial state：It is left
Roller cuts top knife, right roller and cuts bed plate（Figure 16）；
First switch-back point：The cylinder that rolls left cuts bed plate, right roller and cuts bed plate（Figure 17）, 29-14 supports try to stop people from fighting each other in advance, prevent empty top.
As shown in figure 21, when coal-winning machine goes upward to No. 20 supports, 3-13 supports are fully completed automatic shifting frame, such as need second
Secondary clear float coal, now coal machine can return knife to head, carry out repeatedly clear float coal, coal-winning machine continues up.
As shown in figure 22, coal-winning machine goes upward to No. 24 supports, and small size termination frame is followed successively by 3-6,3-7,3-8 with machine pushing and sliding,
Hereafter 3-9,3-10,4-11,5-12 are normal middle part with machine scope.
Hydraulic support Triangle Coal is with machine control
Hydraulic support follows coal winning machine position to be automatically controlled by being completed with machine program+parameter, is to mine with machine program
Technique is cured as a rigid flow to hydraulic support action demand, and is then to make this rigid flow softening with machine parameter, energy
Adapt to different geological conditions change.With below machine control program for hydraulic support follow coal winning machine position Triangle Coal region from
Dynamicization controls process flow and the corresponding action timing diagram of hydraulic support.In order to adapt to high methane, ore deposit pressure in termination is dominant, and termination is easy
The problems such as rolling side accident occur, using frame support is crossed in advance, realizes the advance support during Triangle Coal coal cutting, effective to ensure
The roof control of working face ended support.Hydraulic support with machine control program is shown in Figure 23 to Figure 26.
（1）Middle part turns to push away snakelike section, key point 1 with machine：Coal-winning machine comes downwards to No. 6 framves, sees Figure 23.As shown in Figure 23-1,
When coal-winning machine is descending, hydraulic support moves frame with machine successively.When coming downwards to position shown in Figure 23-2,14, No. 15 support supplements try to stop people from fighting each other,
16-21 supports supplement pushing and sliding, form bending section.Knife is returned in subsequent coal-winning machine reduction of speed, preparation（Figure 23-3）.
（2）Order moves frame and beveling feed, key point 2：Coal-winning machine goes upward to No. 10 supports, sees Figure 24.Such as Figure 24-1, adopt
Coal machine goes upward to No. 10 supports, and 3-13 supports order moves frame, only stretches extensible canopy, does not stretch face guard, coal machine to No. 17 supports etc.
Shifting frame signal to be done.With reference to Figure 24-2 and Figure 24-3, move frame completion signal and send, coal-winning machine carries out sweeping coal process, sweeps coal
Number is settable.
（3）Cut Triangle Coal, key point 3：Coal-winning machine goes upward to No. 26 supports；Key point 4：Coal-winning machine comes downwards to No. 21 branch
Frame, is shown in Figure 25.Such as Figure 25-1, sweep after coal terminates, coal-winning machine row to No. 26 supports, the entirety pushing and sliding of 21-3 supports, desulfurization order
To heading near coal machine.21-3 supports are completed after pushing and sliding, and providing pushing and sliding to coal-winning machine completes signal, and knife is returned in preparation
（Figure 25-2）, coal-winning machine receives pushing and sliding and completes signal, and coal-winning machine is descending, to No. 21 supports, starts to perform and moves frame automatically with machine（Figure
25-3）.
（4）Clear float coal, key point 5：Cut for the second time after head, coal-winning machine first goes upward to No. 12 supports；Key point 6：Adopt
Coal machine goes further downwards to No. 6 supports, sees Figure 26.Such as Figure 26-1, when coal-winning machine is descending, 29-14 framves are tried to stop people from fighting each other in advance, prevent empty top；
The up clear float coal of coal-winning machine is to No. 12 supports（Figure 26-2）, coal-winning machine goes further downwards to No. 6 supports, clear float coal to No. 7 supports（Figure
26-3）.
（5）Such as Figure 27, up middle part is switched to machine, key point:7：When coal-winning machine goes upward to No. 10 supports, start from 3
Number support starts to move frame automatically with machine（Figure 27-1）；Coal-winning machine up and down to No. 20 supports when, 3-13 supports are fully completed automatically
Move frame；Such as need not having clearly for the second time, now coal machine can return knife to head, carry out repeatedly clear float coal；Clear float coal, coal-winning machine are not needed such as
Continue up（Figure 27-2）；Key point 8：When going upward to No. 24 supports, small size termination frame is with machine pushing and sliding：3-6 is followed successively by,
Hereafter 3-7,3-8,3-9,3-10,4-11,5-12 are normal middle part with machine scope.
Hydraulic support is with machine and coal-winning machine Collaborative Control
Hydraulic support is elapsed into the data such as information, coal winning machine position information, Face Pressure, gas density by Surveillance center to make
For transmission channel and logic maincenter, according to gas density Controlling model, working face coal cutting technique and hydraulic support with motor-driven work
The information such as state carry out the integrated decision-making of centralized control system, realize the coordinated of electrohydraulic control system and both coal machine systems,
Realize the full-automatic production model of the unmanned intervention in underground cooperateed with based on coal-winning machine with hydraulic support with data sharing.
Support follows coal-winning machine to carry out with machine operation, and coal-winning machine, which is reached, waits support action to complete signal after specified location,
Coal-winning machine receives support and completes to carry out next step instruction after signal, and both are conditional, set up the control system of closed loop, jointly
Complete the process requirements of memory cut Triangle Coal.
Pumping station system Collaborative Control technology
Working face during automation is with machine operation, often occur coal shearer speed it is fast when, there is losing frame in support or support is dynamic
Make phenomenon not in place.
Working face using it is double enter double back feed liquid way, in order to exploratory development it is automatic with the speed of coal-winning machine during machine,
Relation between emulsion power pack pressure and force piece liquid, pressure sensing is installed additional along feed tube every ten frame supports
Device, in real time change of the monitoring water influent pipeline along line pressure and pumping plant outlet pressure.Pass through the analysis of data, it has been found that work as work
When face support is failure to actuate, outlet pressure and the pressure change along working face pipeline of pumping plant have certain rule.Work as working face
When automation reaches 4 more than m/min with machine operation coal shearer speed, outlet pressure and the working face pipeline edge of pumping plant are found
Line pressure change is very it will be evident that pressure and flow needed for working face are inadequate, it is necessary to by automatically adjusting emulsion
Pump operation number of units, usually up to 3 are run simultaneously, could meet production.By groping feed flow flow, pressure and the pass of caliber
System, it is ensured that working face automates the continuity with machine, is the type selecting product of caliber, the length of emulsion power pack liquid feeding pipeline etc.
Tired experience.Video monitor technology:The vision of operating personnel is extended to coal-face scene by video system, makes operating personnel
It is clear that the situation that the scene of coal mining is sent, it is seen that operated equipment moving process, takes measures to ensure that in time
The security of equipment.It is connected by being provided with video camera on hydraulic support, and by connector with Integrated access device, by work
Plane video signal is sent to progress working face life on the computer of crossheading Surveillance center by EPA high speed transmission system
Produce operating condition monitoring.In addition, gas concentration sensor data can be sent to crossheading Surveillance center meter by the high speed transmission system
Calculation machine gets on.
Crossheading centralized control technique
1）Three machine centralized control techniques
Three machine centralized Controls control the machine of working face three by controlling Bake KE3002, KE3004 stacked switch, and three machines can be achieved
Combined launch and stopping, the start and stop of single device, the start and stop function of single device crawl, can be real in working face head
The start and stop function of existing transporter, it has the advantages that in operation set, it is simple, stable to control.
2）Pumping plant centralized control technique
Remotely supply liquid mixing system, long-range make-up station moves to air inlet make-up station by original equipment train, using it is remote from
Dynamic to supply to match somebody with somebody liquid, make-up station is made up of water supply force (forcing) pump, proportioning pump, long-range rear pump and automatic control device, working face extraction
Period make-up station is not moved all the time, compared to situation about adopting with shifting, recruitment is reduced in the past, reduces labor intensity, is ensured
Safety.
Pumping plant emulsion is pumped into pumping plant liquid case by long-range make-up station by feed flow, by emulsification pump pressurize after by high pressure
Conveyed after back purge system filtering into working face.Pumping plant is main by softening water purification installation, and high-pressure backwash filter returns liquid mistake
Filter, emulsification pump（Model BRW~400/31.5）3, atomizing pump（Model BPW315/10K）2, water injecting pump（Model
JC3090）2 compositions, equipment of pumping station passes through pumping plant main frame centralized displaying, pumping plant system by artificial PLC switch board centralized Control
System is all by programming automation control.
The technological merit of the present invention is embodied in：
1. breaking the single index limitation of Gas Outburst working face coal machine speed, coal shearer speed is controlled according to gas density first,
The intelligent coal cutting control system of the multi-parameter fusions such as gas density, coal shearer speed, ore deposit pressure is set up, realizes that working face production capacity is maximum
Change.
2. propose to enter coal-winning machine coal cutting speed, hydraulic support with the data such as machine amount of action and pumping plant fluid supply capacity first
Row comprehensive analysis, set up coal-winning machine, hydraulic support, emulsion power pack comprehensive coordination operation with machine automate integrated system.
3. realize coal and gas prominent using frame advance support, " coal machine+support " chain control each other is crossed in advance first
The full-automation of mine " the automatic cut Triangle Coal+support of coal-winning machine is automatically with machine " solves ore deposit and presses dominant with machine function, rolling side
Serious Triangle Coal region is with machine process difficulties.
In addition, also have the characteristics that：
1. realizing Triangle Coal region with machine Automated condtrol, and make its production process normalization
In the environment of high methane, using the electric hydraulic control systems of SAC as core, rely on the infrared line position detection of coal-winning machine, video probe,
The monitoring device such as multiple sensors, working surface hydraulic support follow coal-winning machine coal cutting direction perform automatically lifting, passage and
Spraying operation, realizes support and is automated with machine operation.
2. realize coal-winning machine remote control and memory cut function
By increasing left and right rocking arm mining height sensor, the displacement transducer of running part, obliquity sensor, program on coal-winning machine
Card, crossheading remote control software, coal-winning machine Automated condtrol software, are realized in the start and stop of crossheading control coal-winning machine, direction, speed
Degree, the control function of mining height, and realize the memory cut function of coal-winning machine.
3. realize shearer haulage speed and gas density coordinated signals
By systematically analyze gas density, coal shearer speed, pressure relation trend, realize shearer haulage speed with watt
This concentration coordinated signals function.Break the single index limitation of Gas Outburst working face coal machine speed, first according to gas density control
Coal shearer speed processed, sets up the intelligent coal cutting control system of the multi-parameter fusions such as gas density, coal shearer speed, ore deposit pressure, realizes
Working face production capacity is maximized.
4. realize working face " three machines " and crossheading sealing-tape machine centralized Control
Monitoring system uses ZQS127-Z type transporter monitoring host computers, realizes to working face scratch board conveyor, elevating conveyor, crushes
The dynamic monitoring of machine equipment operating condition.Control system coordinates video surveillance devices using KTC101 types communication device, realizes
To the centralized Control of the machine of working face three and crossheading sealing-tape machine.
5. realize long-range for liquid automation
（1）By installing electrical ball valve, liquid level sensor, 25 microns of two-stage fine filtering apparatus additional, install control program additional and controlled simultaneously with collection
Net connection, realizes automatically controlling for softened water.
（2）Long-range liquid mixing system, is made up of water supply force (forcing) pump, proportioning pump, long-range rear pump and automatic control device, will
Air inlet make-up station is moved to by original equipment train with liquid equipment, nearly 1000 meters of concentrate transportation range is shortened, subtracts
Lack recruitment, reduced labor intensity, ensure safety.
（3）Long-range liquid-supplying system, using the long-range feed flow in underground, equipment train is changed to three pumps one by original two pump one case
Case, feed flow distance is moved to beyond 500 meters by 150 meters away from working face originally.Remote feed flow reduces the traction time of equipment train
Number, has further ensured draw operations safety.Simultaneously in support operating process, when flow system flow and pressure reduction, pass through
VFC realizes that automatic liquid supply is pressurized.
6. realize pumping station system Collaborative Control
By the way that coal-winning machine coal cutting speed, hydraulic support are combined with machine amount of action and pumping plant fluid supply capacity, realize according to
Coal machine speed, hydraulic support with machine try to stop people from fighting each other amount of action requirement match with fluid supply capacity.Pass through coal machine location triggered hydraulic pressure branch
Frame makees demand with motor-driven, and hydraulic support responsiveness depends on the ability of pumping station system（Flow, pressure）, coal machine speed, support
Action, the dynamic coordinate of pumping plant ability three, are needed with the static and mobilism that make up hydraulic support control program and its parameter
The contradiction asked, it is to avoid the phenomenon with machine " losing frame " occur.
7. realize video surveillance real-time Transmission
30 sets of video monitoring equipments are installed additional in working face, transporting equipment transfer point, realize the whole process to whole fully mechanized mining operation area
Positive coal Singapore dollar company information platform is uploaded to after real-time video monitoring, data integration, data, video information can be achieved and shares, collection
Group company just can synchronously see the real time job situation of underground, Production development is understood in time, for dispatch control provide decision-making according to
According to.
8. realize ore deposit pressure real-time data transmission
Whole pressure observation system relies on rack-mount GDP60 types pressure sensor collection ore deposit pressure data, by underground
Electro-hydraulic control main frame storage is simultaneously transferred to ground-based server record, analysis, the issue of formation curve chart, the palm by data uploading system
Hold the ore deposit pressure during working face extraction to show and the regularity of distribution, for management in workface top plate and Support selection will be provided from now on
The foundation of science.
9. realize significantly improving for supporting quality
The electro-hydraulic control of support and the application of automatic liquid supply, it is ensured that support can possess enough setting loads, and supporting quality is significantly carried
Height, alleviates coal side pressure, reduces the potential safety hazard that rolling side ribbing is come.
10. realize full tunnel speech communication
Voice-communication device has been installed in more than 1700 meters of crossheading and working face segmentation, and clear sound is loud and clear, realizes and completely propagandas directed to communicate,
Either any one place of crossheading or working face, will look for people or to assign instruction very convenient.
Claims (7)
1. a kind of highly gassy mine fully-mechanized mining working memory cut Triangle Coal automated system, it is characterised in that：Including hydraulic pressure branch
Frame electrohydraulic control system, coal-winning machine control system and crossheading monitoring host computer, hydraulic support electrohydraulic control system and coal-winning machine control
System is connected with crossheading monitoring host computer respectively, and working face installs firedamp sensor additional, face gas sensing data is passed through comprehensive
Close access device to be transferred on crossheading monitoring host computer, while coal shearer speed information transmission is to monitoring host computer, by working face hydraulic pressure branch
The Face Pressure Data of frame electrohydraulic control system is sent to monitoring host computer, is matched somebody with somebody according to the gas density point of default
Put, coal shearer speed is adjusted, realize shearer haulage speed and gas density coordinated signals.
2. system according to claim 1, it is characterised in that：Including the emulsion pump to hydraulic support feed flow, using double
Enter the feed liquid way of double back, pressure sensor is installed additional every ten frame supports along feed tube, in real time along monitoring water influent pipeline
The change of pressure and pumping plant outlet pressure, according to automatically with the speed of coal-winning machine, emulsion power pack pressure during machine and work
Face support automatically adjusts emulsion pump operation number of units with the analysis of the data of relation between liquid.
3. system according to claim 2, it is characterised in that：Described hydraulic support electrohydraulic control system includes support control
Device processed, pressure sensor, stroke sensor, infrared sensor, electro-hydraulic reversing valve, power supply box and signal adapter, in working face
Configured on every hydraulic support between a bracket controller, controller and interconnect networking in order, build one through fully mechanized mining
Fully-mechanized mining working ore deposit is pressed data by the data link of working face, and hydraulic support passage data have been sent to crossheading monitoring host computer
Upper progress Centralizing inspection monitoring.
4. system according to claim 3, it is characterised in that：Coal-winning machine control system includes the infrared line position inspection of coal-winning machine
Survey sensor, left and right rocking arm mining height sensor, the displacement transducer and obliquity sensor of running part.
5. system according to claim 3, it is characterised in that：The bracket controller of described working face is because of power supply relation
It is grouped, 6 adjacent bracket controllers are powered by dc source independent all the way, as a controller group, the mark of packet
Will is that an isolating coupler is all accessed between group and group, and it has separated electric couple between group and group and further through photoelectric coupling
Link up data traffic signals.
6. a kind of highly gassy mine fully-mechanized mining working memory cut Triangle Coal automatic mode, it is characterised in that：Will using right
The system described in 1-5 any one is sought, zigzag is presented in full face mining machine cut coal process footprint, and leading coal mining machine cut is saturating
Whole working face, is then carried out forming Triangle Coal bending section, then coal-winning machine beveling feed returns knife and eat up triangle by hydraulic support
Coal, completes the coal mining process of a complete knife；Hydraulic support follows coal winning machine position to carry out with machine operation, using mistake frame branch in advance
Support, realizes the advance support during Triangle Coal coal cutting, and coal-winning machine, which is reached, waits support action to complete signal after specified location, adopt
Coal machine receives support and completes to carry out next step instruction after signal, sets up the control system of closed loop.
7. method according to claim 6, it is characterised in that including step：
1. the knife of head first cuts upper slitter
Coal cutting scene：Coal-winning machine draws to the first switch-back point from middle part toward the automatic coal cutting of head, leads and stop, and drops the cylinder that rolls left；Initially
State：The cylinder that rolls left cuts top knife, right roller and cuts bed plate；First switch-back point：The cylinder that rolls left cuts bed plate, right roller and cuts bed plate；Coal-winning machine is therefrom
Support is often saved as coal-winning machine is automatically moved successively toward the automatic coal cutting of heading in portion；
2. the knife of head first cuts bed plate
Coal cutting scene：Coal-winning machine goes upward to wait frame of trying to stop people from fighting each other from head toward middle part, leads and stops, and waits signal of trying to stop people from fighting each other；Initial state：Roll left
Cylinder cuts bed plate, right roller and cuts bed plate；
3. the knife of head first sweeps coal
Coal cutting scene：Coal-winning machine carries out sweeping coal operation in setting regions；Initial state：The cylinder that rolls left cuts bed plate, right roller and cuts bed plate；
Sweep coal flow as follows：
1）From right to left for the first time, forward and backward roller is in planted agent's scope of setting, and coal-winning machine is descending toward head；
2）Coal-winning machine slows down during the deceleration area that coal machine is set to head, to prevent cutting mill head bracket and equipment；
3）When coal machine is to the first switch-back point set, coal-winning machine commutation, and given speed；
4）When coal machine is to the second switch-back point set, coal-winning machine commutation, speed is constant；
5）Coal machine according to setting sweep coal number of times sweep repeated in coal region sweep coal action；
4. the knife of head first is swept coal and terminated
Coal cutting scene：Coal-winning machine is up from head toward middle part；Initial state：The cylinder that rolls left cuts bed plate, right roller and cuts bed plate；Bending section：
The cylinder that rolls left cuts bed plate, right roller and cuts top knife；Wait frame：The cylinder that rolls left cuts top knife, right roller and cuts bed plate；It is divided into following three kinds of situations,
1）, normal termination sweep coal technique
At the end of sweeping coal according to normal process, coal-winning machine is up from head to middle part, during to bending section, and front roll cuts top knife, after
Roller cuts bed plate, leads and stops during traction to wait frame, waits pushing and sliding signal；
2）, terminate to sweep the coal stage in advance
It is artificial to give to right signal when sweeping coal number of times and being not reaching to setting value, when coal-winning machine uses the second+2 frame of switch-back point, it is believed that
Sweep coal to terminate, coal-winning machine is up from head to middle part, during to bending section, front roll cuts top knife, back roll cuts bed plate, traction to etc.
Lead and stop when frame, wait pushing and sliding signal,
3) increase, is needed to sweep coal number of times
It is artificial to give to left signal when sweeping coal number of times and reaching setting value, coal-winning machine anti-knife coal cutting again, it is believed that sweep coal it is clean when,
Coal is swept when rolling the second switch-back point away to right signal to coal-winning machine to terminate, coal-winning machine is up from head to middle part, it is preceding during to bending section
Roller cuts top knife, and back roll cuts bed plate, leads and stop during traction to wait frame, wait pushing and sliding signal,
5. the knife of head second cuts upper slitter
Coal cutting scene：Coal-winning machine receives pushing and sliding and completes signal, draws to the first switch-back point, leads and stop, and drops the cylinder that rolls left；Initial state：It is left
Roller cuts top knife, right roller and cuts bed plate；First switch-back point：The cylinder that rolls left cuts bed plate, right roller and cuts bed plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710460869.8A CN107237632A (en) | 2017-06-18 | 2017-06-18 | Highly gassy mine fully-mechanized mining working memory cut Triangle Coal automated system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710460869.8A CN107237632A (en) | 2017-06-18 | 2017-06-18 | Highly gassy mine fully-mechanized mining working memory cut Triangle Coal automated system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107237632A true CN107237632A (en) | 2017-10-10 |
Family
ID=59987846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710460869.8A Pending CN107237632A (en) | 2017-06-18 | 2017-06-18 | Highly gassy mine fully-mechanized mining working memory cut Triangle Coal automated system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107237632A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108252713A (en) * | 2018-03-29 | 2018-07-06 | 西安煤矿机械有限公司 | Multistage speed of service regulating device and method under the automatic cutting mode of coalcutter |
| CN108518221A (en) * | 2018-05-10 | 2018-09-11 | 天地科技股份有限公司 | A kind of automation coal mining system and method based on various dimensions positioning and deep learning |
| CN108571320A (en) * | 2018-03-27 | 2018-09-25 | 陕西陕煤黄陵矿业有限公司 | A kind of coalcutter Multistage Control method of intellectual comprehensive mechanized mining face |
| CN109708686A (en) * | 2017-10-25 | 2019-05-03 | 中国电力工程顾问集团华东电力设计院有限公司 | A kind of towed monitoring system of closing bar shaped coal yard |
| CN110426016A (en) * | 2019-07-30 | 2019-11-08 | 精英数智科技股份有限公司 | A kind of alignment householder method and system for moving frame for fully-mechanized mining working surface hydraulic support |
| CN111219207A (en) * | 2020-01-02 | 2020-06-02 | 神华神东煤炭集团有限责任公司 | Fully mechanized mining face pressure step distance automatic measuring method and electronic equipment |
| CN112431591A (en) * | 2020-10-20 | 2021-03-02 | 重庆市能源投资集团科技有限责任公司 | Automatic control system for comprehensive mechanized coal mining of three-soft two-large inclined medium-thickness coal seam |
| CN112431593A (en) * | 2020-10-15 | 2021-03-02 | 重庆市能源投资集团科技有限责任公司 | Automatic coal cutting process |
| CN112761699A (en) * | 2021-03-19 | 2021-05-07 | 郑州煤机液压电控有限公司 | Control method for moving hydraulic support of fully mechanized coal mining face |
| CN112943241A (en) * | 2021-01-25 | 2021-06-11 | 三一重型装备有限公司 | Automatic cutting control method, device and system for coal mining machine and storage medium |
| CN113062737A (en) * | 2021-04-09 | 2021-07-02 | 郑州煤机液压电控有限公司 | Integrated control system and control method for complete equipment of fully mechanized coal mining face |
| CN113882856A (en) * | 2020-07-03 | 2022-01-04 | 郑州煤机智能工作面科技有限公司 | Coal cutter memory coal cutting method and system |
| CN115822594A (en) * | 2023-02-10 | 2023-03-21 | 太原向明智控科技有限公司 | Device and method for judging coal mining process of end part feed of coal mining machine |
| WO2023116103A1 (en) * | 2021-12-22 | 2023-06-29 | 中国矿业大学 | Automatic cutting method with reduced sensors and no teaching for shearer in intelligent fully-mechanized mining face |
-
2017
- 2017-06-18 CN CN201710460869.8A patent/CN107237632A/en active Pending
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109708686A (en) * | 2017-10-25 | 2019-05-03 | 中国电力工程顾问集团华东电力设计院有限公司 | A kind of towed monitoring system of closing bar shaped coal yard |
| CN108571320A (en) * | 2018-03-27 | 2018-09-25 | 陕西陕煤黄陵矿业有限公司 | A kind of coalcutter Multistage Control method of intellectual comprehensive mechanized mining face |
| CN108252713A (en) * | 2018-03-29 | 2018-07-06 | 西安煤矿机械有限公司 | Multistage speed of service regulating device and method under the automatic cutting mode of coalcutter |
| CN108518221A (en) * | 2018-05-10 | 2018-09-11 | 天地科技股份有限公司 | A kind of automation coal mining system and method based on various dimensions positioning and deep learning |
| 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 |
| CN110426016A (en) * | 2019-07-30 | 2019-11-08 | 精英数智科技股份有限公司 | A kind of alignment householder method and system for moving frame for fully-mechanized mining working surface hydraulic support |
| CN110426016B (en) * | 2019-07-30 | 2021-04-16 | 精英数智科技股份有限公司 | Alignment auxiliary method and system for moving hydraulic support of fully mechanized coal mining face |
| CN111219207A (en) * | 2020-01-02 | 2020-06-02 | 神华神东煤炭集团有限责任公司 | Fully mechanized mining face pressure step distance automatic measuring method and electronic equipment |
| CN111219207B (en) * | 2020-01-02 | 2021-11-05 | 神华神东煤炭集团有限责任公司 | Fully mechanized mining face pressure step distance automatic measuring method and electronic equipment |
| CN113882856B (en) * | 2020-07-03 | 2024-05-17 | 郑州煤机智能工作面科技有限公司 | Coal cutter memory coal cutting method and system |
| CN113882856A (en) * | 2020-07-03 | 2022-01-04 | 郑州煤机智能工作面科技有限公司 | Coal cutter memory coal cutting method and system |
| CN112431593A (en) * | 2020-10-15 | 2021-03-02 | 重庆市能源投资集团科技有限责任公司 | Automatic coal cutting process |
| CN112431591B (en) * | 2020-10-20 | 2023-02-21 | 重庆市能源投资集团科技有限责任公司 | Automatic control system for comprehensive mechanized coal mining of three-soft two-large inclined medium-thickness coal seam |
| CN112431591A (en) * | 2020-10-20 | 2021-03-02 | 重庆市能源投资集团科技有限责任公司 | Automatic control system for comprehensive mechanized coal mining of three-soft two-large inclined medium-thickness coal seam |
| CN112943241A (en) * | 2021-01-25 | 2021-06-11 | 三一重型装备有限公司 | Automatic cutting control method, device and system for coal mining machine and storage medium |
| CN112943241B (en) * | 2021-01-25 | 2024-02-27 | 三一重型装备有限公司 | Automatic cutting control method, device and system for coal mining machine and storage medium |
| CN112761699A (en) * | 2021-03-19 | 2021-05-07 | 郑州煤机液压电控有限公司 | Control method for moving hydraulic support of fully mechanized coal mining face |
| CN113062737B (en) * | 2021-04-09 | 2024-02-06 | 郑州恒达智控科技股份有限公司 | Integrated control system and control method for fully mechanized coal mining face complete equipment |
| CN113062737A (en) * | 2021-04-09 | 2021-07-02 | 郑州煤机液压电控有限公司 | Integrated control system and control method for complete equipment of fully mechanized coal mining face |
| WO2023116103A1 (en) * | 2021-12-22 | 2023-06-29 | 中国矿业大学 | Automatic cutting method with reduced sensors and no teaching for shearer in intelligent fully-mechanized mining face |
| CN115822594A (en) * | 2023-02-10 | 2023-03-21 | 太原向明智控科技有限公司 | Device and method for judging coal mining process of end part feed of coal mining machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107237632A (en) | Highly gassy mine fully-mechanized mining working memory cut Triangle Coal automated system and method | |
| CN101418688B (en) | Intelligent full automatic combine coal mining system | |
| CN107201901B (en) | Short distance high gas layer group's thin coal seam unmanned working face mining device and method | |
| CN103266914B (en) | Solid filling coal mining automation control system | |
| CN202300458U (en) | Non-master-slave type networking monitoring control system for hydraulic support | |
| CN101295430B (en) | Optical fiber communication system capable of monitoring multiple mining conveyor belts | |
| CN202694116U (en) | Intelligent digital unmanned working face complete equipment for fully mechanized mining | |
| CN201180544Y (en) | Intelligent full-automatic combined coal mining system | |
| CN201068798Y (en) | Down-hole coal mining equipment | |
| CN204453674U (en) | The many belt fortune coal flows of underground coal mine and belt speed comprehensive matching control system | |
| CN104832206B (en) | Linkage dust-removing method used in fully mechanized coal mining face regions of mine | |
| CN100577984C (en) | Down-hole coal excavation apparatus | |
| CN201198760Y (en) | Safe high-efficiency integrative matching equipment of large excavating high automatic fully mechanized working face | |
| CN105971603A (en) | Coal cutter visual wireless remote automatic control system based on IP framework | |
| CN106996303A (en) | Coal face hydraulic support monitoring and alarming system based on laser survey scale | |
| CN104196553A (en) | Hydraulic support remote control system based on EtherCAT | |
| CN109252849B (en) | Underground coal mine sand adding fracturing control system and control method thereof | |
| CN110362053A (en) | A kind of fully-mechanized mining working remote monitoring system | |
| CN112431591B (en) | Automatic control system for comprehensive mechanized coal mining of three-soft two-large inclined medium-thickness coal seam | |
| CN103775118B (en) | Reproduction system and method for hydraulic support working gestures based on holographic laser projection | |
| CN207004518U (en) | A kind of coal-winning machine with telecommunication device | |
| CN201837877U (en) | Automatic control device for positioning, spraying and dust falling on fully mechanized mining face | |
| CN113530539B (en) | Intelligent N00 mine gas simultaneous production method | |
| CN109838233A (en) | A kind of coal mine fully-mechanized mining device with wireless remote centralized control system | |
| CN201857996U (en) | Coal face advance rate monitoring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171010 |
|
| WD01 | Invention patent application deemed withdrawn after publication |