CN211900653U - Remote control type hydraulic support electrohydraulic control system - Google Patents
Remote control type hydraulic support electrohydraulic control system Download PDFInfo
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- CN211900653U CN211900653U CN202020449944.8U CN202020449944U CN211900653U CN 211900653 U CN211900653 U CN 211900653U CN 202020449944 U CN202020449944 U CN 202020449944U CN 211900653 U CN211900653 U CN 211900653U
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Abstract
The utility model discloses a remote control type hydraulic support electrohydraulic control system, which relates to the field of hydraulic support control and comprises a coal mining machine position transmitting device, a plurality of hydraulic supports and at least one support remote controller, wherein each hydraulic support comprises a support controller sealed on the hydraulic support and an independently arranged multifunctional emergency stop switch device, an emergency stop switch is arranged on the multifunctional emergency stop switch device, and the multifunctional emergency stop switch device is in wireless communication connection with the coal mining machine position transmitting device; the bracket remote controller is provided with a keyboard for man-machine interaction, and the bracket remote controller is in wireless communication connection with each multifunctional emergency stop switch device. Therefore, the utility model discloses a support controller avoids weing influence performance and life-span, assurance performance such as scram switch, keyboard to entire system's real-time, stability and reliability have been guaranteed.
Description
Technical Field
The utility model relates to a combine and adopt working face hydraulic support control technical field, especially relate to a remote control type hydraulic support electrohydraulic control system.
Background
The hydraulic support electrohydraulic control system for the fully mechanized mining face is a key technology for automatically controlling the fully mechanized mining face of a coal mine, and particularly relates to a hydraulic support electrohydraulic control system for the fully mechanized mining face, wherein the working face generally comprises 100 and 200 hydraulic supports, a support control unit is arranged on each hydraulic support, each support control unit comprises a support controller, a sensor and the like, the support controllers are mutually connected through cable connectors, and the existing support controllers are all provided with an operating keyboard, an emergency stop button, a display, an indicator lamp, a buzzer, a driver and the like.
In the production process of the working face, the coal cutter can generate a large amount of dust when cutting coal, the coal cutter and the hydraulic support can spray and fall dust ceaselessly when cutting coal, and a large amount of dust and water mist are deposited on an operation keyboard of the support controller to influence the operation of workers. In order to facilitate operation and carry out standardized operation, workers can use a high-pressure water gun to wash the support controller operating keyboard, therefore, the support controller keyboard used on the underground working face is often affected with damp, even the support controller has the problem of water inflow and the like, the support controller operating keyboard is often required to be replaced underground, even the whole support controller is replaced, the maintenance amount of the support controller on the working face is increased, and the reliability of the hydraulic support electrohydraulic control system cannot meet the normal production requirement of the working face.
Meanwhile, because each rack is provided with an operation keyboard, only one-time operation can be carried out by cutting a cut of coal, when the automatic operation of the machine following is carried out, the operation keyboard can not be used at all, the utilization rate of the operation keyboard is not high, and the use cost of the system is greatly increased.
In addition, the automatic control of the hydraulic support is mainly based on the position information of the coal mining machine, the position information of the coal mining machine is realized by installing an infrared transmitter on the coal mining machine, installing an infrared receiver on each hydraulic support, transmitting an infrared signal through the infrared transmitter, receiving the infrared signal by the infrared receiver on the hydraulic support, reporting the infrared signal to a signal converter at the end of a working face through a support controller, calculating on the signal converter to obtain the position of the coal mining machine, and then transmitting the position to the whole working face, and the electrohydraulic control system of the hydraulic support of the working face automatically controls the hydraulic support to act according to the position information of the coal mining machine and the coal mining process, so that the actions of the hydraulic support, such as automatic moving, automatic pushing and sliding. However, in the practical application process, due to the influence of dust on the working face, dust is often adhered to the infrared receiver, even the infrared receiver can enter water, so that the infrared receiver is unstable in work and even out of work, the position calculated by the signal converter is discontinuous, and jumping often occurs, so that the hydraulic support is unreliable in automatic function following the machine.
The factors directly influence the reliability and stability of the hydraulic support electrohydraulic control system, the maintenance cost of the hydraulic support electrohydraulic control system is increased, and the use effect of the hydraulic support electrohydraulic control system and the machine automation is directly influenced.
SUMMERY OF THE UTILITY MODEL
To the above-mentioned not enough, the utility model discloses the technical problem that will solve is: the utility model provides a mobilizable parts such as remote control type hydraulic support electrohydraulic control system, this system separates out operation keyboard and scram blocking switch on the support controller, avoids the support controller to wet, improves the reliability of support controller, and the coal-winning machine position is discerned and is adopted wireless communication range finding mode, has improved the stability and the reliability that the coal-winning machine position detected, and then has promoted the cost that has reduced entire system.
In order to solve the technical problem, the technical scheme of the utility model is that:
a remote control type hydraulic support electrohydraulic control system comprises a coal mining machine position transmitting device and a plurality of hydraulic supports, wherein each hydraulic support comprises a support controller and a multifunctional emergency stop switch device which are electrically connected, the support controller is sealed on the hydraulic support, and the multifunctional emergency stop switch devices are independently arranged; the multifunctional emergency stop switch device is provided with an emergency stop switch for emergency stop locking; the system also comprises at least one support remote controller, wherein a keyboard for human-computer interaction is arranged on the support remote controller, and the support remote controller is in wireless communication connection with each multifunctional emergency stop switch device; the bracket remote controller transmits data to the multifunctional emergency stop switch device which is in wireless connection with the bracket remote controller, the multifunctional emergency stop switch device transmits data to the corresponding bracket controller, and the bracket controller controls the hydraulic bracket in which the bracket remote controller is arranged or transmits data to the bracket controller of the hydraulic bracket selected by the bracket remote controller according to the data; the coal mining machine position transmitting device is in wireless communication connection with each multifunctional emergency stop switch device; the position transmitting device of the coal mining machine determines the multifunctional emergency stop switch device closest to the position transmitting device in a wireless distance measuring mode, establishes wireless communication connection with the multifunctional emergency stop switch device, uses a support code of the hydraulic support where the multifunctional emergency stop switch device is located as a position signal, transmits the position signal to the multifunctional emergency stop switch device through wireless communication, transmits the position signal to the corresponding support controller, and transmits the position signal to the support controllers of the hydraulic supports.
Preferably, each bracket controller is sealed in a full encapsulation mode.
Preferably, the multifunctional emergency stop switch device comprises a first wireless communication module and a first wired communication module; the multifunctional emergency stop switch device is in wireless communication with the bracket remote controller through the first wireless communication module to transmit data;
the multifunctional emergency stop switch device is electrically connected with the second wired communication module of the bracket controller through the first wired communication module to transmit data.
Preferably, the multifunctional emergency stop switch device is electrically connected with the bracket controller through a 4-core cable, and the 4-core cable comprises a power line, a power feeder line, a ground line and a first CAN bus; the first wired communication module and the second wired communication module are both CAN bus communication modules, and the first CAN bus is electrically connected with the first wired communication module and the second wired communication module.
Preferably, the bracket controllers of two adjacent hydraulic brackets are electrically connected through a 4-core cable, and the 4-core cable comprises a power line, a ground line, a second CAN bus and a one-way communication line; the one-way communication line is used for communicating and transmitting data between two adjacent hydraulic supports; the second CAN BUS is CAN _ BUS, and CAN _ BUS lines of all the support controllers are connected in a lap joint mode to achieve point-to-point data transmission.
Preferably, the support remote controller includes a second wireless communication module, and the second wireless communication module is configured to wirelessly communicate with the first wireless communication module to transmit data.
Preferably, the coal mining machine position transmitting device comprises a third wireless communication module and a distance calculating unit, wherein the third wireless communication module is used for carrying out wireless communication with the first wireless communication module to transmit data; the distance calculation unit measures a distance using a wireless ranging function.
Preferably, the wireless communication is UWB wireless communication or Zigbee wireless communication.
Preferably, the multifunctional emergency stop switch device comprises a power module, an emergency stop locking module and a display module, wherein the power module is electrically connected with the corresponding driving module of the bracket controller through a power feeder; the emergency stop locking module comprises the emergency stop switch, the emergency stop switch acts to enable the power feeder line to lose power to enable the driving module to power off the hydraulic support to stop acting, the multifunctional emergency stop switch device generates an emergency stop signal or a locking signal and transmits the emergency stop signal or the locking signal to the support controller through the first CAN bus, and the support controller performs emergency stop or locking, or the support controller transmits the emergency stop signal to the support controllers of the hydraulic supports through the second CAN bus; the display module is used for displaying each state of the system.
Preferably, the multifunctional emergency stop switch device further comprises an audible and visual alarm module, wherein the audible and visual alarm module comprises a multicolor indicator lamp and a buzzer, and the multicolor indicator lamp is annularly arranged around the emergency stop switch.
After the technical scheme is adopted, the beneficial effects of the utility model are that:
because the remote control type hydraulic support electrohydraulic control system of the utility model comprises a coal mining machine position transmitting device, a plurality of hydraulic supports and at least one support remote controller, each hydraulic support comprises a support controller sealed on the hydraulic support and an independently arranged multifunctional emergency stop switch device, wherein the multifunctional emergency stop switch device is provided with an emergency stop switch for emergency stop locking, and the multifunctional emergency stop switch device is in wireless communication connection with the coal mining machine position transmitting device; wherein, a keyboard for human-computer interaction is arranged on the support remote controller, and the support remote controller is connected with each multifunctional emergency stop switch device in a wireless communication way. According to the support controller arranged in a sealing manner, the performance and service life are prevented from being affected by dampness, and the keyboard, the emergency stop switch and other movable parts arranged on the support controller in the prior art are respectively arranged on the multifunctional emergency stop switch device or the support remote controller, so that the keyboard, the emergency stop switch and the like cannot be accumulated with dust and cannot be affected by dampness to affect the performance and the service life.
When the support is used, data input by the support remote controller through a keyboard are transmitted to the multifunctional emergency stop switch device through wireless communication, the multifunctional emergency stop switch device is transmitted to the support controller electrically connected with the multifunctional emergency stop switch device, and the support controller controls the hydraulic support according to the data or transmits the data to each hydraulic support on a working face to realize the control of the whole system. The emergency stop signal or the locking signal generated by the multifunctional emergency stop switch device can be transmitted to the support controller or all the support controllers on the working surface, so that the emergency stop or the locking control of the whole system is realized.
Because each support controller adopts the full encapsulation mode sealed, the support controller avoids receiving damp, depositing and influences performance, life-span.
The multifunctional emergency stop switch device is electrically connected with the bracket controller through a 4-core cable, and the 4-core cable comprises a power line, a power feeder line, a ground line and a first CAN bus; the first wired communication module and the second wired communication module are both CAN bus communication modules, the first CAN bus is electrically connected with the first wired communication module and the second wired communication module, and data are reliably transmitted by utilizing the CAN bus.
Because the bracket controllers of two adjacent hydraulic brackets are electrically connected through a 4-core cable, the 4-core cable comprises a power line, a ground line, a second CAN BUS and a one-way communication line, the one-way communication line is used for point-to-point communication between the two adjacent hydraulic brackets, the second CAN BUS is a CAN _ BUS, and the CAN _ BUS lines of all the bracket controllers are lapped together to realize point-to-point data transmission; the internal control of each hydraulic support is realized through the 4-core cable, and the stability and the reliability of the system are further improved.
Since the wireless communication is UWB wireless communication or Zigbee wireless communication, the control of the entire system is realized by using the wireless communication.
The multifunctional emergency stop switch device also comprises an audible and visual alarm module, wherein the audible and visual alarm module comprises a multicolor indicator lamp and a buzzer, and the multicolor indicator lamp is annularly arranged around the emergency stop switch; the sound and light of the multifunctional emergency stop switch device are utilized to send out the warning of the whole system.
To sum up, compared with the prior art, the remote control type hydraulic support electrohydraulic control system of the utility model solves the technical problem that the support controller in the prior art is affected with damp, thereby affecting the stability and reliability of the whole system; the system reduces the number of keyboards and reduces the investment cost by removing the keyboard on the support controller and replacing the keyboard on the support remote controller, and the support remote controller held by an operator improves the use environment, improves the reliability and the service life of the keyboard, is convenient for observing the local operation of the support action, and improves the convenience of the operation of the support electrohydraulic control system; meanwhile, the multifunctional emergency stop switch device which is independently arranged can be installed at a proper position according to requirements, so that the applicability of the system is improved, and the safety performance of a working face is improved; the position of the coal mining machine is positioned in a wireless communication mode, so that the adaptability of the coal mining machine position detection system to severe production environments is improved, the problems of long-distance transmission time and transmission reliability of position information are solved, and the position reporting efficiency and the response time of the coal mining machine are improved.
Drawings
Fig. 1 is a schematic block diagram of a remote control type hydraulic support electrohydraulic control system of the present invention;
FIG. 2 is a schematic view of a multi-functional scram switch device of the present invention;
FIG. 3 is another perspective view of the multi-functional emergency stop switch device of the present invention;
FIG. 4 is a schematic diagram of UWB wireless ranging;
FIG. 5 is a schematic diagram of ZigBee wireless ranging;
in the figure: the system comprises a support controller, a 2-multifunctional emergency stop switch device, a 20-emergency stop switch, a 200-mushroom head button, a 21-red LED lamp, a 23-CAN bus communication module, a 24-first wireless communication module, a 25-display screen, a 26-buzzer, a 3-support remote controller, a 4-coal mining machine position transmitting device, a 5-coupler, a 6-power box and a 7-4-core connector.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The first embodiment is as follows:
as shown in fig. 1 to 4, the remote control type hydraulic support electrohydraulic control system comprises a plurality of hydraulic supports, a coal mining machine position transmitting device 4, a coupler 5 and a power box 6, wherein each hydraulic support comprises a support controller 1 and a multifunctional emergency stop switch device 2 which are electrically connected, the support controller 1 is sealed on the hydraulic support, and the multifunctional emergency stop switch device 2 is independently arranged.
Wherein the power box 6 supplies power for the bracket controller 1, the multifunctional emergency stop switch device 2 and the coupler 5; the coupler 5 serves to isolate different power packs and enables communication between the cradle controllers 1.
Wherein the multifunctional emergency stop switch device is provided with an emergency stop switch 20 for emergency stop locking.
The system further comprises at least one support remote controller 3, a keyboard for human-computer interaction is arranged on the support remote controller 3, the support remote controller 3 is in wireless communication connection with each multifunctional emergency stop switch device, the support remote controller 3 transmits data to the multifunctional emergency stop switch device 2 which is in wireless connection with the support remote controller, the multifunctional emergency stop switch device 2 transmits the data to the corresponding support controller 1, and the support controller 1 controls the hydraulic support where the support controller is located or transmits the data to the support controller 1 of the hydraulic support selected by the support remote controller 3.
The coal mining machine position transmitting device 4 is in wireless communication connection with the multifunctional emergency stop switch devices 2; the position transmitting device 4 of the coal mining machine determines the multifunctional emergency stop switch device 2 closest to the position of the coal mining machine in a wireless distance measuring mode, establishes wireless communication connection with the multifunctional emergency stop switch device 2, uses a support code of a hydraulic support where the multifunctional emergency stop switch device 2 is located as a position signal, transmits the position signal to the multifunctional emergency stop switch device 2 through wireless communication, transmits the multifunctional emergency stop switch device 2 to the corresponding support controller 1, and transmits the support controller 1 to the support controllers 1 of all the hydraulic supports.
As shown in fig. 1, the utility model discloses a when remote control type hydraulic support electrohydraulic control system used, support remote controller 3 and certain multi-functional scram switching device 2 set up wireless communication and connect, and support remote controller 3 utilizes the wireless range finding function to confirm rather than the nearest multi-functional scram switching device 2 of distance in this example to it sets up wireless communication and connects. Similarly, the coal mining machine position transmitting device 4 establishes a wireless communication connection with one of the multifunctional emergency stop switch devices 2, in this example, the multifunctional emergency stop switch device 2 closest thereto. Then, an operator operates a keyboard on the support remote controller 3, inputs control data or parameters, function setting and other data of the hydraulic support on the working surface, and the data are transmitted to the corresponding support controller 1 to realize the control of the hydraulic support. And after the distance position signal is determined by the coal mining machine position transmitting device 4, the position signal is transmitted to the support controller 1 of each hydraulic support on the working face, so that coal mining control is realized. When the emergency stop control device is used, the emergency stop signal and the locking signal generated by the multifunctional emergency stop switch device 2 are transmitted to the hydraulic support on the working surface, and then locking and emergency stop control are achieved. It can be seen that the control of all hydraulic support on the working face can be accomplished to utilize this system, again because of utility model well used support remote controller 3 and multi-functional scram switching device 2, can not take place the condition of weing to make entire system's data transmission more real-time, stable and reliable, and then make all hydraulic support control on the working face more stable and reliable.
The support remote controller 3 comprises a battery for supplying power, a keyboard and a second wireless communication module, the keyboard is used for man-machine interaction, the second wireless communication module is used for carrying out wireless communication data transmission with the first wireless communication module 24 (of the multifunctional emergency stop switch device), a control unit can be arranged inside the support controller 1 and is respectively electrically connected with the battery, the keyboard and the second wireless communication module, the control unit is used for recognizing the pressing action of the keyboard, and the control unit is internally provided with a wireless ranging function and is used for controlling the second wireless communication module to establish wireless communication connection with the first wireless communication module 24 to transmit data. The control unit is but not limited to a single chip microcomputer, and since the electrical connection between the single chip microcomputer and the second wireless communication module and between the single chip microcomputer and the keyboard are all the prior art, the detailed description is omitted here.
In this example, each rack remote controller 3 is provided with a fixed ID number, and the rack remote controller 3 is identified by the ID number. The bracket remote controller 3 automatically scans and identifies the multifunctional emergency stop switch device 2 of the hydraulic bracket closest to the bracket remote controller through a wireless distance measuring function, and automatically establishes wireless communication connection with the bracket remote controller to transmit data.
As shown in fig. 2 and 3, the multifunctional emergency stop switch device 2 includes a first wireless communication module 24 and a first wired communication module; the multifunctional emergency stop switch device 2 is in wireless communication with the support remote controller 3 through the first wireless communication module 24 to transmit data, and is electrically connected with the second wired communication module of the support controller through the first wired communication module to transmit data.
As shown in fig. 2, the multifunctional emergency stop switch device 2 is electrically connected with the bracket controller of the hydraulic bracket through a 4-core cable, the bracket controller 1 and the multifunctional emergency stop switch device 2 are both provided with a 4-core connector 7, and the 4-core cable comprises a power line, a power feeder line, a ground line and a first CAN bus; the first wired communication module and the second wired communication module are both CAN bus communication modules 23, and the first CAN bus is electrically connected with the first wired communication module and the second wired communication module.
The multifunctional emergency stop switch device 2 comprises a power supply module, an emergency stop locking module and a display module, wherein the power supply module is electrically connected with a driving module of a bracket controller through a power supply feeder; the scram locking module comprises a scram switch 20, the scram switch 20 acts to enable a power feeder line to lose power to enable a driving module of the support controller to be powered off, so that the hydraulic support stops acting to achieve the purpose of scram, meanwhile, the multifunctional scram switch device 2 generates a scram signal, the scram signal is transmitted to the support controller of the hydraulic support through the first CAN bus, the support controller scrams, and the scram signal is transmitted to each hydraulic support of the working face through the second CAN bus, so that all the hydraulic supports stop acting to enter a scram state. When the emergency stop switch 20 is actuated to enter a locking state, the multifunctional emergency stop switch device 2 generates a locking signal, the locking signal is transmitted to the bracket controller of the hydraulic bracket through the first CAN bus, and the hydraulic bracket enters the locking state.
As shown in fig. 2 and 3, the emergency stop switch 20 in this embodiment is a red mushroom head button 200, and the mushroom head button 200 is a switch with a self-locking function, and is emergency stop when the switch is directly pressed, and is locked when the switch is rotated by 90 °. When the switch is locked and controlled when the switch rotates to 90 degrees, the power feeder line 12V is powered off, the support controller driving circuit module is powered off, the action of the hydraulic support is stopped, and meanwhile, the multifunctional emergency stop switch device 2 CAN also send a locking signal to the support controller through the first CAN bus, so that the support controller 1 of the hydraulic support is in a locking state.
As shown in fig. 2, the display module of the multifunctional emergency stop switch device 2 is used for displaying various states of the system, the display module comprises a display screen 25, and after the multifunctional emergency stop switch device 2 establishes wireless communication connection with the support remote controller 3, the display screen 25 can be used for displaying the serial number of the hydraulic support, displaying data input by the support controller through a keyboard, displaying control parameters of the hydraulic support, displaying sensor data, displaying emergency stop or locking state and the like; namely, the display screen 25 of the multifunctional emergency stop switch device 2 is used as the display screen of the whole system, so that the support remote controller 3 is not required to be provided with the display screen, and the structure is optimized and reasonably utilized. The multifunctional emergency stop switch device 2 may be provided therein with a control unit, which is but not limited to a single chip microcomputer, the single chip microcomputer is electrically connected with each module respectively to control each module to work, and the single chip microcomputer controls each module to work as the prior art, which is not described in detail herein.
As shown in fig. 2 and 3, the multifunctional emergency stop switch device 2 further comprises an audible and visual alarm module, the audible and visual alarm module comprises a multicolor indicator light and a buzzer 26, the multicolor indicator light comprises a red LED light 21 and a yellow LED light which are annularly arranged around the emergency stop switch 20, the red LED light 21 is turned on after the emergency stop switch 20 is actuated, in this example, a circle of red indicator lights 10 and a circle of yellow LED lights around the emergency stop switch 20 are turned on when the emergency stop switch 20 is actuated to enter an emergency stop state. The multifunctional emergency stop switch device 2 can also cut off a power supply feed line between the emergency stop switch 20 and the bracket controller through a relay, and after the multifunctional emergency stop switch device enters a locking state, a yellow indicator lamp is lightened at the moment.
In the embodiment, all the bracket controllers are sealed in a full encapsulation mode, and movable parts on all the hydraulic brackets can be arranged on the bracket remote controller 3; thereby improving the reliability of the hydraulic support electrohydraulic control system.
As shown in fig. 1, the bracket controllers 1 of two adjacent hydraulic brackets are electrically connected through a 4-core cable, the 4-core cable comprises a power line, a ground line, a second CAN BUS and a one-way communication line, the one-way communication line is used for point-to-point communication between the two adjacent hydraulic brackets, the second CAN BUS is a CAN _ BUS, the CAN _ BUS lines of all the bracket controllers 1 are connected together in a lap joint mode to realize point-to-point data transmission, and the structure is in wired connection.
When the support remote controller 3 is in wireless communication connection with the near multifunctional emergency stop switch device 2 and the support remote controller 3 is operated to control the hydraulic support, the controlled hydraulic support, such as a left adjacent hydraulic support or a right adjacent hydraulic support, is selected first, then the support remote controller 3 transmits control data to the multifunctional emergency stop switch device 2 connected with the support remote controller, the multifunctional emergency stop switch device 2 transmits the control data to the support controller 1 of the hydraulic support where the support controller is located, and after the support controller 1 analyzes the control data, the control data is transmitted to the support controller of the selected hydraulic support through a unidirectional communication line leading to the adjacent support, wherein the unidirectional communication line is a LIN bus (serial communication bus). When the controlled hydraulic support is selected, the hydraulic support enters a controlled state, the support controller 1 of the hydraulic support transmits control data to the multifunctional emergency stop switch device 2 of the hydraulic support, the display screen 25 of the multifunctional emergency stop switch device 2 displays states, early warning prompts and the like, meanwhile, the multifunctional emergency stop switch device 2 controls the red indicator light 21 to flash for warning, and the buzzer 26 buzzes.
LIN bus communication is a low-cost serial communication technology, is generally used in the automobile industry, is mature, is applied to control between adjacent brackets of a bracket, and has a simple and reliable control circuit.
As shown in fig. 1, the shearer position transmitter 4 includes a power supply for supplying power, a third wireless communication module for performing wireless communication with the first wireless communication module 24 to transmit data, and a distance calculation unit; the distance calculation unit is used for measuring distance by using a wireless ranging function.
The following are specifically mentioned: in this embodiment, UWB wireless communication is adopted, and the first wireless communication module, the second wireless communication module, and the third wireless communication module are all UWB wireless communication modules.
UWB is a wireless carrier communication technology, and uses nanosecond non-sine wave narrow pulse to transmit data, the working frequency range is 3.1-10.6 GHZ, the typical value of the frequency width is 500MHZ or 1GHZ, so that the sub-nanometer precise time can be obtained. Compared with the traditional narrow-band system, the UWB system has the advantages of strong penetrating power, low power consumption, good multipath resistance effect, high safety, low system complexity, capability of providing accurate positioning precision and the like. Therefore, the ultra-wideband technology can be applied to positioning, tracking and navigation of indoor stationary or moving objects and people, and can provide very accurate positioning precision. The positioning precision of the system is up to three-dimensional 15 cm. And the width of the general hydraulic support is 150cm-240cm, so that the wireless distance measurement precision can meet the positioning requirement of a coal mining machine on a working face.
The UWB wireless ranging principle, as shown in fig. 4, the TOF ranging method belongs to a two-way ranging technique, which mainly uses the time of flight of a signal between two asynchronous transceivers to measure the distance between nodes. Because the ranging method based on TOF is linear with distance under the condition of sight line of sight, the result is more accurate. The time interval between the data packet sent by the sending end and the received response is denoted as Ttot, and the time interval between the data packet received by the receiving end and the response sent by the receiving end is denoted as Ttat, so that the time Ttof the data packet flying in one direction in the air can be calculated as:
Ttof＝(Ttot-Ttat)/2
the distance between two points can be calculated according to Ttoff and the propagation speed of the electromagnetic wave, wherein C is the speed of light:
D＝CXTtof。
as shown in fig. 1 to 4, the remote control type support electrohydraulic control system of the present embodiment includes a support controller 1, a multifunctional emergency stop switch device 2, a support remote controller 3, a shearer position transmitter 4, a coupler 5 and a power supply box 6. Each support controller 1 and the multifunctional emergency stop switch device 2 are connected through a CAN bus, the multifunctional emergency stop switch device 2 and the support remote controller 3 are in data communication through a wireless UWB, the support controllers 1 are connected with each other through 4-core connectors, the support controllers 1 and the multifunctional emergency stop switch devices 2 are connected through 4-core connectors 15, a wired and wireless communication network system of the whole hydraulic support electrohydraulic control system is formed, the wired communication adopts a single-wire CAN bus and a serial bus, the wireless communication adopts a single-wire CAN bus and a serial bus, the wired communication is responsible for completing the realization of internal functions of the support electrohydraulic control system, and the wireless communication is responsible for completing the realization of external functions such as external interaction, UWB position information acquisition and the like.
In the working face there are a plurality of hydraulic supports for supporting the spatial field of the coal face, and a support controller 1 is mounted on the hydraulic supports in the working face for controlling the actions of the hydraulic supports. Each support controller 1 is provided with 4 CAN buses, wherein 1 CAN bus is used for interaction between the support controller and external information, and the CAN bus is connected with the multifunctional emergency stop switch device 2 and used for receiving a keyboard command sent by a remote controller and coal mining machine position information sent by the coal mining machine position transmitting device 4. The other 2 serial buses are used for data communication with the left and right adjacent stent controllers by using a LIN bus, and the two buses are mainly used for transmitting stent action control commands. The last 1 CAN BUS is also called CAN _ BUS, and the CAN BUS of the full working face support controller is hung on the line, so that remote point-to-point data communication in the full working face range CAN be realized, information CAN be issued in a broadcast mode, for example, the position information of the coal mining machine is reported in the mode, and the BUS is mainly used for reporting the working face data. The bracket controller has 26 functions, namely, the bracket controller can simultaneously drive 26 paths of electromagnetic valves to control the reciprocating motion of 13 oil cylinders of the hydraulic bracket.
Compared with the prior art, the embodiment has the following advantages:
the UWB wireless communication mode has the advantages of high anti-interference performance, high penetration performance and the like, and has higher reliability on the coal mine working face. The UWB ranging technology is used in the embodiment, automatic connection, data communication and support safety locking of the support remote controller are achieved, and operation convenience and adaptability of the hydraulic support electrohydraulic control system are improved. By using the UWB ranging technology, the automatic distinguishing and the on-site detection reporting of the position of the coal mining machine are realized, and the real-time performance, the stability and the reliability of the position detection system of the coal mining machine are improved.
The keyboard wearing parts and the movable emergency stop locking switch on the support controller are cut off at the point-to-point ratio, so that the support control construction period can adopt full encapsulation measures, and the reliability of the support controller is improved. After the keyboard is moved to the support remote controller from the support controller, the working face is operated by the support remote controller, the number of the keyboards is reduced to 4 from 150 on average, and the number of the operation keyboards is saved by 97%. The equipment investment cost of the working face is reduced.
Example two:
as shown in fig. 5, the present embodiment is substantially the same as the first embodiment, except that:
the wireless communication adopts a ZigBee wireless communication technology, namely the first wireless communication module, the second wireless communication module and the third wireless communication module are all ZigBee wireless communication modules, and wireless distance measurement is carried out by using ZigBee wireless communication.
Zigbee is a wireless communication technology with low speed, low power consumption, short distance (10-75m) and low time delay of 250kb/s in a 2.4GHz frequency band. Zigbee ranging principle as shown in fig. 5, the RSSI-based ranging technique measures the distance between nodes using the principle that radio signals regularly attenuate as the distance increases. The relationship between the received signal strength RSSI and the transmission distance d is as follows:
RSSI＝-(10×n×lgd+A)
d＝10^((abs(RSSI)-A)/(10*n))
in the formula, n represents a signal propagation constant, also called a propagation coefficient; d represents the distance from the sender; a represents the signal strength at 1m from the sender. The distance measurement precision is greatly influenced by the actual values of n and A. A is an empirical parameter that can be obtained by measuring the RSSI value at 1m from the sender. n is a parameter used to describe the decrease of the signal strength with increasing distance, and the magnitude of n depends on the specific environment. To get the optimal n value, all reference nodes can be placed first, and then try to find the n value best suited to this particular environment with different n _ index values.
The above description is a preferred embodiment of the present invention, and is not intended to limit the present invention, and any modification, improvement of the electro-hydraulic control system of the remote control type hydraulic support, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A remote control type hydraulic support electrohydraulic control system comprises a coal mining machine position transmitting device and a plurality of hydraulic supports, and is characterized in that each hydraulic support comprises a support controller and a multifunctional emergency stop switch device which are electrically connected, the support controller is sealed on the hydraulic support, and the multifunctional emergency stop switch device is independently arranged;
the multifunctional emergency stop switch device is provided with an emergency stop switch for emergency stop locking;
the system also comprises at least one support remote controller, wherein a keyboard for human-computer interaction is arranged on the support remote controller, and the support remote controller is in wireless communication connection with each multifunctional emergency stop switch device;
the bracket remote controller transmits data to the multifunctional emergency stop switch device which is in wireless connection with the bracket remote controller, the multifunctional emergency stop switch device transmits data to the corresponding bracket controller, and the bracket controller controls the hydraulic bracket in which the bracket remote controller is arranged or transmits data to the bracket controller of the hydraulic bracket selected by the bracket remote controller according to the data;
the coal mining machine position transmitting device is in wireless communication connection with each multifunctional emergency stop switch device; the position transmitting device of the coal mining machine determines the multifunctional emergency stop switch device closest to the position transmitting device in a wireless distance measuring mode, establishes wireless communication connection with the multifunctional emergency stop switch device, uses a support code of the hydraulic support where the multifunctional emergency stop switch device is located as a position signal, transmits the position signal to the multifunctional emergency stop switch device through wireless communication, transmits the position signal to the corresponding support controller, and transmits the position signal to the support controllers of the hydraulic supports.
2. The remote control type hydraulic support electrohydraulic control system of claim 1, wherein each of said support controllers is sealed in a full potting manner.
3. The remote control type hydraulic support electrohydraulic control system of claim 1, wherein said multifunctional emergency stop switch device includes a first wireless communication module and a first wired communication module;
the multifunctional emergency stop switch device is in wireless communication with the bracket remote controller through the first wireless communication module to transmit data;
the multifunctional emergency stop switch device is electrically connected with the second wired communication module of the bracket controller through the first wired communication module to transmit data.
4. The remote control type hydraulic support electrohydraulic control system of claim 3, wherein said multifunctional emergency stop switch device is electrically connected to said support controller by a 4-core cable, said 4-core cable including a power line, a power feeder, a ground line and a first CAN bus;
the first wired communication module and the second wired communication module are both CAN bus communication modules, and the first CAN bus is electrically connected with the first wired communication module and the second wired communication module.
5. The remote control type hydraulic support electrohydraulic control system of claim 4, wherein said support controllers of adjacent two of said hydraulic supports are electrically connected by a 4-core cable, said 4-core cable including a power line, a ground line, a second CAN bus and a one-way communication line;
the one-way communication line is used for communicating and transmitting data between two adjacent hydraulic supports;
the second CAN BUS is CAN _ BUS, and CAN _ BUS lines of all the support controllers are connected in a lap joint mode to achieve point-to-point data transmission.
6. The remote control type hydraulic support electrohydraulic control system of claim 3, wherein said support remote controller includes a second wireless communication module for wireless communication with said first wireless communication module for data transmission.
7. The remote control type hydraulic support electrohydraulic control system according to claim 3, wherein said shearer position transmitter includes a third wireless communication module and a distance calculation unit,
the third wireless communication module is used for carrying out wireless communication with the first wireless communication module to transmit data;
the distance calculation unit measures a distance using a wireless ranging function.
8. The remote control type hydraulic support electrohydraulic control system of claim 3, 6 or 7, wherein the wireless communication is UWB wireless communication or Zigbee wireless communication.
9. The remote control type hydraulic support electrohydraulic control system of claim 5, wherein said multifunctional scram switch means includes a power module, a scram lockout module and a display module,
the power supply module is electrically connected with the corresponding driving module of the bracket controller through a power supply feeder;
the emergency stop locking module comprises the emergency stop switch, the emergency stop switch acts to enable the power feeder line to lose power to enable the driving module to power off the hydraulic support to stop acting, the multifunctional emergency stop switch device generates an emergency stop signal or a locking signal and transmits the emergency stop signal or the locking signal to the support controller through the first CAN bus, and the support controller performs emergency stop or locking, or the support controller transmits the emergency stop signal to the support controllers of the hydraulic supports through the second CAN bus;
the display module is used for displaying each state of the system.
10. The remote control type hydraulic support electrohydraulic control system of claim 9, wherein said multifunctional emergency stop switch device further comprises an audible and visual alarm module, said audible and visual alarm module comprises a multi-color indicator light and a buzzer, said multi-color indicator light comprises a ring around said emergency stop switch.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020449944.8U CN211900653U (en) | 2020-03-31 | 2020-03-31 | Remote control type hydraulic support electrohydraulic control system |
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| CN202020449944.8U CN211900653U (en) | 2020-03-31 | 2020-03-31 | Remote control type hydraulic support electrohydraulic control system |
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| CN211900653U true CN211900653U (en) | 2020-11-10 |
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