A digital hydraulic support and control method thereof

Abstract

The embodiment of the present invention provides a digital hydraulic support and a control method thereof, which relates to the field of coal mine machinery and control technology. The support includes: a main controller, a support base, a support top beam, a shield beam, a side guard plate, a push jack, a side guard plate jack, a balance jack and a support column. The support base is also provided with an inclination sensor. The push jack, the side guard plate jack and the support column respectively use digital cylinders. The inclination sensor and the digital cylinder are respectively electrically connected to the main controller. The digital cylinder moves accurately to a specific position according to the received drive signal, so that the hydraulic support has digital precision control capabilities, which is convenient for improving the precise control of the hydraulic support and its degree of automation.

Description

Technical Field

[0001] The present invention relates to the field of coal mine machinery and control technology, and in particular to a digital hydraulic support and a control method thereof. Background Art

[0002] The hydraulic support is a device that uses hydraulic power to achieve lifting, forward movement and other movements to support the roof of the coal mining face. The mining pressure acts on the hydraulic support in the form of external load. The main power components of the hydraulic support are the columns, push jacks, guard plate jacks, and balance jacks. These power components all use hydraulic systems and are driven by oil cylinders. The movement of the oil cylinder is mostly controlled by electromagnetic pilot valves or electromagnetic reversing valves. Each hydraulic support is equipped with a main controller. The support operator uses the control buttons on the main controller to operate the hydraulic support to complete the corresponding actions according to the actual situation during coal mining.

[0003] At present, in the field of automatic control of hydraulic supports, the mainstream development direction is the automation of hydraulic support following machines (referring to coal mining machines). Chinese invention patent CN201510020535.X discloses an intelligent control method for automatic frame shifting of hydraulic supports for coal mines. The support controller is used to complete the automatic frame shifting of hydraulic supports according to the working state of the sensor. The scheme mainly installs a series of sensors on the hydraulic supports to sense the motion state of the hydraulic supports to complete the automatic control of the hydraulic supports. Its control method mainly controls the hydraulic supports by controlling the size of the cylinder action time window. Due to the complex underground conditions of coal mines and the unstable fluid supply pressure of the pump station, there will be a large deviation in the displacement of the cylinder in the same time window for different situations, which affects the accuracy of the control of the hydraulic support, resulting in the inability of the hydraulic support control and following machine automation to operate stably for a long time. The position and posture of the hydraulic support need to be adjusted manually every once in a while, which affects the work efficiency and fails to achieve the purpose of reducing staff and increasing efficiency on the working face. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a digital hydraulic support, which is convenient for improving the precise control of the hydraulic support and the degree of automation of its follow-up.

[0005] In order to achieve the above object, the present invention adopts the following technical scheme:

[0006] The present invention provides a digital hydraulic support, comprising: a main controller, a support base, a support top beam, a shield beam, a side guard plate, a push jack, a side guard plate jack, a balance jack and a support column, wherein the side guard plate, the push jack and the support column are respectively arranged on the support base, the top ends of the shield beam and the support column are connected to the support top beam, the front end of the support top beam is hinged with the side guard plate, the balance jack is located on the support top beam, one end of the side guard plate jack is connected to the support top beam, and the other end is connected to the side guard plate;

[0007] The support base is also provided with an inclination sensor, the push jack, the guard plate jack and the support column respectively use digital cylinders, and the inclination sensor and the digital cylinder are respectively electrically connected to the main controller.

[0008] Optionally, the digital oil cylinder comprises a hydraulic cylinder and a piston rod arranged in the hydraulic cylinder, the piston rod divides the hydraulic cylinder into a rod chamber and a rodless chamber, the hydraulic cylinder is provided with a first oil inlet and a second oil inlet, the first oil inlet is communicated with the rod chamber, the second oil inlet is communicated with the rodless chamber, the first oil inlet and the second oil inlet are respectively provided with pressure sensors, and the oil inlet ends of the first oil inlet and the second oil inlet are connected to electromagnetic reversing valves;

[0009] The hydraulic cylinder has a accommodating chamber at one end of the rodless chamber, in which a stroke sensor is provided. One end of the stroke sensor is connected to the piston end of the piston rod, the signal end of the stroke sensor is electrically connected to the cylinder controller, and the output end of the cylinder controller is connected to the control end of the electromagnetic reversing valve.

[0010] In a second aspect, an embodiment of the present invention provides a digital hydraulic support control method, which is implemented based on a digital hydraulic support system, wherein the digital hydraulic support system includes a chute control center and a plurality of digital hydraulic supports according to any one of the first aspects arranged at a coal mining face, and the main controllers of the plurality of digital hydraulic supports are electrically connected to the chute control center respectively;

[0011] The method comprises the steps of:

[0012] S1. After the digital hydraulic support system is powered on, the system is initialized and self-checked;

[0013] S2. The chute control center issues action instructions to the main controller of each digital hydraulic support, and the action instructions include: lowering the frame, moving the frame, pushing the frame, raising the frame, extending the side guard plate, retracting the side guard plate, extending the balancing jack, retracting the balancing jack, lifting the bottom and / or adjusting the frame;

[0014] S3, after receiving the action instruction, the main controller of the digital hydraulic support solves the action instruction to obtain the telescopic length driving signal of each digital cylinder, and sends it to the digital cylinder;

[0015] S4, after receiving the telescopic length driving signal, the digital oil cylinder performs an action corresponding to the action instruction according to the telescopic length driving signal, and feeds back the current working posture state of the digital hydraulic support to the main controller through the inclination sensor;

[0016] S5. If the main controller determines that the current working posture of the digital hydraulic support is abnormal, it transmits an abnormal signal to the chute control center and adjusts and controls the working posture of the hydraulic support;

[0017] If the main controller determines that the current working posture of the digital hydraulic support is normal, it sends a normal working signal to the chute control center and enters the next action instruction cycle until the coal cutting work on duty is completed.

[0018] Optionally, the main controller includes: a communication module and a solution module; the step S3 includes:

[0019] The main controller receives the hydraulic support action instruction issued by the chute control center through the communication module;

[0020] The main controller converts the motion command into the spatial posture of each digital cylinder of the hydraulic support through the solution module, and obtains the cylinder telescopic length driving signal based on the spatial posture of each digital cylinder; wherein the solution module is preset with the conversion relationship between the motion command and the spatial posture of the digital cylinder and the conversion relationship between the spatial posture of the digital cylinder and the cylinder telescopic length driving signal;

[0021] The main controller transmits the cylinder telescopic length driving signal to the digital cylinder through the communication module.

[0022] Optionally, in step S1, after the digital hydraulic support system is powered on, initialization operations and self-checks are performed on the system, including: current posture measurement of the hydraulic support, digital cylinder pipeline pressure detection, and system fault detection.

[0023] Optionally, the current posture measurement of the hydraulic support includes:

[0024] The conversion relationship between the support posture space and the driving space is derived according to the spatial geometric relationship, and the driving space includes the cylinder telescopic length driving signal;

[0025] The conversion relationship is used as an input index, and a mapping model from the drive space to the posture space is obtained by using a neural network, and stored in a main controller;

[0026] Use the corresponding digital cylinder to feed back the current extension and contraction amount of the column, top beam, side guard plate and push jack to the main controller;

[0027] The main controller inputs the obtained current expansion and contraction amounts of the columns, top beams and side guards into the mapping model to calculate the postures of the key components inside the current hydraulic support; the key components inside at least include columns, top beams and side guards;

[0028] Based on the extension and contraction amount of the push jack and the mapping model, the relative position of the hydraulic support in the fully mechanized mining equipment space is obtained;

[0029] The tilt sensor fixed on the base is used to feedback the current pitch angle of the hydraulic support;

[0030] According to the posture of the key components inside the hydraulic support, the relative position of the hydraulic support in the fully mechanized mining equipment space and the current pitch angle of the hydraulic support, the posture of the hydraulic support in the fully mechanized mining working face is obtained.

[0031] Optionally, in step S5, if the main controller determines that the current working posture state of the digital hydraulic support is abnormal, an abnormal signal is transmitted to the chute centralized control center, and the working posture of the hydraulic support is adjusted and controlled. The method further includes: a controller of the digital cylinder receives a driving control signal sent by the main controller for the digital cylinder to be extended to a target position;

[0032] The piston rod of the digital oil cylinder is controlled to telescope to a target position according to the drive control signal.

[0033] Optionally, in step S2, if the action instruction sent is to lower the frame, the action sequence of the hydraulic support is: the guard plate jack contracts to a preset length; the column contracts and stops when the column cylinder reaches a preset oil pressure.

[0034] Optionally, in step S2, if the action instruction sent is to move the frame, the action sequence of the hydraulic support is as follows: the chute control center calculates the displacement that the current hydraulic support needs to move according to the current positions of the hydraulic support and the scraper conveyor, and sends it to the main controller of the hydraulic support;

[0035] The main controller of the hydraulic support determines the contraction length driving amount of the push jack based on the displacement and sends it to the controller of the push jack;

[0036] After receiving the contraction length driving amount, the controller of the push jack controls the action of the electromagnetic reversing valve to contract the push jack to a predetermined length.

[0037] Optionally, if the push jack cannot be retracted to a predetermined length during the frame shifting process, the main controller of the hydraulic support reads the current column pressure;

[0038] If the column pressure is greater than the preset value, the shelf lowering command is repeated until the column pressure is less than the preset value, and the shelf moving command is continued;

[0039] If the column pressure is less than the preset value, the electromagnetic reversing valve is controlled to move in the reverse direction to move the push jack to a preset distance, and the frame moving instruction is continued;

[0040] If the above steps are performed more than twice at the same position and the push jack still cannot be retracted to the specified length, an error command will be sent to the chute control center to prompt manual adjustment.

[0041] Optionally, in step S2, if the action instruction sent is to raise the frame, the action sequence of the hydraulic support is: the column cylinder extends until the column cylinder pressure reaches a preset value and stops; the guard plate jack extends until the guard plate jack pressure reaches a preset value and stops.

[0042] Preferably, if the instruction sent is to push and slide, the action sequence of the hydraulic support is: the chute control center calculates the displacement that the current scraper conveyor needs to move according to the current positions of the hydraulic support and the scraper conveyor, and sends it to the hydraulic support controller; the hydraulic support controller converts it into the extension length of the push cylinder; after the digital cylinder receives the extension length, it controls the action of the electromagnetic reversing valve to extend the corresponding length.

[0043] The digital hydraulic support and control method thereof provided in the embodiment of the present invention adopts a digital cylinder to replace the traditional hydraulic support column cylinder, push jack, guard plate jack, and balance jack. The main controller of the hydraulic support receives the action command of the chute control center and solves it into the push stroke of the digital cylinder at the corresponding position. The digital cylinder automatically extends and retracts to the predetermined stroke position, which is convenient for realizing the precise control of the hydraulic support, thereby facilitating the improvement of the precise control of the hydraulic support and the degree of automation of its machine following. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 A schematic diagram of the structure of a digital hydraulic support provided by an embodiment of the present invention;

[0046] Figure 2 A block diagram of the control structure of each digital cylinder provided in an embodiment of the present invention;

[0047] Figure 3A schematic diagram of the structure of a digital oil cylinder provided in one embodiment of the present invention;

[0048] Figure 4 A schematic diagram of the structure of a digital hydraulic support system provided by an embodiment of the present invention;

[0049] Figure 5 A schematic flow chart of a digital hydraulic support control method provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0050] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0051] It should be clear that the described embodiments are only some embodiments of the present invention, rather than all embodiments. In order to more clearly illustrate the present invention, many technical details are described in the following specific embodiments. Those skilled in the art should understand that the present invention can also be implemented without some of the details. In addition, in order to highlight the main purpose of the present invention, some methods, means, components and their applications well known to those skilled in the art are not described in detail, but this does not affect the implementation of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0052] See also Figures 1 to 4 As shown, the digital hydraulic support provided by an embodiment of the present invention is a coal mining equipment suitable for use in coal mining scenarios.

[0053] The digital hydraulic support includes: a main controller 300, a support base 10, a support top beam 20, a guard plate 30, a shield beam 40, a push jack 50 ( Figure 1 The protective plate jack 60, the balancing jack (not shown in the figure) and the support column 70 are respectively arranged on the support base 10, the top ends of the protective beam 40 and the support column 70 are connected to the support top beam 20, the front end of the support top beam 20 is hinged with the protective plate 30, the balancing jack is located on the support top beam 20, one end of the protective plate jack 60 is connected to the support top beam 20, and the other end is connected to the protective plate 30;

[0054] Among them, the support base 10, the support top beam 20, the guard plate 30 and the shield beam 40 are the bearing structural parts of the hydraulic support. The push jack 50, the guard plate jack 60, the balance jack and the support column 70 are the power actuators of the hydraulic support, providing the power source for the support and action of the hydraulic support.

[0055] The support base 10 is also provided with an inclination sensor 80 , and the push jack, the guard plate jack 60 and the support column 70 respectively use digital cylinders, and the inclination sensor 80 and the digital cylinder are respectively electrically connected to the main controller 300 .

[0056] The sensor is an auxiliary element of the hydraulic support, which collects the main parameters of the hydraulic support during its operation. For example, the inclination sensor 80 is used to collect the inclination of the hydraulic support base 10 and transmit it to the main controller 300;

[0057] Since the push jack 50, the guard plate jack 60, the balance jack and the support column 70 use digital cylinders, for the convenience of description, the following text also uses "each cylinder" or "each digital cylinder" to replace the above-mentioned power actuators.

[0058] The main controller 300 is used to receive the action instructions from the chute control center and resolve the action instructions from the posture space to the drive space. The digital cylinder moves to the predetermined position according to the received digital drive signal, thereby realizing the automatic control of the hydraulic support.

[0059] like Figure 2 and Figure 3 As shown, the digital oil cylinder includes a hydraulic cylinder 110 and a piston rod 111 disposed in the hydraulic cylinder 110, the piston rod 111 divides the hydraulic cylinder 110 into a rod chamber 113 and a rodless chamber 114, the hydraulic cylinder 110 is provided with a first oil inlet 115 and a second oil inlet 116, the first oil inlet 115 is communicated with the rod chamber 113, the second oil inlet 116 is communicated with the rodless chamber 114, the first oil inlet 115 and the second oil inlet 116 are respectively provided with a pressure sensor 120, and the oil inlet ends of the first oil inlet 115 and the second oil inlet 116 are connected to an electromagnetic reversing valve 150;

[0060] The hydraulic cylinder 110 has a accommodating chamber at one end of the rodless chamber 114, in which a stroke sensor 130 and a cylinder controller 140 are provided. One end of the stroke sensor 130 is connected to the piston end 112 of the piston rod 111, the signal end of the stroke sensor 130 is electrically connected to the cylinder controller 140, and the output end of the cylinder controller 140 is connected to the control end of the electromagnetic reversing valve 150.

[0061] Among them, the hydraulic cylinder 110 and the piston rod 111 arranged in the hydraulic cylinder 110 are the main body of the digital cylinder and the actuator of the digital cylinder; the pressure sensor 120 detects the oil pressure at the inlet and outlet of the cylinder; the stroke sensor 130 detects the current extension and contraction amount of the digital cylinder, and provides data support for the precise control of the extension and contraction amount of the cylinder; the cylinder controller 140 is used to receive the data transmitted by the pressure sensor 120 and the stroke sensor 130 and send it to the main controller 300, as well as to receive the action instructions issued by the main controller 300, and control the hydraulic cylinder 110 to move or stop according to the action instructions; the electromagnetic reversing valve 150 is used to receive the control signal issued by the cylinder controller 140, and switch the oil circuit to realize the movement direction of the piston rod 111 in the hydraulic cylinder 110.

[0062] Figure 2 In the figure, the first guard plate 60 from the left is a primary guard plate, and the second guard plate 60 is a secondary guard plate.

[0063] The digital hydraulic support provided in the embodiment of the present invention adopts a digital cylinder to replace the traditional hydraulic support column 70 cylinder, push jack, guard plate jack 60, and balance jack. The main controller 300 of the hydraulic support receives the action command of the chute control center and resolves it into the push stroke of the digital cylinder at the corresponding position. The digital cylinder automatically extends and retracts to the predetermined stroke position, which is convenient for realizing the precise control of the hydraulic support, thereby facilitating the improvement of the precise control of the hydraulic support and the degree of automation of its machine following.

[0064] Embodiment 2

[0065] See also Figure 4 and Figure 5 As shown, the digital hydraulic support control method provided by the embodiment of the present invention is implemented based on the digital hydraulic support system, such as Figure 4 As shown, the digital hydraulic support system includes a chute centralized control center and a plurality of digital hydraulic supports as described in any one of the embodiments of the first embodiment arranged on the coal mining working face, and the main controllers 300 of the plurality of digital hydraulic supports are electrically connected to the chute centralized control center respectively;

[0066] like Figure 5 As shown, the method comprises the steps of:

[0067] S1. After the digital hydraulic support system is powered on, the system is initialized and self-checked;

[0068] S2, the chute control center sends action instructions to the main controller 300 of each digital hydraulic support, and the action instructions include: lowering the frame, moving the frame, pushing the frame, raising the frame, extending the guard plate 30, retracting the guard plate 30, extending the balancing jack, retracting the balancing jack, lifting the bottom and / or adjusting the frame;

[0069] The chute control center 200 is used to calculate the action instructions for the comprehensive mining face equipment according to the production plan; the main controller 300 of the hydraulic support is at least used to receive the action instructions of the chute control center and resolve them into the driving signals of the hydraulic support; the digital cylinder 400 receives the driving signal sent by the hydraulic support controller and runs to the specified position; the sensor 500 is used to feedback the working status of the hydraulic support.

[0070] Specifically, the main controller 300 of each hydraulic support can control one hydraulic support or multiple hydraulic supports. The sensor 500 includes but is not limited to a tilt sensor 80 and a mining height sensor; the tilt sensor 80 is installed on the hydraulic support base 10 to detect the pitch angle of the hydraulic support base 10 as the working surface advances; the mining height sensor is used to detect the current mining height of the hydraulic support.

[0071] S3, after receiving the action instruction, the main controller 300 of the digital hydraulic support solves the action instruction to obtain the telescopic length driving signal of each digital cylinder at present, and sends the signal to the digital cylinder;

[0072] S4, after receiving the telescopic length driving signal, the digital oil cylinder performs the action corresponding to the action instruction according to the telescopic length driving signal, and feeds back the current working posture state of the digital hydraulic support to the main controller 300 with the inclination sensor 80;

[0073] S5. If the main controller 300 determines that the current working posture of the digital hydraulic support is abnormal, it transmits an abnormal signal to the chute control center and adjusts and controls the working posture of the hydraulic support;

[0074] If the main controller 300 determines that the current working posture of the digital hydraulic support is normal, it sends a normal working signal to the chute control center and enters the next action instruction cycle until the coal cutting work on duty is completed.

[0075] In the step S1, after the digital hydraulic support system is powered on, the system is initialized and self-checked, including: measuring the current posture of the hydraulic support, detecting the pressure of the digital cylinder pipeline, and detecting system faults.

[0076] If the system status detection is abnormal, the process goes to step S6 to send an alarm signal to the chute control center to notify the operator to carry out maintenance.

[0077] The current posture measurement of the hydraulic support includes: deriving the conversion relationship between the support posture space and the drive space according to the spatial geometric relationship, and the drive space includes the telescopic length driving signal of each cylinder; using the conversion relationship as an input indicator, using a neural network to solve the mapping model from the drive space to the posture space, and storing it in the main controller 300; using the corresponding digital cylinder to feedback the current telescopic amount of the column, top beam, guard plate 30 and push jack to the main controller 300; the main controller 300 inputs the obtained current telescopic amount of the column, top beam and guard plate 30 into the mapping model, and calculates the posture of the key components inside the current hydraulic support; the internal key components at least include the column, top beam and guard plate 30; based on the telescopic amount of the push jack and the mapping model, the relative position of the hydraulic support in the comprehensive mining equipment space is obtained.

[0078] The comprehensive mining equipment includes a scraper conveyor and a coal mining machine installed thereon. Generally, the position of the scraper conveyor in the space of the comprehensive mining equipment is determined, and the push jack of the hydraulic support is connected to the chute of the scraper conveyor. After determining the expansion and contraction amount of the push jack, the relative position of the hydraulic support in the space of the comprehensive mining equipment can be calculated according to the expansion and contraction amount of the push jack.

[0079] The inclination sensor 80 fixed on the base is used to feedback the current pitch angle of the hydraulic support; the position and posture of the hydraulic support in the comprehensive mining working face are obtained based on the posture of the key components inside the hydraulic support, the relative position of the hydraulic support in the comprehensive mining equipment space and the current pitch angle of the hydraulic support.

[0080] Among them, posture includes position and attitude. The position is generally expressed in coordinates, and the attitude is generally expressed in inclination angle.

[0081] In some embodiments, in step S5, if the main controller 300 determines that the current working posture state of the digital hydraulic support is abnormal, an abnormal signal is transmitted to the chute centralized control center, and the working posture of the hydraulic support is adjusted and controlled. The method further includes: a controller of the digital cylinder receives a driving control signal sent by the main controller 300 for the digital cylinder to be extended to a target position;

[0082] The piston rod 111 of the digital cylinder is controlled to telescope to a target position according to the driving control signal.

[0083] In step S2, if the action command sent is to lower the frame, the action sequence of the hydraulic support is: the guard plate jack 60 shrinks to a preset length; the column shrinks and stops when the column cylinder reaches a preset oil pressure.

[0084] In step S2, if the action instruction sent is to move the frame, the action sequence of the hydraulic support is as follows: the chute control center calculates the displacement that the current hydraulic support needs to move according to the current positions of the hydraulic support and the scraper conveyor, and sends it to the main controller 300 of the hydraulic support; the main controller 300 of the hydraulic support determines the contraction length drive amount of the push jack based on the displacement, and sends it to the controller of the push jack; after receiving the contraction length drive amount, the controller of the push jack controls the electromagnetic reversing valve 150 to operate, so that the push jack contracts to a predetermined length.

[0085] Furthermore, if the push jack cannot be retracted to the preset length during the frame moving process, the main controller 300 of the hydraulic support reads the current column pressure; if the column pressure is greater than the preset value, the frame lowering instruction is repeated until the column pressure is less than the preset value, and the frame moving instruction is continued; if the column pressure is less than the preset value, the electromagnetic reversing valve 150 is controlled to move the push jack in the opposite direction by a preset distance, and the frame moving instruction is continued; if the above steps are performed more than twice at the same position and the push jack still cannot be retracted to the specified length, an error instruction is sent to the chute control center to prompt manual adjustment.

[0086] Specifically, in step S2, if the action instruction sent is to lift the frame, the action sequence of the hydraulic support is: the column cylinder extends and stops when the column cylinder pressure reaches a preset value; the guard plate jack 60 extends and stops when the guard plate jack 60 pressure reaches a preset value.

[0087] In other embodiments, in step S2, if the instruction sent is to push and slide, the action sequence of the hydraulic support is: the chute control center calculates the displacement that the current scraper conveyor needs to move according to the current positions of the hydraulic support and the scraper conveyor, and sends it to the hydraulic support controller; the hydraulic support controller converts it into an extension length drive signal of the push cylinder; after receiving the extension length drive signal, the digital cylinder controls the electromagnetic reversing valve 150 to operate and extend the corresponding length.

[0088] In some other embodiments, the main controller 300 includes: a communication module and a solution module; the step S3 includes: the main controller 300 receives the hydraulic support action instruction issued by the chute control center through the communication module;

[0089] The main controller 300 converts the motion command into the spatial posture of each digital cylinder of the hydraulic support through the solution module, and obtains the cylinder telescopic length driving signal based on the spatial posture of each digital cylinder; wherein the solution module is preset with the conversion relationship between the motion command and the spatial posture of the digital cylinder and the conversion relationship between the spatial posture of the digital cylinder and the cylinder telescopic length driving signal;

[0090] The main controller 300 transmits the cylinder telescopic length driving signal to the digital cylinder through the communication module.

[0091] The action command can be solved according to the preset or calculated conversion relationship to obtain the spatial posture of the support top beam 2020, the shield beam 40, and the column 70, and then the cylinder telescopic length driving signal of the driving space can be calculated through the conversion relationship between the spatial posture and the cylinder telescopic length driving signal. The cylinder telescopic length driving signal includes the telescopic length driving amount of the column 70, the guard plate jack 60, and the push jack 50.

[0092] Specifically, the conversion relationship between the support posture space and the driving space can be derived based on the spatial geometric relationship. The driving space includes the aforementioned support top beam 2020, shielding beam 40, column 70 and other cylinder telescopic length driving signals.

[0093] The digital hydraulic support control method provided in this embodiment adopts a digital cylinder, and presets the conversion relationship from action instructions to support posture space, and from support posture space to drive space in the main controller 300. When receiving the issued action instructions, the action instructions are solved to accurately determine the current telescopic length drive signal of each digital cylinder, and adjust the telescopic length of each cylinder based on the drive signal. Even when the pressure of the digital cylinder's own power system is unstable or the external load changes, the digital cylinder's own state can still be known through its own sensor and the control parameters can be adjusted in real time, and the cylinder telescopic length drive signal can be determined according to the preset conversion relationship, thereby facilitating accurate control of the support posture.

[0094] It should be noted that, in this article, for the aforementioned various method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described action sequence, because according to the present application, some steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and units involved are not necessarily required by the present application. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0095] In this article, the terms "upper", "lower" and other terms indicating orientation or positional relationship are used only to facilitate the description of the present invention and simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium.

[0096] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0097] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A digital hydraulic support control method, characterized in that: Based on the implementation of the digital hydraulic support system, the digital hydraulic support system includes a chute control center and multiple digital hydraulic supports arranged on the coal mining face, and the main controllers of the multiple digital hydraulic supports are electrically connected to the chute control center respectively; wherein the digital hydraulic support includes: a main controller, a support base, a support top beam, a protective beam, a side guard plate, a push jack, a side guard plate jack, a balance jack and a support column, the side guard plate, the push jack and the support column are respectively arranged on the support base, the top ends of the protective beam and the support column are connected to the support top beam, the front end of the support top beam is hinged with the side guard plate, the balance jack is located on the support top beam, one end of the side guard plate jack is connected to the support top beam, and the other end is connected to the side guard plate; The support base is also provided with an inclination sensor, the push jack, the guard plate jack and the support column respectively use digital cylinders, and the inclination sensor and the digital cylinder are respectively electrically connected to the main controller; the digital cylinder includes a hydraulic cylinder and a piston rod arranged in the hydraulic cylinder, the piston rod divides the hydraulic cylinder into a rod chamber and a rodless chamber, the hydraulic cylinder is provided with a first oil inlet and a second oil inlet, the first oil inlet is connected to the rod chamber, the second oil inlet is connected to the rodless chamber, the first oil inlet and the second oil inlet are respectively provided with pressure sensors, and the oil inlet ends of the first oil inlet and the second oil inlet are connected to electromagnetic reversing valves; The hydraulic cylinder has a receiving chamber at one end of the rodless chamber, a stroke sensor is arranged in the receiving chamber, one end of the stroke sensor is connected to the piston end of the piston rod, a signal end of the stroke sensor is electrically connected to a cylinder controller, and an output end of the cylinder controller is connected to a control end of the electromagnetic reversing valve; The method comprises the steps of: S1. After the digital hydraulic support system is powered on, the system is initialized and self-checked; S2. The chute control center issues action instructions to the main controller of each digital hydraulic support, and the action instructions include: lowering the frame, moving the frame, pushing the frame, raising the frame, extending the side guard plate, retracting the side guard plate, extending the balancing jack, retracting the balancing jack, lifting the bottom and / or adjusting the frame; S3, after receiving the action instruction, the main controller of the digital hydraulic support solves the action instruction to obtain the telescopic length driving signal of each digital cylinder, and sends it to the digital cylinder; S4, after receiving the telescopic length driving signal, the digital oil cylinder performs an action corresponding to the action instruction according to the telescopic length driving signal, and feeds back the current working posture state of the digital hydraulic support to the main controller through the inclination sensor; S5. If the main controller determines that the current working posture of the digital hydraulic support is abnormal, it transmits an abnormal signal to the chute control center and adjusts and controls the working posture of the hydraulic support; If the main controller determines that the current working posture of the digital hydraulic support is normal, it sends a normal working signal to the chute control center and enters the next action instruction cycle until the coal cutting work on duty is completed.

2. The digital hydraulic support control method according to claim 1, characterized in that: The main controller includes: a communication module and a solution module; the step S3 includes: The main controller receives the hydraulic support action instruction issued by the chute control center through the communication module; The main controller converts the motion command into the spatial posture of each digital cylinder of the hydraulic support through the solution module, and obtains the cylinder telescopic length driving signal based on the spatial posture of each digital cylinder; wherein the solution module is preset with the conversion relationship between the motion command and the spatial posture of the digital cylinder and the conversion relationship between the spatial posture of the digital cylinder and the cylinder telescopic length driving signal; The main controller transmits the cylinder telescopic length driving signal to the digital cylinder through the communication module.

3. The digital hydraulic support control method according to claim 1 or 2, characterized in that: In the step S1, after the digital hydraulic support system is powered on, the system is initialized and self-checked, including: measuring the current posture of the hydraulic support, detecting the pressure of the digital cylinder pipeline, and detecting system faults.

4. The digital hydraulic support control method according to claim 3 is characterized in that: The current posture measurement of the hydraulic support includes: The conversion relationship between the support posture space and the driving space is derived according to the spatial geometric relationship, and the driving space includes the driving signals of the telescopic lengths of the cylinders; The conversion relationship is used as an input index, and a mapping model from the drive space to the posture space is obtained by using a neural network, and stored in a main controller; Use the corresponding digital cylinder to feed back the current extension and contraction amount of the column, top beam, side guard plate and push jack to the main controller; The main controller inputs the obtained current expansion and contraction amounts of the columns, top beams and side guards into the mapping model to calculate the postures of the key components inside the current hydraulic support; the key components inside at least include columns, top beams and side guards; Based on the extension and contraction amount of the push jack and the mapping model, the relative position of the hydraulic support in the fully mechanized mining equipment space is obtained; The tilt sensor fixed on the base is used to feedback the current pitch angle of the hydraulic support; According to the posture of the key components inside the hydraulic support, the relative position of the hydraulic support in the fully mechanized mining equipment space and the current pitch angle of the hydraulic support, the posture of the hydraulic support in the fully mechanized mining working face is obtained.

5. The digital hydraulic support control method according to claim 1, characterized in that: In step S5, if the main controller determines that the current working posture state of the digital hydraulic support is abnormal, an abnormal signal is transmitted to the chute centralized control center, and the working posture of the hydraulic support is adjusted and controlled. The method further includes: a controller of the digital cylinder receives a driving control signal sent by the main controller for the digital cylinder to be extended to a target position; The piston rod of the digital oil cylinder is controlled to telescope to a target position according to the drive control signal.

6. The digital hydraulic support control method according to claim 1, characterized in that: In step S2, if the action command sent is to lower the frame, the action sequence of the hydraulic support is: the guard plate jack is retracted to a preset length; the column is retracted and stops when the column cylinder reaches a preset oil pressure; If the action command sent is to move the frame, the action sequence of the hydraulic support is as follows: the chute control center calculates the displacement that the current hydraulic support needs to move according to the current position of the hydraulic support and the scraper conveyor, and sends it to the main controller of the hydraulic support; The main controller of the hydraulic support determines the contraction length driving amount of the push jack based on the displacement and sends it to the controller of the push jack; After receiving the contraction length driving amount, the controller of the push jack controls the action of the electromagnetic reversing valve to contract the push jack to a predetermined length.

7. The digital hydraulic support control method according to claim 6, characterized in that: If the push jack cannot be retracted to the predetermined length during the frame shifting process, the main controller of the hydraulic support reads the current column pressure; If the column pressure is greater than the preset value, the shelf lowering command is repeated until the column pressure is less than the preset value, and the shelf moving command is continued; If the column pressure is less than the preset value, the electromagnetic reversing valve is controlled to move in the reverse direction to move the push jack to a preset distance, and the frame moving instruction is continued; If the above steps are performed more than twice at the same position and the push jack still cannot be retracted to the specified length, an error command will be sent to the chute control center to prompt manual adjustment.

8. The digital hydraulic support control method according to claim 1, characterized in that: In step S2, if the action instruction sent is to lift the frame, the action sequence of the hydraulic support is: the column cylinder extends until the column cylinder pressure reaches a preset value and stops; the guard plate jack extends until the guard plate jack pressure reaches a preset value and stops.

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