A hydraulic support with pose detection and control functions and its working method

Abstract

The invention relates to a hydraulic bracket with a pose detection and control function and a working method of the hydraulic bracket with the pose detection and control function. The hydraulic support comprises a controller, a data acquisition device, a first acceleration sensor, a second acceleration sensor, a travel sensor, a laser range finder, a first electromagnetic proportional valve and a second electromagnetic proportional valve; data measured by the acceleration sensors, the travel sensor and the laser range finder are transmitted to the controller, real-time all-attitude control is carried out on the pose of the hydraulic support by using PID control rules, and the on-off and the flow rates of the electromagnetic proportional valves are controlled through the controller to regulate fast horizontal ascending and descending of the bracket in a lifting process of the hydraulic support and to realize intelligent adhesion of the hydraulic support when a roof of a working face is inclined so as to improve the support lifting and moving speed and the machine following speed of the hydraulic bracket; the hydraulic support further comprises a pose detection and control system, thereby having more functions, better performances and incomparable advantages.

Description

technical field [0001] The invention relates to a hydraulic support with pose detection and control functions and a working method thereof, belonging to the technical field of hydraulic supports. Background technique [0002] In the fully mechanized mining face, in order to prevent the coal seam roof from falling and ensure the safety of the staff and the normal production, the roof must be supported. The hydraulic support is the necessary supporting equipment for the fully mechanized mining face. Many coal mines in my country have established fully-mechanized mining automation production areas, and equipped with fully-mechanized mining equipment remote monitoring function. The real-time, reliable and intuitive remote monitoring of the hydraulic support can not only grasp the accurate operation status of the hydraulic support in time, but also predict the support quality of the hydraulic support, and adjust the operating parameters of the support according to the inspection ...

AI Technical Summary

Problems solved by technology

[0006] The Chinese patent document CN103899344B discloses a method for self-adaptive leveling of the top beam of the hydraulic support. The method uses sensors to detect the inclination of the top beam and adjusts the state of the top beam of the support by means of blind motion testing. The patent starts from the stage of initial support of the support. The control has certain limitations, and the blind trial method adopted in this scheme not only consumes a lot of time in the trial and comparison process, but also easily causes the bracket to continue to oscillate due to improper step distance during the adjustment process, which reduces the support of the bracket. The stability of the maintenance work, the adjustment accuracy is poor

[0007] Although some of the current hydraulic supports have pose detection functions, these detection functions only solve how to obtain the pose data of hydraulic supports, and there are many detection data, which are greatly affected by environmental factors and poor detection accuracy; in terms of control functions , the existing support posture control function often adopts the blind motion trial method to control the posture and posture of the support. Therefore, it is necessary to design a new type of hydraulic support with intelligent detection and control functions for the position and posture of the hydraulic support.

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