WO2021072997A1

WO2021072997A1 - Intelligent mining platform for lifting, installation, and dismantling, control system and method

Info

Publication number: WO2021072997A1
Application number: PCT/CN2020/070565
Authority: WO
Inventors: 程刚; 张世泰; 孟雨彤; 王志宏; 赵国琪; 程新明; 李美四; 胡志勇; 顾伟; 崔振国
Original assignee: 山东中衡光电科技有限公司; 中国矿业大学
Priority date: 2019-10-16
Filing date: 2020-01-07
Publication date: 2021-04-22
Also published as: CN110759244A; CN110759244B

Abstract

An intelligent mining platform for lifting, installation and dismantling, a control system thereof and a method. The intelligent platform comprises moving longitudinal beams (1), lifting units (2), fixed longitudinal beams (3), fixed transverse beams (5), vertical support columns (4), moving motors (7), an installation and dismantling platform (8), a base drive unit, etc. The control system comprises an industrial computer, a hydraulic special servo controller, a programmable logic controller, a servo control valve, a servo hydraulic cylinder I (8-3), a servo hydraulic cylinder II (1-4), an attitude gyroscope (8-5), a bearing pressure sensor (8-9), a position sensor, a hydraulic loading force sensor (8-6), a motor driver, a lifting motor (2-1), moving motors (7), an encoder, a proximity switch (1-1), a data acquisition module, an interactive control module, etc. In the integrated platform that integrates lifting, installation, and dismantling, closed-loop feedback control is used for motion control, so that coal mining machinery such as hydraulic supports can be quickly and accurately installed and dismantled, thereby improving work efficiency as well as the level of mechanization, automation, and intelligence.

Description

矿用起吊、安装、拆卸的智能化平台及控制***与方法Intelligent platform and control system and method for mining lifting, installation and disassembly

技术领域Technical field

本发明属于矿用设备技术领域，涉及一种煤矿井下工作面机械设备安装和拆除工作的起吊设备，具体涉及一种矿用起吊、安装、拆卸的智能化平台及控制***与方法。The invention belongs to the technical field of mining equipment, relates to a hoisting equipment for the installation and dismantling of mechanical equipment of a coal mine underground working face, in particular to an intelligent platform and a control system and method for mining hoisting, installation and dismantling.

背景技术Background technique

随着现代制造业的不断发展，大功率、大采高的设备已经在综采工作面上得到了广泛的应用。由于矿用机械设备都是循环利用的，加上矿井大功率机械设备的应用，导致采场接替频繁，煤矿机械设备的安装和拆卸已经成为制约煤炭开采效率的薄弱环节，因此，必须要提高煤矿机械设备整体的安装拆除效率。With the continuous development of modern manufacturing, equipment with high power and high mining height has been widely used in fully mechanized mining face. Because mining machinery and equipment are recycled, coupled with the application of high-power machinery and equipment in the mine, the stope is frequently replaced. The installation and disassembly of coal mine machinery and equipment has become a weak link that restricts the efficiency of coal mining. Therefore, the coal mine must be improved. The overall installation and removal efficiency of mechanical equipment.

由于液压支架、采煤机等矿用设备的体积大，重量大，而巷道空间小，因此，往往是把这些设备先拆分成几个部件后运到井下，把部件运送到组装室，进行整体组装，再把组装后的整体设备运输到安装位置。这个过程中就需要利用矿用起吊设备对液压支架、采煤机等设备部件进行吊装。由于目前矿用起吊设备的灵活度不高，在矿用机械设备进行起吊、安装、拆卸过程中，不能满足快速、准确地对设备进行姿态调节、吊装定位以及对部件位置和角度的精确要求、智能化程度低，降低了工作效率。Due to the large volume and weight of mining equipment such as hydraulic supports and coal mining machines, and the small roadway space, these equipments are often divided into several parts and then transported to the underground, and the parts are transported to the assembly room. Assemble as a whole, and then transport the assembled whole equipment to the installation location. In this process, it is necessary to use mining lifting equipment to hoist hydraulic supports, shearers and other equipment components. Due to the low flexibility of the current mining machinery and equipment, in the process of lifting, installation and disassembly of mining machinery and equipment, it cannot meet the requirements for rapid and accurate posture adjustment, hoisting and positioning of the equipment, as well as the precise requirements for the position and angle of the components. The low degree of intelligence reduces work efficiency.

发明内容Summary of the invention

本发明的目的是提供一种矿用起吊、安装、拆卸的智能化平台及控制***与方法。The purpose of the present invention is to provide an intelligent platform and control system and method for mining lifting, installation and disassembly.

为实现上述目的，本发明采用的技术方案如下：一种矿用起吊、安装、拆卸的智能化平台，包括底座驱动单元，所述底座驱动单元包括两个X向平行布置的底座箱体，所述底座箱体由行走电机提供动力；两个所述底座箱体上对称安装有若干个支撑立柱，所述支撑立柱的上端X向平行安装两个固定横梁，所述固定横梁上的左右两端Y向对称平行布置两个固定纵梁，所述底座箱体、支撑立柱、固定横梁、固定纵梁构成了整体支撑框架；In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows: an intelligent platform for mining lifting, installation, and disassembly, including a base drive unit, the base drive unit includes two base boxes arranged in parallel in the X direction, so The base box is powered by a walking motor; a number of support columns are symmetrically installed on the two base boxes, two fixed beams are installed in parallel on the upper ends of the support columns, and the left and right ends of the fixed beams Two fixed longitudinal beams are arranged symmetrically in the Y direction, and the base box, supporting columns, fixed cross beams, and fixed longitudinal beams constitute an overall supporting frame;

在两个固定纵梁之间的固定横梁上还设置有X向移动纵梁，所述X向移动纵梁1包括对称布置的两个移动纵梁，两个移动纵梁之间设有连杆机构，每个移动纵梁的两端分别设有移动电机，每个移动纵梁上方设置两个移动滑板，每个移动滑板由一个伺服液压缸II驱动，伺服液压缸II的末端通过连接耳板固定于移动纵梁上，伺服液压缸II的活塞端与移动滑板连接，伺服液压缸II末端安装位移传感器II，每个移动滑板下方安装四个滚子，在伺服液压缸II的带动下，在X向移动纵梁上沿着Y方向或相向或相对移动，每个移动滑板下方安装一起吊单元；An X-direction movable longitudinal beam is also provided on the fixed crossbeam between the two fixed longitudinal beams. The X-direction movable longitudinal beam 1 includes two symmetrically arranged movable longitudinal beams, and a connecting rod is arranged between the two movable longitudinal beams. Mechanism, each moving longitudinal beam is provided with a moving motor at both ends, two moving sliding plates are arranged above each moving longitudinal beam, each moving sliding plate is driven by a servo hydraulic cylinder II, and the end of the servo hydraulic cylinder II is connected through the lug plate Fixed on the moving longitudinal beam, the piston end of the servo hydraulic cylinder II is connected with the moving slide plate, and the displacement sensor II is installed at the end of the servo hydraulic cylinder II. Four rollers are installed under each moving slide plate. Driven by the servo hydraulic cylinder II, The X-direction moving longitudinal beams move toward or relative to each other along the Y-direction, and a hoisting unit is installed under each moving skateboard;

在整个装置的后端的两个平行底座箱体之间设置有安拆平台，所述安拆平台包括支撑动平台、约束支撑立柱、底板、底部支撑板；底部支撑板整体安装在平行的两个底部箱体之间，所述底板位于底部支撑板上方，底板下表面上设置有底部支撑加强板，底板与底部支撑板之间还设置有垂直于底部支撑加强板的底部支撑梁，底板的四角分别设置有一条驱动支链，所述驱动支链由伺服液压缸I和两个万向节铰链组成，伺服液压缸I的两端分别通过一万向节铰链与支撑动平台、底板相连，所述约束支撑立柱位于安拆平台中心位置，约束支撑立柱下端与底板固定连接，约束支撑立柱上端通过万向节铰链与支撑动平台相连；支撑动平台上开有等间距平行的T型槽和螺纹孔，支撑动平台的上表面四周设置有若干个压紧装置，所述压紧装置下部嵌入T型槽中并与支撑动平台螺栓连接，方便根据不同物体底座尺寸的大小，对压紧装置位置进行调整，伺服液压缸I上安装液压加载力传感器，末端安装位移传感器，对伺服液压缸的输出力与活塞位移实时监测，底板与底部支撑板之间安装有承重压力传感器，实时监测安拆平台上物体的重力，支撑动平台上安装姿态陀螺仪，实时监测支撑动平台的位姿参数。An installation platform is provided between the two parallel base boxes at the rear end of the entire device. The installation platform includes a supporting movable platform, a restraining support column, a bottom plate, and a bottom supporting plate; the bottom supporting plate is integrally installed on two parallel bases. Between the bottom boxes, the bottom plate is located above the bottom support plate, a bottom support reinforcement plate is provided on the lower surface of the bottom plate, and a bottom support beam perpendicular to the bottom support reinforcement plate is also provided between the bottom plate and the bottom support plate. The four corners of the bottom plate A drive branch is respectively provided, and the drive branch is composed of a servo hydraulic cylinder I and two universal joint hinges. Both ends of the servo hydraulic cylinder I are respectively connected to the supporting movable platform and the bottom plate through a universal joint hinge. The constraint support column is located at the center of the installation and disassembly platform, the lower end of the constraint support column is fixedly connected with the bottom plate, and the upper end of the constraint support column is connected to the supporting movable platform through a universal joint hinge; the supporting movable platform is provided with parallel T-shaped grooves and threads at equal intervals There are several pressing devices around the upper surface of the supporting movable platform. The lower part of the pressing device is embedded in the T-shaped groove and bolted to the supporting movable platform. It is convenient to adjust the position of the pressing device according to the size of the base of different objects. For adjustment, a hydraulic loading force sensor is installed on the servo hydraulic cylinder I, and a displacement sensor is installed at the end to monitor the output force and piston displacement of the servo hydraulic cylinder in real time. A load-bearing pressure sensor is installed between the bottom plate and the bottom support plate to monitor the installation and disassembly platform in real time. The gravity of the upper object, the attitude gyroscope is installed on the supporting movable platform, and the attitude parameters of the supporting movable platform are monitored in real time.

进一步地，所述连杆机构包括直线导轨、直线轴承、连接环和连杆，所述直线导轨安装在两个移动纵梁的内侧，直线轴承在直线导轨上滑动，连杆呈X型布置，两个连杆的交叉部设有转动销轴，每个连杆的两端均通过转动销轴与连接环相连，连接环与直线轴承连接，由于连杆机构的存在，两个移动纵梁可以在固定横梁上沿一定行程或相对或相向移动，增加X向移动纵梁1的移动范围。Further, the connecting rod mechanism includes a linear guide rail, a linear bearing, a connecting ring and a connecting rod. The linear guide rail is installed on the inner side of two moving longitudinal beams, the linear bearing slides on the linear guide rail, and the connecting rods are arranged in an X-shape, The intersection of the two connecting rods is provided with a rotating pin. The two ends of each connecting rod are connected to the connecting ring through the rotating pin. The connecting ring is connected to the linear bearing. Due to the existence of the connecting rod mechanism, the two moving longitudinal beams can be The fixed beam moves along a certain stroke or relative or opposite to each other to increase the moving range of the X-direction moving longitudinal beam 1.

进一步地，所述压紧装置包括压紧螺柱，压紧螺柱的T型块***T型槽中，压紧螺柱的头部设置压紧螺母，压紧螺母下方设置压紧板，压紧板下方设置压紧块，压紧块左右两侧开有螺栓孔与支撑动平台上的螺栓孔等距对齐，***螺栓，强化压紧装置的强度。Further, the compression device includes a compression stud, the T-shaped block of the compression stud is inserted into the T-slot, the head of the compression stud is provided with a compression nut, and a compression plate is provided under the compression nut. A compression block is arranged under the compression plate, and bolt holes on the left and right sides of the compression block are aligned equidistantly with the bolt holes on the supporting movable platform, and bolts are inserted to strengthen the strength of the compression device.

进一步地，所述起吊单元包括起吊电机、链条盒、链条轮、起吊链和起吊钩，起吊电机安装在移动滑板下方，链条盒安装在起吊电机的前端，链条轮安装在链条盒内，起吊钩安装在起吊链的一端，起吊链的另一端与链条轮相连。Further, the hoisting unit includes a hoisting motor, a chain box, a chain wheel, a hoisting chain, and a hoisting hook. The hoisting motor is installed under the moving skateboard, the chain box is installed at the front end of the hoisting motor, the chain wheel is installed in the chain box, and the hoisting hook It is installed at one end of the hoisting chain, and the other end of the hoisting chain is connected with the sprocket wheel.

进一步地，所述起吊电机安装有编码器，该编码器实时记录起吊钩的位置，并形成闭环反馈控制；起吊电机编码器后方安装接近开关，防止X向移动纵梁与固定纵梁发生碰撞。Further, the hoisting motor is equipped with an encoder, which records the position of the hoisting hook in real time and forms a closed-loop feedback control; a proximity switch is installed behind the hoisting motor encoder to prevent the X-direction moving longitudinal beam from colliding with the fixed longitudinal beam.

进一步地，所述支撑立柱与固定纵梁之间设置有支撑杆。Further, a supporting rod is arranged between the supporting column and the fixed longitudinal beam.

进一步地，所述移动电机安装有编码器，该编码器实时记录移动纵梁的位移量，并形成闭环反馈控制，保证移动纵梁在X向上的精确定位。Further, the moving motor is equipped with an encoder, which records the displacement of the moving longitudinal beam in real time and forms a closed-loop feedback control to ensure the precise positioning of the moving longitudinal beam in the X direction.

本发明的机械装置分为两部分，前半部分存放零散部件，同时也是设备进行起吊和运输的场所，后部分设置安拆平台主要用于物体在安装和拆卸过程中，物体部件与底座之间的位置和姿态调整，为液压支架、采煤机等煤矿机械设备提供安装和拆除的场所，X向移动纵梁1能在两部分之间无死角移动，起到起吊、运输、安装、拆卸作用。The mechanical device of the present invention is divided into two parts. The first half stores scattered parts and is also a place for equipment to be lifted and transported. The rear part is provided with an installation and disassembly platform, which is mainly used for the installation and disassembly of objects between the object parts and the base. Position and posture adjustments provide places for installation and removal of coal mine machinery and equipment such as hydraulic supports, shearers, etc. The X-direction movable longitudinal beam 1 can move between the two parts without dead ends, and plays the role of lifting, transportation, installation and disassembly.

本发明还提供上述矿用起吊、安装、拆卸的智能化平台的控制***，包括工控机、液压专用伺服控制器、可编程逻辑控制器、伺服控制阀、伺服液压缸I、伺服液压缸II、姿态陀螺仪、承载压力传感器、位移传感器I、位移传感器II、液压加载力传感器、电机驱动器、起吊电机和移动电机、编码器、接近开关、数据采集模块、交互控制模块；所述的工控机分别与液压专用伺服控制器、可编程逻辑控制器通讯连接，工控机给液压专用伺服控制器、可编程逻辑控制器下达指令，同时液压专用伺服控制器、可编程逻辑控制器向工控机反馈执行机构的信息；所述的液压专用伺服控制器与伺服控制阀通讯连接，伺服控制阀分别与伺服液压缸I、伺服液压缸II通讯连接，伺服液压缸I、伺服液压缸II分别安装连接安拆平台与移动滑板，安拆平台上安装姿态陀螺仪、承载压力传感器，伺服液压缸I分别与位移传感器I、液压加载力传感器通讯连接，伺服液压缸II与位移传感器II通讯连接；所述的位移传感器I、位移传感器II分别与液压专用伺服控制器通讯连接，位移传感器将伺服液压缸的位移量反馈给液压专用伺服控制器，构成闭环反馈***；所述的液压加载力传感器、姿态陀螺仪、承载压力传感器分别与数据采集模块通讯连接，数据采集模块收集各个传感器的信号，发送给工控机，下位机采集到的反馈信号也传输给工控机；工控机对信号进行集中储存、计算、分析，并将计算结果形成指令传递给下位机，将主要的位置、姿态、压力信号传输给交互控制模块，供操作人员参考，操作人员也可以通过交互控制模块向工控机输入指令。The present invention also provides a control system for the above-mentioned intelligent platform for mining lifting, installation and disassembly, including an industrial computer, a special hydraulic servo controller, a programmable logic controller, a servo control valve, a servo hydraulic cylinder I, a servo hydraulic cylinder II, Attitude gyroscope, load-bearing pressure sensor, displacement sensor I, displacement sensor II, hydraulic loading force sensor, motor driver, hoisting motor and moving motor, encoder, proximity switch, data acquisition module, interactive control module; said industrial computer respectively It is connected to the hydraulic special servo controller and programmable logic controller. The industrial computer gives instructions to the hydraulic special servo controller and programmable logic controller. At the same time, the hydraulic special servo controller and programmable logic controller feedback the actuator to the industrial computer.的信息; The hydraulic dedicated servo controller is connected to the servo control valve, and the servo control valve is respectively connected to the servo hydraulic cylinder I and the servo hydraulic cylinder II. The servo hydraulic cylinder I and the servo hydraulic cylinder II are respectively installed and connected to the installation platform The attitude gyroscope and load-bearing pressure sensor are installed on the mobile skateboard and the installation and disassembly platform. The servo hydraulic cylinder I communicates with the displacement sensor I and the hydraulic loading force sensor respectively, and the servo hydraulic cylinder II communicates with the displacement sensor II; the displacement sensor I. Displacement sensor II is respectively connected to the hydraulic dedicated servo controller. The displacement sensor feeds back the displacement of the servo hydraulic cylinder to the hydraulic dedicated servo controller to form a closed-loop feedback system; the hydraulic loading force sensor, attitude gyroscope, load bearing The pressure sensors are respectively connected to the data acquisition module for communication. The data acquisition module collects the signals of each sensor and sends them to the industrial computer. The feedback signal collected by the lower computer is also transmitted to the industrial computer; the industrial computer performs centralized storage, calculation and analysis of the signals, and The calculation results form instructions are transmitted to the lower computer, and the main position, posture, and pressure signals are transmitted to the interactive control module for the operator's reference. The operator can also input instructions to the industrial computer through the interactive control module.

本发明还提供利用利用上述控制***进行煤矿机械设备起吊、安装、拆卸的方法，该方法包括以下步骤：The present invention also provides a method for hoisting, installing, and disassembling coal mine machinery and equipment by using the above-mentioned control system, and the method includes the following steps:

第一步，将煤矿综采设备的零散部件打运至平台前段，操作人员通过交互控制模块向工控机发送控制指令，驱动移动纵梁X向移动、移动滑板Y向移动，找到起吊位置，进而驱动起吊电机，将起吊钩下落至起吊点，将综采设备的安装底板勾起；The first step is to transport the scattered parts of the fully mechanized coal mining equipment to the front section of the platform. The operator sends control instructions to the industrial computer through the interactive control module to drive the moving longitudinal beam to move in the X direction and the mobile slide plate to move in the Y direction to find the lifting position, and then Drive the hoisting motor, drop the hoisting hook to the hoisting point, and hook up the installation bottom plate of the fully mechanized mining equipment;

第二步，操作人员通过交互控制模块，驱动移动纵梁X向移动、移动滑板Y向移动，将综采设备的安装底板运输至安拆平台，将综采设备的安装底板下落至支撑动平台，安拆平台的支撑动平台初始位置水平，操作人员手动调节压紧装置的位置，并压紧，将综采设备的安装底板固定在支撑动平台上；In the second step, the operator uses the interactive control module to drive the moving longitudinal beam to move in the X direction and the mobile slide plate to move in the Y direction, transport the installation bottom plate of the fully mechanized mining equipment to the installation and disassembly platform, and drop the installation bottom plate of the fully mechanized mining equipment to the supporting movable platform. , The initial position of the supporting movable platform of the installation and dismantling platform is horizontal, and the operator manually adjusts the position of the pressing device and presses it to fix the installation bottom plate of the fully mechanized mining equipment on the supporting movable platform;

第三步，操作人员通过交互控制模块，驱动移动纵梁X向移动、移动滑板Y向移动，继续起吊、运输综采设备其他部件至安拆平，将综采设备后续部件与综采设备的安装底板进行组装，整个过程中所有位移传感器、编码器实时记录执行元件的位置，发送给工控机，并通过交互控制模块实时向操作人员显示，各个执行模块的位置信息；In the third step, the operator drives the moving longitudinal beam to move in the X direction and the mobile slide plate to move in the Y direction through the interactive control module, continue to lift and transport other parts of the fully mechanized mining equipment to the leveling, and connect the follow-up components of the fully mechanized mining equipment to the fully mechanized mining equipment. Install the bottom plate for assembly. During the whole process, all displacement sensors and encoders record the position of the actuator in real time, send it to the industrial computer, and display the position information of each execution module to the operator in real time through the interactive control module;

第四步，操作人员将运输至安拆平台上方的综采设备后续部件与固定在安拆平台上的综采设备的安装底板进行吊装操作，该过程中操作人员通过交互控制模块向工控机输入指令，工控机通过液压专用伺服控制器驱动安拆平台上的四个伺服液压缸II联动，进而调整综采设备待安装部件与安装底板之间的位置和姿态，完成组装操作；整个过程中，支撑动平台上的姿态陀螺仪和伺服液压缸II上的位移传感器II实时监测支撑动平台的运动、姿态信息，发送给工控机和液压专用伺服控制器，形成闭环控制，若监测到不当操作或者奇异位置，工控机立即急停；安拆平台上的承重压力传感器实时监测安拆平台上的承重压力信息，伺服液压缸II上的液压加载力传感器实时监测伺服液压缸的油压，进而判断液压缸的输出力，数据采集模块收集承重压力传感器和液压加载力传感器收集到的信息，发送给工控机，工控机进行计算和判断，满足即使在没有工作人员、***急停不断电的情况下，保证伺服液压缸II油压能够支撑安拆平台上待安装物体的重量；In the fourth step, the operator lifts the follow-up parts of the fully mechanized mining equipment transported to the top of the installation and disassembly platform and the installation bottom plate of the fully mechanized mining equipment fixed on the installation and disassembly platform. During this process, the operator inputs to the industrial computer through the interactive control module According to instructions, the industrial computer drives the four servo hydraulic cylinders II on the installation and disassembly platform through the hydraulic special servo controller to adjust the position and posture between the components to be installed and the installation bottom plate of the fully mechanized mining equipment to complete the assembly operation; in the whole process, The attitude gyroscope on the supporting movable platform and the displacement sensor II on the servo hydraulic cylinder II monitor the movement and attitude information of the supporting movable platform in real time, and send it to the industrial computer and the special hydraulic servo controller to form a closed-loop control. If improper operation is detected or The industrial computer stops immediately at a singular position; the load-bearing pressure sensor on the mounting platform monitors the load-bearing pressure information on the mounting platform in real time, and the hydraulic loading force sensor on the servo hydraulic cylinder II monitors the hydraulic pressure of the servo hydraulic cylinder in real time to determine the hydraulic pressure The output force of the cylinder, the data acquisition module collects the information collected by the load-bearing pressure sensor and the hydraulic loading force sensor, and sends it to the industrial computer, which calculates and judges, so as to meet the requirements even when there is no staff and the system is powered off in an emergency. Ensure that the hydraulic pressure of the servo hydraulic cylinder II can support the weight of the object to be installed on the mounting platform;

步骤一至四的过程中，工控机实时记录操作人员手动安装的时间；During steps 1 to 4, the industrial computer records the time of manual installation by the operator in real time;

第五步，操作人员重复上述操作，直至完成综采设备的整体安装过程，工控机对整个安拆过程所有编码器、位移传感器、姿态陀螺仪、承重压力传感器、液压加载力传感器数据以及操作人员手动操作的时间进行存储，形成相应的记录文件；In the fifth step, the operator repeats the above operations until the overall installation process of the fully mechanized mining equipment is completed. The industrial computer monitors all the encoders, displacement sensors, attitude gyroscopes, load-bearing pressure sensors, hydraulic loading force sensor data and the operators during the entire installation and disassembly process. The time of manual operation is stored and the corresponding record file is formed;

对于煤矿井下的液压支架、采煤机等综采设备均有固定的型号，同一型号设备的整个安装、拆卸过程第一次通过操作人员手动控制，工控机存储文件以后，对于同一型号的设备可以直接进行自动控制，操作人员的辅助调节。There are fixed models for hydraulic supports, shearers and other comprehensive mining equipment in coal mines. The entire installation and disassembly process of the same model of equipment is manually controlled by the operator for the first time. After the industrial computer stores the files, the same model of equipment can be Direct automatic control and auxiliary adjustment of the operator.

与现有技术相比，本发明具有如下有益效果：Compared with the prior art, the present invention has the following beneficial effects:

1、本装置不仅能够对煤矿井下液压支架、采煤机等设备进行起吊，还提供了安装和拆除的工作台，是一种集起吊、安装、拆卸的一体化平台；1. This device can not only lift equipment such as underground coal mine hydraulic supports, shearers, etc., but also provides a workbench for installation and removal. It is an integrated platform that integrates lifting, installation and disassembly;

2、本装置安拆平台采用并联式结构，刚度大，承载能力强，灵活度高，能精确、快速地调节待安装物体底座的位置和姿态，同时配合起吊单元完成安装和拆卸工作，提高了工作效率和机械化、自动化水平；2. The installation and disassembly platform of this device adopts a parallel structure, which has large rigidity, strong carrying capacity and high flexibility. It can accurately and quickly adjust the position and posture of the base of the object to be installed. At the same time, it can cooperate with the lifting unit to complete the installation and disassembly work, which improves Work efficiency and mechanization and automation level;

3、本装置为起吊、安装和拆卸提供动力的运动控制均采用闭环反馈控制，起吊钩的定位精度以及液压支架等设备安装和拆卸的精度和效率，操作人员通过交互控制模块对装置发出命令，结合先进的工控机、液压专用伺服控制器、可编程逻辑控制器，形成了智能化煤矿井下机械设备安装和拆卸平台。3. The motion control that this device provides power for lifting, installation and disassembly all adopts closed-loop feedback control. The positioning accuracy of the lifting hook and the accuracy and efficiency of the installation and disassembly of equipment such as hydraulic supports. The operator issues commands to the device through the interactive control module. Combining advanced industrial control computers, hydraulic special servo controllers, and programmable logic controllers, an intelligent installation and disassembly platform for underground coal mine machinery is formed.

附图说明Description of the drawings

图1为本发明机械装置的整体结构图；Figure 1 is a diagram of the overall structure of the mechanical device of the present invention;

图2为本发明机械装置的俯视图；Figure 2 is a top view of the mechanical device of the present invention;

图3为本发明X向移动纵梁的整体结构图；Figure 3 is the overall structure diagram of the X-direction moving longitudinal beam of the present invention;

图4为本发明安拆平台的整体结构图；Figure 4 is a diagram of the overall structure of the installation and disassembly platform of the present invention;

图5为本发明安拆平台的侧视图；Figure 5 is a side view of the installation and disassembly platform of the present invention;

图6为本发明的智能化控制***图；Figure 6 is a diagram of the intelligent control system of the present invention;

图中：1、X向移动纵梁，1-1、接近开关，1-2、移动滑板，1-2-1、接近开关，1-3、连杆机构，1-3-1、直线导轨，1-3-2、直线轴承，1-3-3、连接环，1-3-4、连杆，1-4、伺服液压缸II，1-5、滚子轮，1-6、连接耳板，2、起吊单元，2-1、起吊电机，2-2、链条盒，2-3、起吊钩，3、固定纵梁，4、支撑立柱，5、固定横梁，6、支撑杆，7、移动电机，8、安拆平台，8-1、约束支撑立柱，8-2、万向节铰链，8-3、伺服液压缸I，8-4、压紧装置，8-4-1、压紧螺母，8-4-2、压板，8-4-3、压紧螺柱，8-4-4、压块，8-5、姿态陀螺仪，8-6、液压加载力传感器，8-7、底部支撑加强板，8-8、支撑动平台，8-9、承重压力传感器，8-10、底部支撑梁，8-11、底板，8-12、底部支撑板，9、行走电机，10、底座箱体。In the picture: 1. X-direction moving longitudinal beam, 1-1, proximity switch, 1-2, mobile sliding plate, 1-2-1, proximity switch, 1-3, linkage mechanism, 1-3-1, linear guide , 1-3-2, linear bearing, 1-3-3, connecting ring, 1-3-4, connecting rod, 1-4, servo hydraulic cylinder II, 1-5, roller wheel, 1-6, connection Ear plate, 2, lifting unit, 2-1, lifting motor, 2-2, chain box, 2-3, lifting hook, 3. fixed longitudinal beam, 4. supporting column, 5. fixed beam, 6, supporting rod, 7. Mobile motor, 8. Installation and disassembly platform, 8-1, restraint support column, 8-2, universal joint hinge, 8-3, servo hydraulic cylinder I, 8-4, compression device, 8-4-1 , Compression nut, 8-4-2, pressure plate, 8-4-3, compression stud, 8-4-4, pressure block, 8-5, attitude gyroscope, 8-6, hydraulic loading force sensor, 8-7, bottom support reinforcement plate, 8-8, support moving platform, 8-9, load-bearing pressure sensor, 8-10, bottom support beam, 8-11, bottom plate, 8-12, bottom support plate, 9, walking Motor, 10. Base box.

具体实施方式Detailed ways

下面结合附图和具体实施例对本发明作进一步详细说明。The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

如图1所示，一种用于煤矿机械设备起吊、安装、拆卸的智能化平台，包括底座驱动单元，所述底座驱动单元包括两个X向平行布置的底座箱体10，底座箱体10布置在井下两平行轨道上方，底座箱体10内部设有驱动***，底座箱体10底部设有行走轮，行走轮在井下平行轨道上行走，所述底座箱体10由行走电机9提供动力；两个所述底座箱体10上对称安装有若干个支撑立柱4，本实施例中共设置6根支撑立柱4，所述支撑立柱4的上端X向平行安装两个固定横梁5，所述固定横梁5上的左右两端Y向对称平行布置两个固定纵梁3，所述底座箱体10、支撑立柱4、固定横梁5、固定纵梁3构成了整体支撑框架；为了加强支撑强度，所述支撑立柱4与固定纵梁3之间设置有支撑杆6。As shown in Figure 1, an intelligent platform for hoisting, installation, and disassembly of coal mining machinery and equipment includes a base drive unit. The base drive unit includes two base boxes 10 arranged in parallel in the X direction. Arranged above two parallel rails in the well, the base box 10 is provided with a driving system inside, and the bottom of the base box 10 is provided with walking wheels, and the walking wheels run on the underground parallel rails, and the base box 10 is powered by a walking motor 9; A number of supporting uprights 4 are symmetrically installed on the two base boxes 10. In this embodiment, a total of six supporting uprights 4 are provided. The upper ends of the supporting uprights 4 are installed in parallel with two fixed beams 5 in the X direction. Two fixed longitudinal beams 3 are arranged symmetrically and parallel to the left and right ends of 5 in the Y direction. The base box body 10, the supporting column 4, the fixed cross beam 5, and the fixed longitudinal beam 3 constitute an integral support frame; in order to strengthen the support strength, the A supporting rod 6 is provided between the supporting column 4 and the fixed longitudinal beam 3.

如图2、图3所示，在两个固定纵梁3之间的固定横梁5上还设置有X向移动纵梁1，所述X向移动纵梁1包括对称布置的两个移动纵梁，两个移动纵梁之间设有连杆机构1-3，所述连杆机构1-3包括直线导轨1-3-1、直线轴承1-3-2、连接环1-3-3和连杆1-3-4，所述直线导轨1-3-1安装在两个移动纵梁的内侧，所述直线轴承1-3-2在直线导轨1-3-1上滑动，所述连杆1-3-4呈X型布置，两个连杆1-3-4的交叉部设有转动销轴，每个连杆1-3-4的两端均通过转动销轴与连接环1-3-3相连，连接环1-3-3与直线轴承1-3-2连接，由于连杆机构1-3的存在，两个移动纵梁可以在固定横梁5上沿一定行程或相对或相向移动，增加X向移动纵梁1的移动范围。As shown in Figures 2 and 3, an X-direction movable longitudinal beam 1 is also provided on the fixed crossbeam 5 between the two fixed longitudinal beams 3. The X-direction movable longitudinal beam 1 includes two symmetrically arranged mobile longitudinal beams. , A connecting rod mechanism 1-3 is provided between the two moving longitudinal beams, and the connecting rod mechanism 1-3 includes a linear guide 1-3-1, a linear bearing 1-3-2, a connecting ring 1-3-3 and The connecting rod 1-3-4, the linear guide 1-3-1 is installed on the inner side of the two moving longitudinal beams, the linear bearing 1-3-2 slides on the linear guide 1-3-1, and the connecting The rods 1-3-4 are arranged in an X-shape, and the intersection of the two connecting rods 1-3-4 is provided with a rotating pin shaft, and both ends of each connecting rod 1-3-4 pass the rotating pin shaft and the connecting ring 1 -3-3 is connected, the connecting ring 1-3-3 is connected with the linear bearing 1-3-2. Due to the existence of the linkage mechanism 1-3, the two moving longitudinal beams can move along a certain stroke or face each other on the fixed cross beam 5. Move towards each other to increase the range of movement of the longitudinal beam 1 in the X direction.

每个移动纵梁的两端分别设有移动电机7，所述移动电机7安装有编码器，实时记录移动纵梁1的位移量，保证移动纵梁在X向上的精确定位。The two ends of each moving longitudinal beam are respectively provided with a moving motor 7, and the moving motor 7 is equipped with an encoder to record the displacement of the moving longitudinal beam 1 in real time, so as to ensure the accurate positioning of the moving longitudinal beam in the X direction.

每个移动纵梁上方设置两个移动滑板1-2，每个移动滑板1-2由一个伺服液压缸II1-4驱动，伺服液压缸II1-4的末端通过连接耳板1-6固定于移动纵梁上，伺服液压缸II1-4的活塞端与移动滑板1-2连接，所述的伺服液压缸II1-4末端还安装有位移传感器II，实现对活塞伸出量的位置反馈。Two movable sliding plates 1-2 are arranged above each movable longitudinal beam. Each movable sliding plate 1-2 is driven by a servo hydraulic cylinder II1-4, and the end of the servo hydraulic cylinder II1-4 is fixed to the mobile through the connecting lug plate 1-6. On the longitudinal beam, the piston end of the servo hydraulic cylinder II1-4 is connected with the movable sliding plate 1-2, and the end of the servo hydraulic cylinder II1-4 is also equipped with a displacement sensor II to realize the position feedback of the piston extension.

每个移动滑板1-2下方安装四个滚子，在伺服液压缸II1-4的带动下，在X向移动纵梁1上沿着Y方向或相向或相对移动。Four rollers are installed under each movable sliding plate 1-2, driven by the servo hydraulic cylinder II1-4, move in the X-direction moving longitudinal beam 1 along the Y-direction or towards each other or relative to each other.

如图1、图3所示，每个移动滑板1-2下方安装一起吊单元2；所述起吊单元2包括起吊电机2-1、链条盒2-2、链条轮、起吊链和起吊钩2-3，所述起吊电机2-1安装在移动滑板1-2下方，所述链条盒2-2安装在起吊电机2-1的前端，所述链条轮安装在链条盒2-2内，所述起吊钩2-3安装在所述起吊链的一端，起吊链的另一端与链条轮相连。As shown in Figure 1 and Figure 3, a hoisting unit 2 is installed under each mobile slide 1-2; the hoisting unit 2 includes a hoisting motor 2-1, a chain box 2-2, a chain wheel, a hoisting chain and a hoisting hook 2 -3. The hoisting motor 2-1 is installed under the mobile sliding plate 1-2, the chain box 2-2 is installed at the front end of the hoisting motor 2-1, and the chain wheel is installed in the chain box 2-2. The lifting hook 2-3 is installed at one end of the lifting chain, and the other end of the lifting chain is connected with the sprocket wheel.

所述起吊电机2-1安装有编码器，实时记录起吊钩的位置，起吊电机编码器后方安装接近开关1-1，防止X向移动纵梁1与固定纵梁3发生碰撞。The hoisting motor 2-1 is equipped with an encoder to record the position of the hoisting hook in real time. A proximity switch 1-1 is installed behind the hoisting motor encoder to prevent the X-direction moving longitudinal beam 1 from colliding with the fixed longitudinal beam 3.

如图1、图2、图4、图5所示，在整个装置后端的两个平行底座箱体10之间设置有安拆平台8，所述安拆平台8包括支撑动平台8-8、约束支撑立柱8-1、底板8-11、底部支撑板8-12；底部支撑板8-12整体安装在平行的两个底部箱体10之间，所述底板8-11位于底部支撑板8-12上方，底板8-11下表面上设置有底部支撑加强板8-7，底板8-11与底部支撑板8-12之间还设置有垂直于底部支撑加强板8-7的底部支撑梁8-10，底板8-11的四角分别设置有一条驱动支链，所述驱动支链由伺服液压缸I8-3和两个万向节铰链8-2组成，伺服液压缸I8-3的两端分别通过一万向节铰链8-2与支撑动平台8-8、底板8-11相连，所述约束支撑立柱8-1位于安拆平台中心位置，约束支撑立柱8-1下端与底板8-11固定连接，约束支撑立柱8-1上端通过万向节铰链8-2与支撑动平台8-8相连；支撑动平台8-8的上表面四周设置有若干个压紧装置8-4，支撑动平台8-8上开有等间距平行的T型槽和螺纹孔，方便根据不同物体底座尺寸的大小，对压紧装置8-4位置进行调整，所述压紧装置8-4包括压紧螺柱8-4-3，压紧螺柱8-4-3的T型块***T型槽中，压紧螺柱8-4-3的头部设置压紧螺母8-4-1，压紧螺母8-4-1下方设置压紧板8-4-2，压紧板8-4-2下方设置压紧块8-4-4，压紧块8-4-4左右两侧开有螺栓孔与支撑动平台8-8上的螺栓孔等距对齐，***螺栓，强化压紧装置8-4的强度，伺服液压缸I8-3上安装液压加载力传感器8-6，末端安装位移传感器I，对伺服液压缸I的输出力与活塞位移实时监测，底板8-11与底部支撑板8-12之间安装有承重压力传感器8-9，实时监测安拆平台上物体的重力，支撑动平台8-8上安装姿态陀螺仪，实时监测支撑动平台8-8的位姿参数。As shown in Figure 1, Figure 2, Figure 4, Figure 5, an installation platform 8 is provided between the two parallel base boxes 10 at the rear end of the entire device. The installation platform 8 includes a supporting movable platform 8-8, Constraint support column 8-1, bottom plate 8-11, bottom support plate 8-12; bottom support plate 8-12 is integrally installed between two parallel bottom boxes 10, said bottom plate 8-11 is located on bottom support plate 8 Above -12, a bottom support reinforcement plate 8-7 is provided on the lower surface of the bottom plate 8-11, and a bottom support beam perpendicular to the bottom support reinforcement plate 8-7 is also provided between the bottom plate 8-11 and the bottom support plate 8-12 8-10, the four corners of the bottom plate 8-11 are respectively provided with a drive branch chain, the drive branch chain is composed of a servo hydraulic cylinder I8-3 and two universal joint hinges 8-2, two of the servo hydraulic cylinder I8-3 The ends are respectively connected to the supporting movable platform 8-8 and the bottom plate 8-11 through a universal joint hinge 8-2. The restraining support column 8-1 is located at the center of the installation platform, and the lower end of the restraining supporting column 8-1 is connected to the bottom plate 8 -11 is fixedly connected, and the upper end of the restraining support column 8-1 is connected to the supporting movable platform 8-8 through a universal joint hinge 8-2; a number of pressing devices 8-4 are arranged around the upper surface of the supporting movable platform 8-8, The supporting movable platform 8-8 is provided with equally spaced parallel T-shaped grooves and threaded holes, which is convenient for adjusting the position of the pressing device 8-4 according to the size of the base of different objects. The pressing device 8-4 includes a pressing device. Tighten the stud 8-4-3, insert the T-shaped block of the compression stud 8-4-3 into the T-slot, and set the compression nut 8-4-1 on the head of the compression stud 8-4-3, A compression plate 8-4-2 is arranged under the compression nut 8-4-1, a compression block 8-4-4 is arranged under the compression plate 8-4-2, and the left and right sides of the compression block 8-4-4 are opened. The bolt holes are aligned equidistantly with the bolt holes on the supporting movable platform 8-8, and the bolts are inserted to strengthen the strength of the pressing device 8-4. The servo hydraulic cylinder I8-3 is equipped with a hydraulic loading force sensor 8-6, and the displacement is installed at the end. Sensor I monitors the output force and piston displacement of the servo hydraulic cylinder I in real time. A load-bearing pressure sensor 8-9 is installed between the bottom plate 8-11 and the bottom support plate 8-12 to monitor the gravity and support of the object on the mounting platform in real time. An attitude gyroscope is installed on the movable platform 8-8 to monitor the position and attitude parameters of the supporting movable platform 8-8 in real time.

如图6所示，上述用于煤矿机械设备起吊、安装、拆卸的智能化平台的控制***包括上位机和下位机，上位机采用工控机，下位机采用液压专用伺服控制器和可编程逻辑控制器，所有控制器和传感器等电气元件均采用防爆设计，控制***主要控制对象为X向移动纵梁1、移动滑板1-2和安拆平台8，均采用反馈调节控制，提高起吊、安装，起吊、拆除过程中的精度，主要包括工控机、液压专用伺服控制器、可编程逻辑控制器、伺服控制阀、伺服液压缸I8-3、伺服液压缸II1-4、姿态陀螺仪8-5、承载压力传感器8-9、位移传感器I、位移传感器II、液压加载力传感器8-7、电机驱动器、起吊电机2-1和移动电机7(控制***中二者统一称为电机)、编码器、接近开关1-1、数据采集模块、交互控制模块；所述的工控机分别与液压专用伺服控制器、可编程逻辑控制器通讯连接，工控机给液压专用伺服控制器、可编程逻辑控制器下达指令，同时液压专用伺服控制器、可编程逻辑控制器向工控机反馈执行机构的信息；所述的液压专用伺服控制器与伺服控制阀通讯连接，伺服控制阀分别与伺服液压缸I1-4、伺服液压缸II8-3通讯连接，伺服液压缸I1-4、伺服液压缸II8-3分别安装连接安拆平台8与移动滑板1-2，安拆平台8上安装姿态陀螺仪8-5、承载压力传感器8-9，伺服液压缸I1-4分别与位移传感器I、液压加载力传感器8-6通讯连接，伺服液压缸II8-3与位移传感器II通讯连接；所述的位移传感器I、位移传感器II分别与液压专用伺服控制器通讯连接，位移传感器将伺服液压缸的位移量反馈给液压专用伺服控制器，构成闭环反馈***；所述的液压加载力传感器8-6、姿态陀螺仪8-5、承载压力传感器8-9分别与数据采集模块通讯连接，数据采集模块收集各个传感器的信号，发送给工控机，下位机采集到的反馈信号也传输给工控机；工控机对信号进行集中储存、计算、分析，并将计算结果形成指令传递给下位机，将主要的位置、姿态、压力等信号传输给交互控制模块，供操作人员参考，操作人员也可以通过交互控制模块向工控机输入指令。As shown in Figure 6, the above-mentioned intelligent platform control system for lifting, installing and disassembling coal mining machinery and equipment includes an upper computer and a lower computer. The upper computer uses an industrial computer, and the lower computer uses a hydraulic special servo controller and programmable logic control. All electrical components such as controllers and sensors adopt explosion-proof design. The main control objects of the control system are the X-direction moving longitudinal beam 1, the mobile sliding plate 1-2 and the installation platform 8. They all adopt feedback adjustment control to improve lifting and installation. The accuracy in the lifting and dismantling process mainly includes industrial computer, hydraulic special servo controller, programmable logic controller, servo control valve, servo hydraulic cylinder I8-3, servo hydraulic cylinder II1-4, attitude gyroscope 8-5, Bearing pressure sensor 8-9, displacement sensor I, displacement sensor II, hydraulic loading force sensor 8-7, motor driver, lifting motor 2-1 and moving motor 7 (the two are collectively referred to as motors in the control system), encoder, Proximity switch 1-1, data acquisition module, interactive control module; the industrial control computer is respectively connected to the hydraulic special servo controller and programmable logic controller, and the industrial control computer issues the special hydraulic servo controller and programmable logic controller. At the same time, the dedicated hydraulic servo controller and programmable logic controller feed back the information of the actuator to the industrial computer; the dedicated hydraulic servo controller communicates with the servo control valve, and the servo control valve is respectively connected to the servo hydraulic cylinders I1-4, Servo hydraulic cylinder II8-3 communication connection, servo hydraulic cylinder I1-4, servo hydraulic cylinder II8-3 are respectively installed and connected to the installation platform 8 and the mobile slide 1-2, the installation platform 8 is installed with the attitude gyroscope 8-5 and the load bearing Pressure sensor 8-9, servo hydraulic cylinder I1-4 are respectively connected with displacement sensor I and hydraulic loading force sensor 8-6, servo hydraulic cylinder II8-3 is connected with displacement sensor II; said displacement sensor I, displacement sensor II is respectively connected to the hydraulic dedicated servo controller. The displacement sensor feeds back the displacement of the servo hydraulic cylinder to the hydraulic dedicated servo controller to form a closed-loop feedback system; the hydraulic loading force sensor 8-6 and the attitude gyroscope 8-5 The load-bearing pressure sensors 8-9 are respectively connected to the data acquisition module. The data acquisition module collects the signals of each sensor and sends them to the industrial computer. The feedback signal collected by the lower computer is also transmitted to the industrial computer; the industrial computer centrally stores the signals, Calculate, analyze, and transfer the calculation result into instructions to the lower computer, and transmit the main position, posture, pressure and other signals to the interactive control module for the operator's reference. The operator can also input instructions to the industrial computer through the interactive control module.

所述的工控机为中枢运算单元，对支撑动平台的位置姿态和动作信号信息、伺服液压缸11-4和伺服液压缸II8-3的液压加载力和活塞位置信息等进行集中运算处理，将处理结果和指令发送给液压专用伺服控制器、可编程逻辑控制器；液压专用伺服控制器控制伺服控制阀，驱动伺服液压缸1和伺服液压缸II动作，进而驱动安拆平台、移动滑板完成相应的定位、安装、拆卸任务；支撑动平台上的姿态陀螺仪8-5和伺服液压缸I8-3上的位移传感器I实时监测支撑动平台的运动、姿态信息，发送给工控机和液压专用伺服控制器，形成闭环控制，若监测到不当操作或者奇异位置，工控机立即急停；安拆平台8上的承重压力传感器8-9实时监测安拆平台上的承重压力信息，伺服液压缸I8-3上的液压加载力传感器8-6实时监测伺服液压缸I8-3的油压，进而判断液压缸的输出力，数据采集模块收集承重压力传感器8-9和液压加载力传感器8-6收集到的信息，发送给工控机，工控机进行计算和判断，满足即使在没有工作人员、***急停不断电的情况下，保证伺服液压缸I8-3油压能够支撑安拆平台上待安装物体的重量；伺服液压缸II1-4在液压专用伺服控制器的控制下，驱动移动滑板1-2在移动纵梁上沿着Y轴往复移动，位移传感器II实时反馈伺服液压缸II1-4活塞的位置信息，传送给液压专用控制器，形成闭环控制，保证起吊、安装、拆除过程中Y方向上的精确定位；工控机记录伺服液压缸I8-3和伺服液压缸II1-4上位移传感器的信息，在交互控制模块上显示活塞的伸出量，提示工作人员伺服液压缸的回程量；所述的可编程逻辑控制器通过电机驱动器，控制X向移动纵梁上的4台移动电机7和4台起吊电机2-1，进而驱动移动纵梁在X方向上往复移动和起吊钩2-3在Z方向上的提升、降落动作；移动电机7和起吊电机2-1上均安装有编码器，实时反馈移动纵梁在X方向和起吊钩2-3在Z方向上的位置信息给可编程逻辑控制器，工控机记录运算相应位置数据，在交互控制模块上显示；起吊电机编码器末端与Y向固定纵梁之间安装接近开关，保证X向移动纵梁与固定纵梁间不发生碰撞，若发生特殊情况，接近开关将信息发送给可编程逻辑控制器，电机驱动模块急停。The industrial computer is a central computing unit that performs centralized computing and processing on the position and posture and action signal information of the supporting movable platform, the hydraulic loading force of the servo hydraulic cylinder 11-4 and the servo hydraulic cylinder II8-3, and the piston position information, etc. The processing results and instructions are sent to the hydraulic dedicated servo controller and programmable logic controller; the hydraulic dedicated servo controller controls the servo control valve, drives the servo hydraulic cylinder 1 and the servo hydraulic cylinder II to act, and then drives the installation and disassembly platform and moves the slide plate to complete the corresponding Positioning, installation, and disassembly tasks; the attitude gyroscope 8-5 on the supporting movable platform and the displacement sensor I on the servo hydraulic cylinder I8-3 monitor the movement and attitude information of the supporting movable platform in real time, and send it to the industrial computer and the special hydraulic servo The controller forms a closed-loop control. If improper operation or singular position is detected, the industrial computer will stop immediately; the load-bearing pressure sensor 8-9 on the installation platform 8 monitors the load-bearing pressure information on the installation platform in real time, and the servo hydraulic cylinder I8- The hydraulic loading force sensor 8-6 on 3 monitors the oil pressure of the servo hydraulic cylinder I8-3 in real time, and then judges the output force of the hydraulic cylinder. The data collection module collects the load-bearing pressure sensor 8-9 and the hydraulic loading force sensor 8-6. The information is sent to the industrial computer, and the industrial computer performs calculations and judgments to meet the requirements of ensuring that the hydraulic pressure of the servo hydraulic cylinder I8-3 can support the objects to be installed on the installation and disassembly platform even when there is no staff and the system is in an emergency shutdown and continuous power supply. Weight; under the control of the hydraulic servo controller, the servo hydraulic cylinder II1-4 drives the sliding slide 1-2 to reciprocate along the Y axis on the moving longitudinal beam, and the displacement sensor II feeds back the position information of the piston of the servo hydraulic cylinder II1-4 in real time. It is sent to the hydraulic special controller to form a closed-loop control to ensure accurate positioning in the Y direction during lifting, installation and removal; the industrial computer records the information of the displacement sensor on the servo hydraulic cylinder I8-3 and the servo hydraulic cylinder II1-4, and interacts The extension of the piston is displayed on the control module, prompting the staff to return the amount of the servo hydraulic cylinder; the programmable logic controller controls the 4 moving motors 7 and 4 hoisting motors on the X-moving stringer through the motor driver 2-1, and then drive the moving longitudinal beam to reciprocate in the X direction and the lifting and lowering actions of the lifting hook 2-3 in the Z direction; encoders are installed on both the moving motor 7 and the lifting motor 2-1 to feedback the movement in real time The position information of the longitudinal beam in the X direction and the lifting hook 2-3 in the Z direction are sent to the programmable logic controller. The industrial computer records the corresponding position data for calculation and displays it on the interactive control module; the end of the lifting motor encoder is fixed in the Y direction. A proximity switch is installed between the beams to ensure that there is no collision between the X-direction moving longitudinal beam and the fixed longitudinal beam. If a special situation occurs, the proximity switch sends the information to the programmable logic controller, and the motor drive module stops urgently.

所述的交互控制模块与工控机通讯连接，实时显示装置各个运动单元的位置、运动、压力信息，工控机运算各个传感器的数据，通过交互控制模块提示工作人员相应的操作；工作人员通过交互控制模块输入相应的控制命令给工控机，工控机控制液压专用伺服控制器和可编程逻辑控制器，完成底层执行模块的动作。The interactive control module communicates with the industrial computer, displays the position, movement, and pressure information of each movement unit of the device in real time, and the industrial computer calculates the data of each sensor, and prompts the staff to perform corresponding operations through the interactive control module; the staff controls through interactive control The module inputs corresponding control commands to the industrial computer, and the industrial computer controls the hydraulic special servo controller and programmable logic controller to complete the actions of the underlying execution module.

上述控制***进行煤矿机械设备起吊、安装、拆卸的控制方法，包括以下步骤：The control method of the above-mentioned control system for hoisting, installation and disassembly of coal mine machinery and equipment includes the following steps:

第一步，将煤矿综采设备的零散部件打运至平台前段，操作人员通过交互控制模块向工控机发送控制指令，驱动移动纵梁1X向移动、移动滑板1-2Y向移动，找到起吊位置，进而驱动起吊电机2-1，将起吊钩2-3下落至起吊点，将综采设备的安装底板勾起；The first step is to transport the scattered parts of the fully mechanized coal mining equipment to the front section of the platform. The operator sends control instructions to the industrial computer through the interactive control module to drive the moving longitudinal beam to move 1X and the sliding slide 1-2Y to find the lifting position. , And then drive the hoisting motor 2-1, drop the hoisting hook 2-3 to the hoisting point, and lift the installation bottom plate of the fully mechanized mining equipment;

第二步，操作人员通过交互控制模块，驱动移动纵梁1X向移动、移动滑板1-2Y向移动，将综采设备的安装底板运输至安拆平台8，将综采设备的安装底板下落至支撑动平台8-8，安拆平台8的支撑动平台8-8初始位置水平，操作人员手动调节压紧装置8-4的位置，并压紧，将综采设备的安装底板固定在支撑动平台8-8上；In the second step, the operator uses the interactive control module to drive the moving longitudinal beam to move 1X and the sliding slide 1-2Y to transport the installation floor of the fully mechanized mining equipment to the installation platform 8, and drop the installation floor of the fully mechanized mining equipment to Support the movable platform 8-8, the initial position of the supporting movable platform 8-8 of the installation platform 8 is horizontal, and the operator manually adjusts the position of the pressing device 8-4 and presses it to fix the installation floor of the fully mechanized mining equipment on the supporting movable platform. On platforms 8-8;

第三步，操作人员通过交互控制模块，驱动移动纵梁1X向移动、移动滑板1-2Y向移动，继续起吊、运输综采设备其他部件至安拆平台8，将综采设备后续部件与综采设备的安装底板进行组装，整个过程中所有位移传感器、编码器实时记录执行元件的位置，发送给工控机，并通过交互控制模块实时向操作人员显示，各个执行模块的位置信息；In the third step, the operator uses the interactive control module to drive the moving longitudinal beam to move 1X and the sliding plate 1-2Y to move, continue to lift and transport other parts of the fully mechanized mining equipment to the installation and dismantling platform 8, and combine the subsequent parts of the fully mechanized mining equipment with the comprehensive mining equipment. The installation base plate of the equipment is used for assembly. During the whole process, all displacement sensors and encoders record the position of the actuator in real time, send it to the industrial computer, and display the position information of each execution module to the operator in real time through the interactive control module;

第四步，操作人员将运输至安拆平台8上方的综采设备后续部件与固定在安拆平台8上的综采设备的安装底板进行吊装操作，该过程中操作人员通过交互控制模块向工控机输入指令，工控机通过液压专用伺服控制器驱动安拆平台上的四个伺服液压缸II8-3联动，进而调整综采设备待安装部件与安装底板之间的位置和姿态，完成组装操作；整个过程中，支撑动平台8-8上的姿态陀螺仪8-5和伺服液压缸II8-3上的位移传感器II实时监测支撑动平台8-8的运动、姿态信息，发送给工控机和液压专用伺服控制器，形成闭环控制，若监测到不当操作或者奇异位置，工控机立即急停；安拆平台8上的承重压力传感器8-9实时监测安拆平台上的承重压力信息，伺服液压缸II8-3上的液压加载力传感器8-6实时监测伺服液压缸的油压，进而判断液压缸的输出力，数据采集模块收集承重压力传感器和液压加载力传感器收集到的信息，发送给工控机，工控机进行计算和判断，满足即使在没有工作人员、***急停不断电的情况下，保证伺服液压缸II8-3油压能够支撑安拆平台上待安装物体的重量；In the fourth step, the operator lifts the follow-up parts of the fully mechanized mining equipment transported to the top of the installation and disassembly platform 8 and the installation bottom plate of the fully mechanized mining equipment fixed on the installation and disassembly platform 8. The machine inputs instructions, and the industrial computer drives the four servo hydraulic cylinders II8-3 on the installation and disassembly platform through the hydraulic special servo controller to adjust the position and posture between the components to be installed and the installation base plate of the fully mechanized mining equipment to complete the assembly operation; During the whole process, the attitude gyroscope 8-5 on the supporting movable platform 8-8 and the displacement sensor II on the servo hydraulic cylinder II8-3 monitor the movement and attitude information of the supporting movable platform 8-8 in real time, and send them to the industrial computer and hydraulic The dedicated servo controller forms a closed-loop control. If improper operation or strange position is detected, the industrial computer will stop immediately; the load-bearing pressure sensor 8-9 on the installation platform 8 can monitor the load-bearing pressure information on the installation platform in real time, and the servo hydraulic cylinder The hydraulic loading force sensor 8-6 on the II8-3 monitors the hydraulic pressure of the servo hydraulic cylinder in real time, and then judges the output force of the hydraulic cylinder. The data acquisition module collects the information collected by the load-bearing pressure sensor and the hydraulic loading force sensor and sends it to the industrial computer , The industrial computer performs calculations and judgments to ensure that the hydraulic pressure of the servo hydraulic cylinder II8-3 can support the weight of the objects to be installed on the installation and disassembly platform even when there is no staff and the system is in an emergency shutdown and uninterrupted power supply;

同一型号的煤矿综采设备的整个安装、拆卸过程第一次通过操作人员手动控制，工控机存储文件以后，对于同一型号的设备可以直接进行自动控制，操作人员的辅助调节。The entire installation and disassembly process of the same type of coal mining equipment is manually controlled by the operator for the first time. After the industrial computer stores the files, the same type of equipment can be directly controlled automatically and adjusted by the operator.

Claims

一种矿用起吊、安装、拆卸的智能化平台，其特征在于，包括底座驱动单元，所述底座驱动单元包括两个X向平行布置的底座箱体(10)，所述底座箱体(10)由行走电机(9)提供动力；两个所述底座箱体(10)上对称安装有若干个支撑立柱(4)，所述支撑立柱(4)的上端X向平行安装两个固定横梁(5)，所述固定横梁(5)上的左右两端Y向对称平行布置两个固定纵梁(3)，所述底座箱体(10)、支撑立柱(4)、固定横梁(5)、固定纵梁(3)构成了整体支撑框架；An intelligent platform for hoisting, installation, and disassembly for mining is characterized by comprising a base drive unit, the base drive unit comprising two base boxes (10) arranged in parallel in the X direction, the base box (10) ) Is powered by a walking motor (9); a number of support columns (4) are symmetrically installed on the two base boxes (10), and the upper ends of the support columns (4) are installed in parallel with two fixed beams ( 5) Two fixed longitudinal beams (3) are arranged symmetrically and parallel to the left and right ends of the fixed beam (5) in the Y direction, the base box (10), the supporting column (4), the fixed beam (5), The fixed longitudinal beams (3) constitute the overall supporting frame;

在两个固定纵梁(3)之间的固定横梁(5)上还设置有X向移动纵梁(1)，所述X向移动纵梁(1)包括对称布置的两个移动纵梁，两个移动纵梁之间设有连杆机构(1-3)，每个移动纵梁的两端分别设有移动电机(7)，每个移动纵梁上方设置两个移动滑板(1-2)，每个移动滑板(1-2)由一个伺服液压缸II(1-4)驱动，伺服液压缸II(1-4)的末端通过连接耳板(1-6)固定于移动纵梁上，伺服液压缸II(1-4)的活塞端与移动滑板(1-2)连接，伺服液压缸II(1-4)末端安装位移传感器II，每个移动滑板(1-2)下方安装四个滚子，每个移动滑板(1-2)下方安装一起吊单元(2)；An X-direction movable longitudinal beam (1) is also provided on the fixed crossbeam (5) between the two fixed longitudinal beams (3), and the X-direction movable longitudinal beam (1) includes two symmetrically arranged mobile longitudinal beams, A connecting rod mechanism (1-3) is arranged between the two moving longitudinal beams, and the two ends of each moving longitudinal beam are respectively provided with a moving motor (7), and two moving sliding plates (1-2) are arranged above each moving longitudinal beam. ), each movable sliding plate (1-2) is driven by a servo hydraulic cylinder II (1-4), and the end of the servo hydraulic cylinder II (1-4) is fixed on the moving longitudinal beam through the connecting ear plate (1-6) , The piston end of the servo hydraulic cylinder II (1-4) is connected with the moving slide plate (1-2), and the displacement sensor II is installed at the end of the servo hydraulic cylinder II (1-4), and four moving slide plates (1-2) are installed below each Two rollers, a hoisting unit (2) is installed under each movable sliding plate (1-2);

在整个装置后端的两个平行底座箱体(10)之间设置有安拆平台(8)，所述安拆平台(8)包括支撑动平台(8-8)、约束支撑立柱(8-1)、底板(8-11)、底部支撑板(8-12)；底部支撑板(8-12)整体安装在平行的两个底部箱体10之间，所述底板(8-11)位于底部支撑板(8-12)上方，底板(8-11)下表面上设置有底部支撑加强板(8-7)，底板(8-11)与底部支撑板(8-12)之间还设置有垂直于底部支撑加强板(8-7)的底部支撑梁(8-10)，底板(8-11)的四角分别设置有一条驱动支链，所述驱动支链由伺服液压缸I(8-3)和两个万向节铰链(8-2)组成，伺服液压缸I(8-3)的两端分别通过一万向节铰链(8-2)与支撑动平台(8-8)、底板(8-11)相连，所述约束支撑立柱(8-1)位于安拆平台中心位置，约束支撑立柱(8-1)下端与底板(8-11)固定连接，约束支撑立柱(8-1)上端通过万向节铰链(8-2)与支撑动平台(8-8)相连；所述支撑动平台(8-8)上表面开有等间距平行的T型槽和螺纹孔，支撑动平台(8-8)的上表面四周设置有若干个压紧装置(8-4)，所述压紧装置(8-4)下部嵌入T型槽中并与支撑动平台(8-8)螺栓连接，伺服液压缸I(8-3)上安装液压加载力传感器(8-6)，伺服液压缸I (8-3)末端安装位移传感器I，底板(8-11)与底部支撑板(8-12)之间安装有承重压力传感器(8-9)，支撑动平台(8-8)上安装姿态陀螺仪。An installation platform (8) is provided between the two parallel base boxes (10) at the rear end of the entire device. The installation platform (8) includes a supporting movable platform (8-8) and a restraining support column (8-1). ), bottom plate (8-11), bottom support plate (8-12); the bottom support plate (8-12) is integrally installed between two parallel bottom boxes 10, the bottom plate (8-11) is located at the bottom Above the support plate (8-12), a bottom support reinforcement plate (8-7) is provided on the lower surface of the bottom plate (8-11), and a bottom support reinforcement plate (8-7) is provided between the bottom plate (8-11) and the bottom support plate (8-12). The bottom support beam (8-10) perpendicular to the bottom support reinforcement plate (8-7), the four corners of the bottom plate (8-11) are respectively provided with a drive branch chain, the drive branch chain is provided by the servo hydraulic cylinder I (8- 3) It is composed of two universal joint hinges (8-2), and the two ends of the servo hydraulic cylinder I (8-3) respectively pass through a universal joint hinge (8-2) and support the movable platform (8-8), The bottom plate (8-11) is connected, the restraint support column (8-1) is located at the center of the installation platform, the lower end of the restraint support column (8-1) is fixedly connected with the bottom plate (8-11), and the restraint support column (8- 1) The upper end is connected to the supporting movable platform (8-8) through a universal joint hinge (8-2); the upper surface of the supporting movable platform (8-8) is provided with equally spaced parallel T-shaped grooves and threaded holes to support Several compression devices (8-4) are arranged around the upper surface of the movable platform (8-8), and the lower part of the compression device (8-4) is embedded in the T-shaped groove and supports the movable platform (8-8). Bolt connection, hydraulic loading force sensor (8-6) is installed on servo hydraulic cylinder I (8-3), displacement sensor I is installed at the end of servo hydraulic cylinder I (8-3), bottom plate (8-11) and bottom support plate ( A load-bearing pressure sensor (8-9) is installed between 8-12), and an attitude gyroscope is installed on the supporting movable platform (8-8).
根据权利要求1所述的一种矿用起吊、安装、拆卸的智能化平台，其特征在于，所述连杆机构(1-3)包括直线导轨(1-3-1)、直线轴承(1-3-2)、连接环(1-3-3)和连杆(1-3-4)，所述直线导轨(1-3-1)安装在两个移动纵梁的内侧，所述直线轴承(1-3-2)在直线导轨(1-3-1)上滑动，所述连杆(1-3-4)呈X型布置，两个连杆(1-3-4)的交叉部设有转动销轴，每个连杆(1-3-4)的两端均通过转动销轴与连接环(1-3-3)相连，连接环(1-3-3)与直线轴承(1-3-2)连接。The intelligent platform for mining lifting, installation and disassembly according to claim 1, characterized in that the linkage mechanism (1-3) comprises a linear guide (1-3-1), a linear bearing (1) -3-2), the connecting ring (1-3-3) and the connecting rod (1-3-4), the linear guide (1-3-1) is installed on the inner side of the two moving longitudinal beams, the linear The bearing (1-3-2) slides on the linear guide (1-3-1), the connecting rod (1-3-4) is arranged in an X shape, and the two connecting rods (1-3-4) cross The part is provided with a rotating pin shaft, both ends of each connecting rod (1-3-4) are connected with the connecting ring (1-3-3) through the rotating pin shaft, and the connecting ring (1-3-3) is connected with the linear bearing (1-3-2) Connect.
根据权利要求1所述的一种矿用起吊、安装、拆卸的智能化平台，其特征在于，所述压紧装置(8-4)包括压紧螺柱(8-4-3)，压紧螺柱(8-4-3)的T型块嵌入T型槽中，压紧螺柱(8-4-3)的头部设置压紧螺母(8-4-1)，压紧螺母(8-4-1)下方设置压紧板(8-4-2)，压紧板(8-4-2)下方设置压紧块(8-4-4)，压紧块(8-4-4)与支撑动平台(8-8)螺栓连接。The intelligent platform for mining lifting, installation and disassembly according to claim 1, characterized in that, the pressing device (8-4) comprises a pressing stud (8-4-3), The T-shaped block of the stud (8-4-3) is embedded in the T-slot, the head of the compression stud (8-4-3) is provided with a compression nut (8-4-1), and the compression nut (8 -4-1) A compression plate (8-4-2) is set below the compression plate (8-4-2), a compression block (8-4-4) is set below the compression plate (8-4-2), and a compression block (8-4-4) ) Bolt connection with the supporting movable platform (8-8).
根据权利要求1所述的一种矿用起吊、安装、拆卸的智能化平台，其特征在于，所述起吊单元(2)包括起吊电机(2-1)、链条盒(2-2)、链条轮、起吊链和起吊钩(2-3)，所述起吊电机(2-1)安装在移动滑板(1-2)下方，所述链条盒(2-2)安装在起吊电机(2-1)的前端，所述链条轮安装在链条盒(2-2)内，所述起吊钩(2-3)安装在所述起吊链的一端，起吊链的另一端与链条轮相连。The intelligent platform for mining lifting, installation, and disassembly according to claim 1, wherein the lifting unit (2) includes a lifting motor (2-1), a chain box (2-2), and a chain Wheel, hoisting chain and hoisting hook (2-3), the hoisting motor (2-1) is installed under the moving skateboard (1-2), and the chain box (2-2) is installed on the hoisting motor (2-1) ), the sprocket wheel is installed in the chain box (2-2), the hoisting hook (2-3) is installed at one end of the hoisting chain, and the other end of the hoisting chain is connected with the sprocket wheel.
根据权利要求4所述的一种矿用起吊、安装、拆卸的智能化平台，其特征在于，所述起吊电机(2-1)安装有编码器，起吊电机编码器后方安装接近开关(1-1)。The intelligent platform for lifting, installation and disassembly for mining according to claim 4, characterized in that the lifting motor (2-1) is equipped with an encoder, and a proximity switch (1- 1).
根据权利要求1所述的一种矿用起吊、安装、拆卸的智能化平台，其特征在于，所述支撑立柱(4)与固定纵梁(3)之间设置有支撑杆(6)。The intelligent platform for mining lifting, installation and disassembly according to claim 1, characterized in that a support rod (6) is provided between the support column (4) and the fixed longitudinal beam (3).
根据权利要求1所述的一种矿用起吊、安装、拆卸的智能化平台，其特征在于，所述移动电机(7)安装有编码器。The intelligent platform for mining lifting, installation and disassembly according to claim 1, characterized in that the mobile motor (7) is equipped with an encoder.
一种权利要求1至7任一项所述的矿用起吊、安装、拆卸的智能化平台的控制***，其特征在于，包括工控机、液压专用伺服控制器、可编程逻辑控制器、伺服控制阀、伺服液压缸I(8-3)、伺服液压缸II(1-4)、姿态陀螺仪(8-5)、承载压力传感器(8-9)、位移传感器I、位移传感器II、液压加载力传感器(8-7)、电机驱动器、起吊电机(2-1)和移动电机(7)、编码器、接近开关(1-1)、数据采集模块、交互控制模块；所述的工控机分别与液压专用伺服控制器、可编程逻辑控制器通讯连接，工控机给液压专用伺服控制器、可编程逻辑控制器下达指令，同时液压专用伺服控制器、可编程逻辑控制器向工控机反馈执行机构的信息；所述的液压专用伺服控制器与伺服控制阀通讯连接，伺服控制阀分别与伺服液压缸I(1-4)、伺服液压缸II(8-3)通讯连接，伺服液压缸I(1-4)、伺服液压缸II(8-3)分别安装连接安拆平台(8)与移动滑板(1-2)，安拆平台(8)上安装姿态陀螺仪(8-5)、承载压力传感器(8-9)，伺服液压缸I(1-4)分别与位移传感器I、液压加载力传感器(8-6)通讯连接，伺服液压缸II(8-3)与位移传感器II通讯连接；所述的位移传感器I、位移传感器II分别与液压专用伺服控制器通讯连接，位移传感器将伺服液压缸的位移量反馈给液压专用伺服控制器，构成闭环反馈***；所述的液压加载力传感器(8-6)、姿态陀螺仪(8-5)、承载压力传感器(8-9)分别与数据采集模块通讯连接，数据采集模块收集各个传感器的信号，发送给工控机，下位机采集到的反馈信号也传输给工控机；工控机对信号进行集中储存、计算、分析，并将计算结果形成指令传递给下位机，将主要的位置、姿态、压力信号传输给交互控制模块，供操作人员参考，操作人员也可以通过交互控制模块向工控机输入指令。A control system for an intelligent platform for mining lifting, installation, and disassembly according to any one of claims 1 to 7, characterized in that it comprises an industrial computer, a special hydraulic servo controller, a programmable logic controller, and a servo control Valve, servo hydraulic cylinder I (8-3), servo hydraulic cylinder II (1-4), attitude gyroscope (8-5), load pressure sensor (8-9), displacement sensor I, displacement sensor II, hydraulic loading Force sensor (8-7), motor driver, hoisting motor (2-1) and moving motor (7), encoder, proximity switch (1-1), data acquisition module, interactive control module; the industrial computer is respectively It is connected to the hydraulic special servo controller and programmable logic controller. The industrial computer gives instructions to the hydraulic special servo controller and programmable logic controller. At the same time, the hydraulic special servo controller and programmable logic controller feedback the actuator to the industrial computer.的信息; The hydraulic dedicated servo controller is connected to the servo control valve. The servo control valve is respectively connected to the servo hydraulic cylinder I (1-4) and the servo hydraulic cylinder II (8-3). The servo hydraulic cylinder I ( 1-4), Servo hydraulic cylinder II (8-3) is installed and connected to the mounting platform (8) and the mobile sliding plate (1-2) respectively, and the attitude gyroscope (8-5) and load bearing are installed on the mounting platform (8) The pressure sensor (8-9) and the servo hydraulic cylinder I (1-4) are respectively connected to the displacement sensor I and the hydraulic loading force sensor (8-6), and the servo hydraulic cylinder II (8-3) is connected to the displacement sensor II. The displacement sensor I and the displacement sensor II are respectively connected to the hydraulic dedicated servo controller, and the displacement sensor feedbacks the displacement of the servo hydraulic cylinder to the hydraulic dedicated servo controller to form a closed-loop feedback system; the hydraulic loading force sensor (8-6), the attitude gyroscope (8-5), and the load-bearing pressure sensor (8-9) are respectively connected to the data acquisition module. The data acquisition module collects the signals of each sensor and sends them to the industrial computer. The feedback signal is also transmitted to the industrial computer; the industrial computer centrally stores, calculates, and analyzes the signals, and transmits the calculation result to the lower computer, and transmits the main position, posture, and pressure signals to the interactive control module for the operator's reference , The operator can also input instructions to the industrial computer through the interactive control module.
一种利用权利要求8所述的控制***进行煤矿机械设备起吊、安装、拆卸的方法，其特征在于，该方法包括以下步骤：A method for hoisting, installing and disassembling coal mine machinery and equipment by using the control system according to claim 8, characterized in that the method comprises the following steps:

第一步，将煤矿综采设备的零散部件打运至平台前段，操作人员通过交互控制模块向工控机发送控制指令，驱动移动纵梁(1)X向移动、移动滑板(1-2)Y向移动，找到起吊位置，进而驱动起吊电机(2-1)，将起吊钩(2-3)下落至起吊点，将综采设备的安装底板勾起；The first step is to transport the scattered parts of the fully mechanized coal mining equipment to the front section of the platform, and the operator sends control instructions to the industrial computer through the interactive control module to drive the moving longitudinal beam (1) to move in X direction, and to move the sliding plate (1-2) to Y Move forward to find the hoisting position, and then drive the hoisting motor (2-1), drop the hoisting hook (2-3) to the hoisting point, and hook up the installation bottom plate of the fully mechanized mining equipment;

第二步，操作人员通过交互控制模块，驱动移动纵梁(1)X向移动、移动滑板(1-2)Y向移动，将综采设备的安装底板运输至安拆平台(8)，将综采设备的安装底板下落至支撑动平台(8-8)，安拆平台(8)的支撑动平台(8-8)初始位置水平，操作人员手动调节压紧装置(8-4)的位置，并压紧，将综采设备的安装底板固定在支撑动平台(8-8)上；In the second step, the operator drives the moving longitudinal beam (1) to move in the X direction and the mobile slide plate (1-2) to move in the Y direction through the interactive control module, and transport the installation floor of the fully mechanized mining equipment to the installation platform (8). The installation bottom plate of the fully mechanized mining equipment drops to the supporting movable platform (8-8), the initial position of the supporting movable platform (8-8) of the installation platform (8) is level, and the operator manually adjusts the position of the pressing device (8-4) , And press tightly to fix the installation bottom plate of the fully mechanized mining equipment on the supporting movable platform (8-8);

第三步，操作人员通过交互控制模块，驱动移动纵梁(1)X向移动、移动滑板(1-2)Y向移动，继续起吊、运输综采设备其他部件至安拆平台(8)，将综采设备后续部件与综采设备的安装底板进行组装，整个过程中所有位移传感器、编码器实时记录执行元件的位置，发送给工控机，并通过交互控制模块实时向操作人员显示，各个执行模块的位置信息；In the third step, the operator drives the moving longitudinal beam (1) to move in the X direction and the mobile slide plate (1-2) to move in the Y direction through the interactive control module, and continue to lift and transport other parts of the fully mechanized mining equipment to the installation platform (8). Assemble the follow-up components of the fully mechanized mining equipment with the installation base plate of the fully mechanized mining equipment. During the entire process, all displacement sensors and encoders record the position of the actuator in real time, send it to the industrial computer, and display it to the operator in real time through the interactive control module. The location information of the module;

第四步，操作人员将运输至安拆平台(8)上方的综采设备后续部件与固定在安拆平台(8)上的综采设备的安装底板进行吊装操作，该过程中操作人员通过交互控制模块向工控机输入指令，工控机通过液压专用伺服控制器驱动安拆平台上的四个伺服液压缸II(8-3)联动，进而调整综采设备待安装部件与安装底板之间的位置和姿态，完成组装操作；整个过程中，支撑动平台(8-8)上的姿态陀螺仪(8-5)和伺服液压缸II(8-3)上的位移传感器II实时监测支撑动平台(8-8)的运动、姿态信息，发送给工控机和液压专用伺服控制器，形成闭环控制，若监测到不当操作或者奇异位置，工控机立即急停；安拆平台(8)上的承重压力传感器(8-9)实时监测安拆平台上的承重压力信息，伺服液压缸II(8-3)上的液压加载力传感器(8-6)实时监测伺服液压缸的油压，进而判断液压缸的输出力，数据采集模块收集承重压力传感器和液压加载力传感器收集到的信息，发送给工控机，工控机进行计算和判断，满足即使在没有工作人员、***急停不断电的情况下，保证伺服液压缸II(8-3)油压能够支撑安拆平台上待安装物体的重量；In the fourth step, the operator lifts the follow-up parts of the fully mechanized mining equipment transported to the top of the installation platform (8) and the installation bottom plate of the fully mechanized mining equipment fixed on the installation platform (8). During this process, the operator interacts The control module inputs instructions to the industrial computer, and the industrial computer drives the four servo hydraulic cylinders II (8-3) on the installation and disassembly platform through the hydraulic special servo controller to link, and then adjust the position between the components to be installed and the installation base plate of the fully mechanized mining equipment And attitude to complete the assembly operation; in the whole process, the attitude gyroscope (8-5) on the supporting movable platform (8-8) and the displacement sensor II on the servo hydraulic cylinder II (8-3) monitor the supporting movable platform (8-3) in real time. 8-8) The motion and posture information is sent to the industrial computer and the special hydraulic servo controller to form a closed-loop control. If improper operation or singular position is detected, the industrial computer will stop immediately; the load-bearing pressure on the installation platform (8) The sensor (8-9) monitors the load-bearing pressure information on the installation platform in real time, and the hydraulic loading force sensor (8-6) on the servo hydraulic cylinder II (8-3) monitors the hydraulic pressure of the servo hydraulic cylinder in real time, and then judges the hydraulic cylinder The data collection module collects the information collected by the load-bearing pressure sensor and the hydraulic loading force sensor, and sends it to the industrial computer. The industrial computer performs calculations and judgments, so as to ensure that even when there is no staff, the system is in an emergency shutdown and uninterrupted power supply The hydraulic pressure of the servo hydraulic cylinder II (8-3) can support the weight of the object to be installed on the installation and disassembly platform;

步骤一至四的过程中，工控机实时记录操作人员手动安装的时间；During steps 1 to 4, the industrial computer records the time of manual installation by the operator in real time;

第五步，操作人员重复上述操作，直至完成综采设备的整体安装过程，工控机对整个安拆过程所有编码器、位移传感器、姿态陀螺仪、承重压力传感器、液压加载力传感器数据以及操作人员手动操作的时间进行存储，形成相应的记录文件；In the fifth step, the operator repeats the above operations until the overall installation process of the fully mechanized mining equipment is completed. The industrial computer monitors all the encoders, displacement sensors, attitude gyroscopes, load-bearing pressure sensors, hydraulic loading force sensor data and the operators during the entire installation and disassembly process. The time of manual operation is stored and the corresponding record file is formed;

同一型号的煤矿综采设备的整个安装、拆卸过程第一次通过操作人员手动控制，工控机存储文件以后，对于同一型号的设备可以直接进行自动控制，操作人员的辅助调节。The entire installation and disassembly process of the same type of coal mining equipment is manually controlled by the operator for the first time. After the industrial computer stores the files, the same type of equipment can be directly controlled automatically and adjusted by the operator.