Control system and method for automatic coal cutting with fling cutter in fully mechanized coal mining face

Abstract

The present application provides a control system and method for automatic knife throwing in coal mining on a fully mechanized coal mining face in a coal mine, including a host computer, a switch and a hydraulic support electric control system, the hydraulic support electric control system including a support controller, a push driver, a push solenoid valve, a column driver and a column solenoid valve installed on each hydraulic support, the support controller is used to receive control instructions sent by the switch and execute corresponding control logic according to the control instructions, when executing the control logic, the push stroke of each hydraulic support within the target range can be distributed in an increasing deviation manner. The present application can conveniently determine the knife throwing entry point through the host computer, and execute the corresponding control logic according to the control instruction through the support controller, so that the push stroke of each hydraulic support within the target range in the process of adding and throwing the knife is distributed in an increasing deviation manner, thereby automatically completing the knife throwing, the entire control process only requires one support worker to select the knife entry point, which can significantly reduce the number of personnel and reduce the work intensity.

Description

Technical Field

[0001] The present application relates to the technical field of coal mining, and in particular to a control system and method for automatic coal cutting with a flinging cutter in a fully mechanized coal mining face of a coal mine. Background Art

[0002] Coal is the main energy source in my country. 90% of the mined coal is usually mined from underground mines hundreds of meters or even kilometers deep. As the mining depth increases, more and more factors affect production safety, and mining conditions become more and more complex. Therefore, in order to reduce the mortality rate caused by coal mine accidents, reduce the labor intensity of workers under complex mining conditions, and improve the efficiency of coal mining, it is necessary to improve the automation and intelligence of coal mining.

[0003] At present, the coal mining technology of fully mechanized mining face has become mature, and the intelligent fully mechanized mining is also rapidly popularizing. The automated fully mechanized mining technology has been able to replace most of the traditional coal mining technology. The actions of the coal mining machine in the process of pushing, pulling, lifting the bottom, etc. can be automated and applied well, but the uncertainty of complex geological conditions and the mining of thin coal seams have put higher requirements on the automated fully mechanized mining technology. In the past, in order to ensure the "three straight and two flat" working face and the distance of the safe exit, it was necessary to manually operate the equipment on the working face to add knives and throw knives, which increased the labor intensity of the on-site coal miners and made it difficult to ensure the quality of the project. This situation is even worse in the mining of thin coal seams. Summary of the invention

[0004] The present application provides a control system and method for automatically adding and throwing knives in a fully mechanized coal mining face in a coal mine, so as to solve the problem that the prior art requires manual operation of equipment on the working face to add and throw knives, which increases the labor intensity of on-site coal miners and makes it difficult to ensure the quality of the project.

[0005] In the first aspect, the present application provides a control system for automatic coal cutting and slinging in a fully mechanized coal mining face in a coal mine, comprising a host computer, a switch and a hydraulic support electric control system;

[0006] The hydraulic support electric control system includes a support controller, a push drive, a push solenoid valve, a column drive and a column solenoid valve installed on each hydraulic support;

[0007] The host computer is connected to the switch, the switch is respectively connected to the support controller of each hydraulic support, the support controller on each hydraulic support is connected to the push driver and the column driver, the push driver is connected to the push solenoid valve, and the column driver is connected to the column solenoid valve;

[0008] The host computer is used to determine the entry point of the knife adding and swinging according to the input command information, and at the same time retrieve the pre-stored control logic of automatic knife adding and swinging, and generate corresponding automatic knife adding or automatic knife swinging control instructions according to the control logic, and is also used to send the control instructions to the support controller of each hydraulic support within the target range through the switch;

[0009] The support controller is used to receive the control instructions sent by the switch and execute the corresponding control logic according to the control instructions; when the support controller executes the control logic, the pushing stroke of each hydraulic support within the target range can be distributed in an increasing deviation manner, and the support controller respectively controls the correspondingly connected pushing driver and the column driver, the pushing solenoid valve is controlled by the pushing driver, and the pushing solenoid valve controls the pushing of the pushing hydraulic cylinder when it is opened or closed under the control of the pushing driver, and the column solenoid valve is controlled by the column driver, and the column solenoid valve controls the lifting column of the column hydraulic cylinder when it is opened or closed under the control of the column driver.

[0010] In a possible implementation, it further includes a coal mining machine position sensor, which is arranged on each of the hydraulic supports, connected to the support controller, and used to obtain the position of the coal mining machine relative to the hydraulic support;

[0011] When the support controller executes the control logic, when the coal mining machine position sensor detects that the coal mining machine has reached a certain trigger position hydraulic support, the trigger position support controller at the trigger position hydraulic support position sends a feedback signal to the host computer. After receiving the feedback signal sent by the trigger position support controller, the host computer sends a control signal to the support controllers of all hydraulic supports from the trigger position hydraulic support to the end hydraulic support through the switch.

[0012] In a possible implementation, the coal mining machine position sensor is a radio frequency infrared sensor.

[0013] In a possible implementation, the hydraulic supports within the target range are all hydraulic supports between the trigger position hydraulic support and the end hydraulic support when the control logic is executed.

[0014] In a possible implementation, the trigger position hydraulic support is a hydraulic support at the determined cutting point of the knife, and the cutting point of the knife is a hydraulic support position determined after the coal mining machine cuts through the end and then returns to a range of 20 to 30 frames from the end support.

[0015] In a possible implementation, a displacement sensor is further included, wherein the displacement sensor is connected to a support controller of the corresponding hydraulic support, and the displacement sensor is used to detect the displacement distance of the hydraulic support and send the detected displacement distance value to the support controller.

[0016] In a second aspect, the present application provides a method for controlling automatic knife throwing in coal mining in a fully-mechanized coal mining face, wherein the method uses the above-mentioned control system for automatic knife throwing in coal mining in a fully-mechanized coal mining face to control knife throwing and knife adding in the coal mining process, and the method comprises:

[0017] The user inputs command information including the type of knife addition and knife entry point to the upper computer. The upper computer determines the knife entry point based on the input command information and retrieves the pre-stored automatic knife addition and knife entry control logic, generates corresponding automatic knife addition or automatic knife throwing control instructions based on the control logic, and sends the control instructions to the support controllers of each hydraulic support within the target range through the switch;

[0018] After receiving the control instruction sent by the switch, the support controller executes the corresponding control logic according to the control instruction, so that the pushing stroke of each hydraulic support within the target range is distributed in an increasing deviation manner during the process of adding and swinging the knife, thereby completing the addition and swinging of the knife.

[0019] In one possible implementation, the method adopts oblique cutting, and when the coal cutting process performs the knife-flinging operation, when the coal mining machine reaches the trigger position hydraulic support for adding the knife-flinging, the trigger position support controller at the trigger position hydraulic support sends a feedback signal to the host computer. After receiving the feedback signal sent by the trigger position support controller, the host computer sends a control signal to the support controllers of all hydraulic supports between the trigger position hydraulic support and the end hydraulic support through the switch.

[0020] In a possible implementation, when the instruction input by the host computer is the instruction information of adding a cutter, when the coal mining machine reaches the trigger position hydraulic support determined by the adding a cutter, the trigger position support controller sends a feedback signal to the host computer. After receiving the feedback signal sent by the trigger position support controller, the host computer sends a control signal to the support controllers of all hydraulic supports between the trigger position hydraulic support and the end hydraulic support through the switch. Under the control of the support controller, each hydraulic support within the target range first follows the coal mining machine and only pulls the support without pushing it. After the coal mining machine cuts through the end, it returns to the position of the trigger position hydraulic support. Then, under the control of the support controller, each hydraulic support within the target range makes the pushing stroke present an incremental deviation distribution according to the control logic, so as to realize automatic incremental pushing and sliding from the trigger position hydraulic support to the end hydraulic support, fill the lagging section of the conveyor, and finally, the coal mining machine returns the tool from the trigger position hydraulic support to the end hydraulic support to cut through the coal wall, and the automatic adding of cuts is completed.

[0021] When the instruction input by the host computer is the instruction information of the knife-throwing, when the coal mining machine reaches the trigger position hydraulic support determined by the knife-throwing, the coal mining machine first cuts through the end, and then returns from the end. During the return process, each hydraulic support within the target range follows the coal mining machine under the control of the support controller and only pulls the support without pushing it. When returning to the position of the trigger position hydraulic support, the trigger position support controller sends a feedback signal to the host computer. After receiving the feedback signal sent by the trigger position support controller, the host computer sends a control signal to the support controllers of all hydraulic supports from the trigger position hydraulic support to the end hydraulic support through the switch, so that each hydraulic support within the target range can realize the distribution of the pushing stroke in an increasing deviation manner according to the control logic under the control of the support controller, and realize the automatic increasing pushing and sliding from the end hydraulic support to the trigger position hydraulic support, and the automatic knife-throwing ends.

[0022] Compared with the prior art, this application has the following beneficial effects:

[0023] The present application provides a control system and method for automatic knife adding and throwing in coal mining in a fully mechanized coal mining face of a coal mine, which can conveniently and quickly determine the knife entry point of adding and throwing through the host computer, and make the knife entry point more accurately determined during the knife adding and throwing operation. At the same time, the host computer can send a control instruction of automatic knife adding or throwing to the support controller of each hydraulic support within the target range through the switch, so that the support controller can execute the corresponding control logic according to the control instruction, and then make the pushing stroke of each hydraulic support within the target range in the process of adding and throwing present an increasing deviation distribution, so as to automatically complete the process of adding and throwing. The whole control process can conveniently control the pushing drive and the column drive through the support controller, and then control the pushing solenoid valve and the column solenoid valve respectively through the pushing drive and the column drive, so that the automatic increasing pushing and sliding of each hydraulic support within the target range during the process of adding and throwing is better realized. Moreover, the whole automatic knife adding and throwing control process only requires one support worker to select the knife entry point, which can significantly reduce the number of personnel during the knife adding and throwing operation, and reduce the work intensity, and has high practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 A system block diagram of a control system for automatic coal cutting and sling cutting in a fully mechanized coal mining face provided in one embodiment of the present application;

[0026] Figure 2 This is a schematic diagram of the layout of the fully mechanized mining working face in the embodiment of the present application;

[0027] Figure 3 This is a schematic diagram of the knife adding control process in the embodiment of the present application;

[0028] Figure 4 This is a schematic diagram of the knife-flinging control process according to an embodiment of the present application.

[0029] Description of reference numerals:

[0030] 100. Host computer; 200. Switch; 300. Electric control system of hydraulic support; 301. Support controller; 302. Push drive; 303. Push solenoid valve; 304. Column drive; 305. Column solenoid valve; 400. Coal mining machine position sensor; 500. Push stroke sensor. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application is clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work also fall within the scope of protection of the present application.

[0032] See also Figure 1-Figure 4 . Figure 1 A system block diagram of a control system for automatic coal cutting and sling cutting in a fully mechanized coal mining face provided in one embodiment of the present application; Figure 2 This is a schematic diagram of the layout of the fully mechanized mining working face in the embodiment of the present application; Figure 3 This is a schematic diagram of the knife adding control process in the embodiment of the present application; Figure 4 The present invention provides a control system for automatic knife-flinging in a fully mechanized coal mining face, comprising a host computer 100, a switch 200 and a hydraulic support electric control system 300.

[0033] The hydraulic support electric control system 300 includes a support controller 301 , a push driver 302 , a push solenoid valve 303 , a column driver 304 and a column solenoid valve 305 installed on each hydraulic support.

[0034] In the embodiment of the present application, the host computer 100 is connected to the switch 200, and the switch 200 is respectively connected to the support controller 301 of each hydraulic support. The support controller 301 on each hydraulic support is connected to the push drive 302 and the column drive 304. The push drive 302 is connected to the push solenoid valve 303, and the column drive 304 is connected to the column solenoid valve 305.

[0035] The host computer 100 is used to determine the entry point of the cutter according to the input command information, retrieve the pre-stored control logic of automatic cutter addition and swinging, and generate corresponding automatic cutter addition or automatic cutter swinging control instructions according to the control logic. It is also used to send the control instructions to the support controller 301 of each hydraulic support within the target range through the switch 200.

[0036] The support controller 301 is used to receive the control instructions sent by the switch 200 and execute the corresponding control logic according to the control instructions; when the support controller 301 executes the control logic, the pushing stroke of each hydraulic support within the target range can be distributed in an increasing deviation manner, and the support controller 301 respectively controls the corresponding connected pushing driver 302 and column driver 304 accordingly. The pushing solenoid valve 303 is controlled by the pushing driver 302. When the pushing solenoid valve 303 is opened or closed under the control of the pushing driver 302, it controls the pushing of the pushing hydraulic cylinder. The column solenoid valve 305 is controlled by the column driver 304. When the column solenoid valve 305 is opened or closed under the control of the column driver 304, it controls the lifting column of the column hydraulic cylinder.

[0037] The control system for automatic knife adding and throwing of coal in the coal mine comprehensive mining working face of the embodiment of the present application can conveniently and quickly determine the entry point of knife adding and throwing of coal through the upper computer 100, and can make the entry point during knife adding and throwing of coal more accurately determined. At the same time, the upper computer 100 can send control instructions for automatic knife adding or throwing of knife to the support controller 301 of each hydraulic support within the target range through the switch 200, so that the support controller 301 can execute the corresponding control logic according to the control instruction, and then make the pushing stroke of each hydraulic support within the target range in the process of knife adding and throwing of coal present an increasing deviation distribution, thereby automatically completing the process of knife adding and throwing of coal. The entire control process can conveniently control the push driver 302 and the column driver 304 through the support controller 301, and then control the push solenoid valve 303 and the column solenoid valve 305 respectively through the push driver 302 and the column driver 304, so that the automatic increasing pushing and sliding of each hydraulic support within the target range in the process of knife adding and throwing of coal is better realized. Moreover, the entire automatic knife adding and swinging control process only requires one scaffolding worker to select the knife entry point, which can significantly reduce the number of personnel in the knife adding and swinging operation, reduce work intensity, and has high practicality.

[0038] As an optional method of the embodiment of the present application, the control system for automatic coal mining and knife throwing in the coal mine comprehensive mining working face provided in the embodiment of the present application also includes a coal mining machine position sensor 400, and the coal mining machine position sensor 400 is arranged on each hydraulic support. The coal mining machine position sensor is connected to the support controller 301, and the coal mining machine position sensor 400 is used to obtain the position of the coal mining machine relative to the hydraulic support.

[0039] When the support controller 301 executes the control logic, when the coal mining machine position sensor 400 detects that the coal mining machine has reached a certain trigger position hydraulic support, the trigger position support controller at the trigger position hydraulic support position sends a feedback signal to the host computer 100. After receiving the feedback signal sent by the trigger position support controller, the host computer 100 sends a control signal to the support controllers 301 of all hydraulic supports from the trigger position hydraulic support to the end hydraulic support through the switch 200.

[0040] As an optional method of the embodiment of the present application, the coal mining machine position sensor 400 is a radio frequency infrared sensor.

[0041] As an optional method of the embodiment of the present application, each hydraulic support within the target range is all hydraulic supports between the trigger position hydraulic support and the end hydraulic support when executing the control logic.

[0042] As an optional method of an embodiment of the present application, the trigger position hydraulic support is a hydraulic support at the determined entry point of the knife swinging, and the entry point of the knife swinging is a hydraulic support position determined after the coal mining machine cuts through the end and then returns to a range of 20 to 30 frames away from the end support.

[0043] As an optional method of the embodiment of the present application, the control system for automatic adding and throwing away of coal in the fully mechanized coal mining face of the present application also includes a displacement sensor 500, which is connected to the support controller 301 of the corresponding hydraulic support, and is used to detect the displacement distance of the hydraulic support and send the detected displacement distance value to the support controller 301. During the execution of adding and throwing away of the cutter, the support controller 301 determines whether the displacement stroke of each hydraulic support within the target range in the process of adding and throwing away of the cutter is distributed in an increasing deviation manner according to the displacement distance of the hydraulic support detected by the displacement sensor 500, so as to control the displacement driver 302 by controlling the support controller 301, and then control the opening or closing of the displacement solenoid valve 303 by the displacement driver 302, so as to accurately control the displacement distance of the displacement hydraulic cylinder.

[0044] The embodiment of the present application also provides a control method for automatically adding and flinging knives in coal mining on a fully-mechanized coal mining face. The method uses the control system for automatically adding and flinging knives in coal mining on a fully-mechanized coal mining face provided in the embodiment of the present application to control adding and flinging knives during coal mining. The method includes:

[0045] First, the user inputs instruction information including the type of knife adding and knife entry point position to the upper computer 100. The upper computer 100 determines the knife entry point based on the input instruction information and retrieves the pre-stored automatic knife adding and knife throwing control logic, generates corresponding automatic knife adding or automatic knife throwing control instructions based on the control logic, and sends the control instructions to the support controller 301 of each hydraulic support within the target range through the switch 200.

[0046] After receiving the control instruction sent by the switch 200, the support controller 301 executes the corresponding control logic according to the control instruction, so that the pushing stroke of each hydraulic support within the target range is distributed in an increasing deviation manner during the process of adding and swinging the knife, thereby completing the addition and swinging of the knife.

[0047] As an optional method of the embodiment of the present application, the method adopts oblique cutting, and when the coal cutting process performs the knife-throwing operation, when the coal mining machine reaches the trigger position hydraulic support for adding the knife-throwing operation, the trigger position support controller at the trigger position hydraulic support position sends a feedback signal to the upper computer 100. After receiving the feedback signal sent by the trigger position support controller, the upper computer 100 sends a control signal to the support controller 301 of all hydraulic supports between the trigger position hydraulic support and the end hydraulic support through the switch 200.

[0048] As an optional method of the embodiment of the present application, when the instruction input by the host computer 100 is the instruction information of adding cutting, when the coal mining machine reaches the trigger position hydraulic support determined by adding cutting, the trigger position support controller sends a feedback signal to the host computer 100. After receiving the feedback signal sent by the trigger position support controller, the host computer 100 sends a control signal to the support controller 301 of all hydraulic supports between the trigger position hydraulic support and the end hydraulic support through the switch 200. Under the control of the support controller 301, each hydraulic support within the target range first follows the coal mining machine to pull the support but not push it. When the coal mining machine cuts through the end, it returns to the position of the trigger position hydraulic support. Then, under the control of the support controller 301, each hydraulic support within the target range makes the pushing stroke present an incremental deviation distribution according to the control logic under the control of the support controller 301, so as to realize automatic incremental pushing from the trigger position hydraulic support to the end hydraulic support, fill the lagging section of the conveyor, and finally, the coal mining machine returns the tool from the trigger position hydraulic support to the end hydraulic support to cut through the coal wall, and automatic adding cutting is completed.

[0049] During the automatic cutting process, the displacement of each hydraulic support within the target range is Δl i The calculation is as follows:

[0050]

[0051] Among them, n represents the number of supports from the entry point to the end, L represents the cutting depth of the coal mining machine, and i represents the serial number of the supports from the entry point to the end.

[0052] When the instruction input by the host computer 100 is the instruction information of the knife-throwing, when the coal mining machine reaches the trigger position hydraulic support determined by the knife-throwing, the coal mining machine first cuts through the end, and then returns from the end. During the return process, each hydraulic support within the target range first follows the coal mining machine under the control of the support controller 301, only pulling the support but not pushing it. When returning to the position of the trigger position hydraulic support, the trigger position support controller sends a feedback signal to the host computer 100. After receiving the feedback signal sent by the trigger position support controller, the host computer 100 sends a control signal to the support controller 301 of all hydraulic supports from the trigger position hydraulic support to the end hydraulic support through the switch 200, so that each hydraulic support within the target range can realize the distribution of the pushing stroke in an increasing deviation manner according to the control logic under the control of the support controller 301, and realize the automatic increasing pushing and sliding from the end hydraulic support to the trigger position hydraulic support, and the automatic knife-throwing ends.

[0053] During the automatic knife-throwing process, the displacement stroke Δl of each hydraulic support within the target range i The calculation is as follows:

[0054]

[0055] Among them, n represents the number of supports from the entry point to the end, L represents the cutting depth of the coal mining machine, and i represents the serial number of the supports from the entry point to the end.

[0056] The following takes a certain mine working face as an example to illustrate the experimental application of adding cutters and throwing cutters during coal mining using this application.

[0057] The coal seam in the working face of the mine has a dip of 341m and a coal seam height of 2.0m to 3.3m, which is a geologically complex coal seam. The dipped coal seam has a reverse arch section with a depression in the middle and elevation on both sides.

[0058] In the embodiment of the present application, the coal mining at the working face of the mine adopts the long-arm coal mining method. Figure 2This is a schematic diagram of the layout of the fully mechanized mining face in the embodiment of the present application. The working face is equipped with 175 hydraulic supports, a double-drive cross-side unloading conveyor, and a double-swing arm drum coal mining machine. The coal mining machine adopts end oblique cutting feeding. Specifically, taking the machine head feeding as an example, after the coal mining machine cuts to the machine head, it returns to perform oblique cutting. At the same time, the hydraulic support lags behind the coal mining machine to move the frame. After the coal mining machine cuts through the machine head, the left drum is lowered, the right drum is raised, and the cutting is performed toward the tail of the machine until the coal mining machine completes the curved section and enters the straight section of the conveyor to complete the cutting. The support pushes the curved section of the conveyor from the machine head to the tail direction in sequence, and then the coal mining machine raises the left drum and lowers the right drum to cut triangular coal toward the head of the conveyor. After cutting the triangular coal, the coal mining machine raises the right drum and lowers the left drum, cuts the coal of the fuselage and returns, and then performs normal coal cutting to complete the cutting of the coal mining machine. The cutting method of the coal mining machine at the tail of the machine is the same as that of the machine head, namely: oblique cutting-pushing-cutting triangular coal-pulling-returning to cut the coal of the fuselage-pushing six processes.

[0059] Due to the fast advancement speed of the working face, there are problems such as inconsistent advancement of the head and tail of the machine, and the conveyor sliding up and down. The advancement direction and advancement of the working face are adjusted by timely arranging knife addition and knife swinging to ensure that the working face support is straight, and the upper and lower safety exits are adjusted to meet regulations. Or due to the influence of faults or interlayers, the travel distance of the head or tail of the working face along the direction of the coal seam is ahead or behind the middle, resulting in substandard project quality. Timely arrangement of knife addition and knife swinging is also required. For example, when cutting coal from the head to the tail of the machine, the safety exit distance of the tail becomes smaller, and knife addition operation must be performed to allow the conveyor to move toward the head of the machine. The automatic knife addition process is as follows:

[0060] When cutting obliquely, the coal mining machine moves from the end of the conveyor to the reset magnet in the middle of the conveyor to correct the position of the coal mining machine. After the position correction of the coal mining machine is completed, the coal mining machine obtains the position relative to the hydraulic support through the radio frequency infrared sensor. In the process of adding cutters in this embodiment, the support worker selects the 151 frame as the cutter entry point. After determining the cutter entry point, the host computer sends the instruction information of adding cutters with the 151 frame as the cutter entry point. The host computer determines that the displacement stroke from the 151 frame to the 175 frame needs to be distributed in an increasing deviation according to the control logic. The displacement stroke deviation of the adjacent two frames is 40mm. The displacement stroke of each frame can be known by formula (1), for example, the 151 frame is 0mm and the 175 frame is 960mm. Then the host computer sends the control instruction to the support controller of each hydraulic support within the target range of 151 to 175 frames through the switch. When the coal mining machine reaches the knife adding trigger position support, that is, the position 151 in this embodiment, the trigger position support controller at the position 151 sends a feedback signal to the host computer. After receiving the feedback signal sent by the trigger position support controller, the host computer sends a control signal to the support controllers of all hydraulic supports between the trigger position hydraulic support and the end hydraulic support (that is, the support controllers of 151 to 175) through the switch. Under the control of the support controller, each hydraulic support within the target range of 151 to 175 first follows the coal mining machine. The frame is pulled but not pushed. After the coal mining machine cuts through the end, it returns to the position of the hydraulic support at the trigger position. Then, each hydraulic support within the target range controls the support's push driver and column driver through the support controller, and then controls the column solenoid valve and push solenoid valve on the support, driving the column hydraulic cylinder to lower the column. The push hydraulic cylinder pushes each hydraulic support in an incremental deviation distribution according to the control logic, so that the conveyor is in an inclined straight line (curved section) state, realizing automatic incremental pushing from the hydraulic support at the trigger position to the end hydraulic support, and filling the lagging section of the conveyor. Finally, the coal mining machine returns the cutter from the hydraulic support at the trigger position to the end hydraulic support to cut through the coal wall, and the automatic cutting is completed. The automatic cutting process is as follows. Figure 3 shown.

[0061] When the safety exit of the machine head becomes larger, the knife must be thrown away to allow the conveyor to move toward the machine head. The automatic knife throwing process is roughly the same as the knife adding process. Figure 4 As shown, the automatic knife-throwing process is as follows:

[0062] In the process of swinging the knife in this embodiment, the support worker selects the 31st frame as the entry point. After determining the entry point, the support worker sends the upper computer the instruction information for swinging the knife with the 31st frame as the entry point. According to the control logic, the upper computer determines that the displacement stroke from the 1st frame to the 31st frame needs to be distributed in an increasing deviation manner, and the displacement stroke deviation of two adjacent frames is 32mm. The displacement stroke of each frame can be known by formula (2), wherein the displacement stroke of the 1st frame is 0mm and the displacement stroke of the 31st frame is 960mm. When the coal mining machine reaches the trigger position hydraulic support (31 frames) determined by the swing cutter, the coal mining machine first cuts through the end, and then returns from the end. During the return process, each hydraulic support (1 to 31 frames) within the target range first follows the coal mining machine under the control of the support controller and only pulls the support without pushing it. When returning to the position of the trigger position hydraulic support, the trigger position support controller at the position of 31 frames sends a feedback signal to the host computer. After receiving the feedback signal sent by the trigger position support controller, the host computer sends a control signal to the support controllers of all hydraulic supports from the trigger position hydraulic support to the end hydraulic support through the switch, so that each hydraulic support within the target range of 1 to 31 frames, under the control of the support controller, realizes an incremental deviation distribution of the push stroke according to the control logic, thereby realizing automatic incremental pushing and sliding from the end hydraulic support to the trigger position hydraulic support, and the automatic swing cutter is ended.

[0063] The control system and control method for automatic adding and throwing knives in coal mining of fully mechanized mining working face provided by the embodiment of the present application are applied to the fully mechanized mining working face, which can conveniently realize the process control of automatic adding and throwing knives, avoid the potential safety hazards such as misoperation of post personnel, and effectively prevent the occurrence of safety accidents. At present, it is still impossible to automatically add and throw knives in the existing domestic automation mode. The reason is that the automatic straightening function of the traditional conveyor is realized by "adjusting the frame by sliding", and the disadvantage of "adjusting the frame by sliding" is to achieve the straightness of the conveyor by pushing the slide less or not, and the frame adjustment method by "sacrificing the beam end distance" cannot detect the lifting distance of the support due to objective errors, and cannot achieve three straight and two flat working faces, and cannot solve the problem of automatic adding and throwing knives. Therefore, the distance of the two end safety exits cannot be adjusted in the automation mode, and human intervention is required. The control system and control method provided by the present application realize the automatic straightening function based on the "adjusting the slide by frame" method, which is converted from the perspective of controlling the conveyor to the walking step of the control support, so as to automatically control the operation of adding and throwing knives.

[0064] In addition, the present application can realize automatic adding and throwing of knives by the inspection personnel of the working face observing the overall frame type, direction and swing direction of the push rod of the working face support to judge the "upward and downward" trend of the conveyor, and then cooperate with the upper computer control to realize automatic adding and throwing of knives on the comprehensive mining working face. In the production process, the automatic adding and throwing of knives are completed at one time during the process of pulling the frame, which does not affect the pulling speed. The effect presented is more time-saving and labor-saving than the traditional manual adding and throwing of knives. Compared with the manual adding and throwing of knives, the automatic adding and throwing of knives are more symmetrical and straight than the manual adding and throwing of knives. Moreover, the application of the present application is bound to draw a large number of on-site operators out of the harsh working environment, greatly reducing the accident rate of the working face, ensuring the life safety of employees, improving work efficiency, and improving the safety production standardization level of the mine.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, ordinary technicians in the field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A control system for automatic coal cutting and throwing cutter in a fully mechanized coal mining face, characterized in that: Including host computer, switch and hydraulic support electronic control system; The hydraulic support electric control system includes a support controller, a push drive, a push solenoid valve, a column drive and a column solenoid valve installed on each hydraulic support; The host computer is connected to the switch, the switch is respectively connected to the support controller of each hydraulic support, the support controller on each hydraulic support is connected to the push driver and the column driver, the push driver is connected to the push solenoid valve, and the column driver is connected to the column solenoid valve; The host computer is used to determine the entry point of the knife adding and swinging according to the input command information, and at the same time retrieve the pre-stored control logic of automatic knife adding and swinging, and generate corresponding automatic knife adding or automatic knife swinging control instructions according to the control logic, and is also used to send the control instructions to the support controller of each hydraulic support within the target range through the switch; The support controller is used to receive the control instruction sent by the switch and execute the corresponding control logic according to the control instruction; when the support controller executes the control logic, the pushing stroke of each hydraulic support within the target range can be distributed in an increasing deviation manner, and the support controller controls the correspondingly connected pushing driver and the column driver respectively, the pushing solenoid valve is controlled by the pushing driver, and the pushing solenoid valve controls the pushing of the pushing hydraulic cylinder when it is opened or closed under the control of the pushing driver, and the column solenoid valve is controlled by the column driver, and the column solenoid valve controls the lifting column of the column hydraulic cylinder when it is opened or closed under the control of the column driver; It also includes a coal mining machine position sensor, which is arranged on each of the hydraulic supports, connected to the support controller, and used to obtain the position of the coal mining machine relative to the hydraulic support; When the support controller executes the control logic, when the coal mining machine position sensor detects that the coal mining machine has reached a certain trigger position hydraulic support, the trigger position support controller at the trigger position hydraulic support position sends a feedback signal to the host computer, and after receiving the feedback signal sent by the trigger position support controller, the host computer sends a control signal to the support controllers of all hydraulic supports from the trigger position hydraulic support to the end hydraulic support through the switch; The trigger position hydraulic support is a hydraulic support at the determined cutting point of the knife. The cutting point of the knife is a hydraulic support position determined after the coal mining machine cuts through the end and then returns to a range of 20 to 30 frames away from the end support.

2. The control system for automatic coal cutting and slashing of coal mining in fully mechanized coal mining working face according to claim 1 is characterized in that: The coal mining machine position sensor is a radio frequency infrared sensor.

3. The control system for automatic coal cutting and slashing of coal mining in fully mechanized coal mining working face according to claim 1 is characterized in that: The hydraulic supports within the target range are all hydraulic supports between the trigger position hydraulic support and the end hydraulic support when the control logic is executed.

4. The control system for automatic coal cutting and flinging of coal mining in fully mechanized coal mining working face according to claim 1 is characterized in that: It also includes a displacement stroke sensor, which is connected to a support controller of the corresponding hydraulic support. The displacement stroke sensor is used to detect the displacement distance of the hydraulic support and send the detected displacement distance value to the support controller.

5. A method for controlling automatic coal cutting in a fully mechanized coal mining face, characterized in that: The method adopts the control system for automatic adding and throwing away knives in coal mining of a fully mechanized coal mining face according to any one of claims 1 to 4 to control adding and throwing away knives during coal mining, and the method comprises: The user inputs command information including the type of knife addition and knife entry point to the upper computer. The upper computer determines the knife entry point based on the input command information and retrieves the pre-stored automatic knife addition and knife entry control logic, generates corresponding automatic knife addition or automatic knife throwing control instructions based on the control logic, and sends the control instructions to the support controllers of each hydraulic support within the target range through the switch; After receiving the control instruction sent by the switch, the support controller executes the corresponding control logic according to the control instruction, so that the pushing stroke of each hydraulic support within the target range is distributed in an increasing deviation manner during the process of adding and swinging the knife, thereby completing the addition and swinging of the knife.

6. The method for controlling automatic coal cutting in a fully mechanized coal mining face according to claim 5 is characterized in that: The method adopts oblique cutting, and when the coal cutting process performs the knife-throwing operation, when the coal mining machine reaches the trigger position hydraulic support for adding the knife-throwing operation, the trigger position support controller at the trigger position hydraulic support position sends a feedback signal to the host computer. After receiving the feedback signal sent by the trigger position support controller, the host computer sends a control signal to the support controllers of all hydraulic supports between the trigger position hydraulic support and the end hydraulic support through the switch.

7. The method for controlling automatic coal cutting in a fully mechanized coal mining face of a coal mine according to claim 5 is characterized in that: When the instruction input by the host computer is the instruction information of adding a cutter, when the coal mining machine reaches the trigger position hydraulic support determined by adding a cutter, the trigger position support controller sends a feedback signal to the host computer. After receiving the feedback signal sent by the trigger position support controller, the host computer sends a control signal to the support controllers of all hydraulic supports between the trigger position hydraulic support and the end hydraulic support through the switch. Under the control of the support controller, each hydraulic support within the target range first follows the coal mining machine and only pulls the support without pushing it. When the coal mining machine cuts through the end, it returns to the position of the trigger position hydraulic support. Then, under the control of the support controller, each hydraulic support within the target range makes the pushing stroke present an incremental deviation distribution according to the control logic, so as to realize automatic incremental pushing from the trigger position hydraulic support to the end hydraulic support, fill the lagging section of the conveyor, and finally, the coal mining machine returns the cutter from the trigger position hydraulic support to the end hydraulic support to cut through the coal wall, and the automatic adding of cutters is completed. When the instruction input by the host computer is the instruction information of the knife-throwing, when the coal mining machine reaches the trigger position hydraulic support determined by the knife-throwing, the coal mining machine first cuts through the end, and then returns from the end. During the return process, each hydraulic support within the target range follows the coal mining machine under the control of the support controller and only pulls the support without pushing it. When returning to the position of the trigger position hydraulic support, the trigger position support controller sends a feedback signal to the host computer. After receiving the feedback signal sent by the trigger position support controller, the host computer sends a control signal to the support controllers of all hydraulic supports from the trigger position hydraulic support to the end hydraulic support through the switch, so that each hydraulic support within the target range can realize the distribution of the pushing stroke in an increasing deviation manner according to the control logic under the control of the support controller, and realize the automatic increasing pushing and sliding from the end hydraulic support to the trigger position hydraulic support, and the automatic knife-throwing ends.

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