Interference Detection Device and Detection Method for Shearer Boom and Support Roof Beam

Abstract

The present invention relates to an interference detection device and a detection method for a shearer rocker arm and a support canopy. The detection device includes a radar, a protective cover, and a pin shaft. The radar is rotatably connected within the protective cover through two pin shafts, and the rotation axis extends horizontally forward and backward. The radar is a centrosymmetric structure and also a left-right symmetric structure. The symmetry axis of the radar coincides with the normal line of the radar and passes through the center of gravity of the radar, and the center of gravity of the radar is located below the rotation axis. The detection method is to use the detection device to detect in real time the distance from the rotation center of the drum to the bottom surface of the hydraulic support canopy and transmit the data to the shearer control system. The shearer control system calculates the shortest distance between the highest point of the top surface of the rocker arm housing and the bottom surface of the hydraulic support canopy, and then determines whether there is interference between the rocker arm and the support canopy. The present invention can automatically detect the shortest distance between the top surface of the shearer rocker arm housing and the bottom surface of the hydraulic support canopy, thereby determining whether there will be interference between the rocker arm and the support, and realizing safe mining.

Description

Technical Field

[0001] The present invention relates to a distance detection device and method for detecting whether interference occurs between the rocker arm of a shearer and the top beam of a hydraulic support. Background Art

[0002] The shearer, hydraulic support, and scraper conveyor are the core fully-mechanized mining equipment in a fully-mechanized coal mining face. During coal mining, the function of the hydraulic support is to support the roof and advance the working face. When mining forward, the shearer must ensure a certain amount of roof cutting (the roof cutting amount is the effective height that the cutter tip of the drum exceeds the top surface of the support top beam after the top surface of the rocker arm housing of the shearer contacts the bottom surface of the support top beam) to carry out normal mining. To ensure the roof cutting amount, the shearer driver needs to adjust the height of the rocker arm. When the shearer is running at a high speed and there is also interference from coal dust, it is difficult for the shearer driver to accurately control the height adjustment amount of the rocker arm, and at the same time, it is easy to cause interference between the top surface of the rocker arm housing of the shearer and the bottom surface of the support top beam, which will cause serious damage to the hydraulic support and the shearer and make the equipment malfunction. Therefore, there is a need for a device or method that can determine whether interference will occur between the top surface of the rocker arm housing of the shearer and the bottom surface of the support top beam, so as to issue an early warning in time and stop the shearer.

[0003] The existing methods mainly detect interference based on cameras. However, the environment in the fully-mechanized mining face is harsh, with a lot of coal dust and water mist, resulting in low detection accuracy. There are also some methods where the shearer driver observes with the naked eye and judges the height adjustment amount of the rocker arm based on experience, making it difficult to ensure that there is no interference between the shearer rocker arm and the hydraulic support. Summary of the Invention

[0004] The present invention aims to provide an interference detection device and method for the shearer rocker arm and the support top beam, which can automatically detect the shortest distance between the top surface of the rocker arm housing of the shearer and the bottom surface of the support top beam, so as to judge whether interference will occur between the rocker arm and the support and achieve safe mining.

[0005] The main technical solutions of the present invention are as follows:

[0006] An interference detection device for the shearer rocker arm and the support top beam includes a radar, a protective cover, and a pin shaft. The radar is rotatably connected in the protective cover through the two pin shafts, and the rotation axis extends horizontally forward and backward. The radar is a centrosymmetric structure and also a left-right symmetric structure. The symmetry axis of the radar coincides with the normal line of the radar and passes through the center of gravity of the radar. The center of gravity of the radar is located below the rotation axis. The protective cover is provided with a radar wave emission window, and the radar wave emission window is located directly above the rotation axis.

[0007] An ear seat can be provided at the front and rear of the upper part of the radar, and the radar is rotatably connected in the protective cover through the cooperation of the ear seat and the pin shaft.

[0008] The outer shape of the protective cover is preferably a cylinder, and the two pin shafts are installed on two planes of the cylinder and the pin shafts are perpendicular to the corresponding planes.

[0009] The protective cover may include a housing and a cover plate. The housing is a cylindrical structure with one end open and one end closed, and the cover plate is fixed to the open end of the housing. The housing and the cover plate enclose a closed cavity structure, and the radar wave emission window is embedded at an opening on the cylindrical surface of the housing.

[0010] The protective cover is fixed on the shearer rocker arm, and the pin shaft is coaxially arranged with the drum of the shearer rocker arm.

[0011] The protective cover is preferably located on the goaf side of the drum.

[0012] A boss may be provided on the outer wall of the front side of the protective cover, and the protective cover is fixed on the shearer rocker arm by means of the boss and screws.

[0013] An interference detection method for the shearer rocker arm and the support roof beam is to fix the interference detection device for the shearer rocker arm and the support roof beam on the shearer rocker arm, and make the pin shaft coaxially arranged with the drum of the shearer rocker arm. The interference detection device for the shearer rocker arm and the support roof beam is used to detect the distance B1 from the rotation center of the drum to the bottom surface of the support roof beam in real time. The shearer control system calculates the shortest distance h between the highest point of the top surface of the shearer rocker arm housing and the bottom surface of the support roof beam in real time according to the following formula. When h > 0, the shearer control system makes a judgment that there is no interference between the rocker arm and the support roof beam.

[0014] Formula: h = B - C = B1 * cosα - C,

[0015] where α is the inclination angle of the working face, B is the shortest distance from the rotation center of the drum to the bottom surface of the support roof beam, and C is the distance from the rotation center of the drum to the highest point of the rocker arm housing. For a determined shearer rocker arm, C is known and is specifically determined according to the geometric dimensions of the rocker arm housing.

[0016] When h < the preset safety value, the shearer control system issues a warning signal to prompt that interference is about to occur and the rocker arm height should be reduced.

[0017] The beneficial effects of the present invention are:

[0018] The interference detection device of the present invention has a simple structure and high working reliability, and can automatically detect whether there is interference between the rocker arm and the support roof beam regardless of whether there is an inclination angle on the working face.

[0019] The interference detection device can be used regardless of whether there is an inclination angle on the coal mining face. When the mining height of the coal mining face changes, as the swing angle of the shearer rocker arm changes, the interference detection device can still detect accurately relying on its internal structure.

[0020] By installing the interference detection device on the shearer rocker arm, the operator in the working face can timely understand the real-time shortest distance between the highest point of the rocker arm housing and the bottom surface of the hydraulic support roof beam, so as to judge whether the rocker arm can still be raised further, and avoid equipment damage caused by mistakes in relying on work experience for judgment.

[0021] The detection device and method of the present invention can provide basic conditions for the intelligent and unmanned coal mining operations in the future. Brief Description of the Drawings

[0022] Figure 1 is a schematic structural diagram of an embodiment of the interference detection device;

[0023] Figure 2 is Figure 1 a three-dimensional view of the interference detection device shown;

[0024] Figure 3 is a schematic structural diagram of an embodiment of the radar;

[0025] Figure 4 is a schematic diagram of the cooperation of the three machines in the coal mining face;

[0026] Figure 5 is a schematic diagram of the calculation principle of the detection method.

[0027] Reference Signs: 1. Drum; 2. Shearer Rocker Arm; 3. Hydraulic Support; 4. Scraper Conveyor; 5. Interference Detection Device; 51. Radar; 511. Ear Seat; 52. Pin Shaft; 53. Cover Plate; 54. Radar Wave Emission Window; 55. Housing; 57. Boss. Detailed Description of the Invention

[0028] The present invention discloses an interference detection device for the shearer rocker arm and the support roof beam (which can be abbreviated as the interference detection device 5), as Figures 1 - 4 shown, including a radar 51, a protective cover and a pin shaft 52. The radar is rotatably connected in the protective cover through the two pin shafts, and the rotation axis extends horizontally forward and backward. The radar can rotate a certain angle around the pin shaft in the protective cover. The protective cover can well protect the radar and prevent the radar from being damaged by coal blocks. The radar is a central symmetric structure and also a left-right symmetric structure. The symmetry axis of the radar coincides with the normal line of the radar and passes through the center of gravity of the radar. The center of gravity of the radar is located below the rotation axis. The protective cover is provided with a radar wave emission window 54 for the radar beam to transmit through. The radar wave emission window is located directly above the rotation axis. The radar wave emission window can be a thin plate structure.

[0029] One ear seat 511 can be provided at the front and back of the upper part of the radar respectively, and the radar is rotatably connected in the protective cover through the cooperation of the ear seat and the pin shaft.

[0030] The outer shape of the protective cover is preferably a cylinder, and the two pin shafts are installed on two planes of the cylinder and the pin shafts are perpendicular to the corresponding planes.

[0031] The protective cover can include a housing 55 and a cover plate 53. The housing is a cylindrical structure with one end open and one end closed. The cover plate is fixed at the open end of the housing. The housing and the cover plate enclose a closed cavity structure. The radar wave emission window is inlaid at an opening on the cylindrical surface of the housing, and the radar wave emission window is preferably made into a thin cylindrical shell structure coaxial with the housing.

[0032] When the three machines cooperate, the shearer straddles the scraper conveyor 4 and reciprocates left and right along the scraper conveyor. The protective cover is fixed on the shearer arm 2, and the pin shaft is coaxially arranged with the drum 1 of the shearer arm. Since the outer shape of the protective cover is a cylinder and the two planes are installed vertically, coal ash accumulation can be well avoided, so that the radar can accurately detect the distance almost without interference.

[0033] When the arm is lifted or lowered, the protective cover rises and falls and changes the angle with the shearer arm, but the radar can rotate a certain angle around the pin shaft under its own gravity, so as to always keep the normal line vertically extended.

[0034] When installed on the shearer, the protective cover is preferably located on the goaf side of the drum.

[0035] Furthermore, a boss 57 can be provided on the outer wall of the front side of the protective cover (in the working scenario of the shearer, the so-called front in this article refers to the direction perpendicular to the coal wall). The protective cover is fixed on the shearer arm through the boss and then in cooperation with screws, that is, the boss is directly attached to the shearer arm. The boss can be cylindrical.

[0036] The present invention also discloses an interference detection method for the shearer arm and the support roof beam, as Figure 5 shown, the interference detection device 5 for the shearer arm and the support roof beam is fixed on the shearer arm 2, and the pin shaft is coaxially arranged with the drum 1 of the shearer arm. The distance B1 from the rotation center of the drum to the bottom surface of the roof beam of the hydraulic support 3 is detected in real time by using the interference detection device for the shearer arm and the support roof beam, and the B1 data is transmitted to the shearer control system. The shearer control system calculates the shortest distance h between the highest point of the top surface of the shearer arm housing and the bottom surface of the roof beam of the hydraulic support in real time according to the following formula. When h>0, the shearer control system makes a judgment that there is no interference between the arm and the support roof beam.

[0037] Formula: h = B - C = B1 * cosα - C,

[0038] where α is the dip angle of the working face, B is the shortest distance from the rotation center of the drum to the bottom surface of the top beam of the hydraulic support, and C is the distance from the rotation center of the drum to the highest point of the rocker arm housing. For a determined shearer rocker arm, C is known and is specifically determined according to the structure and geometric dimensions of the shearer rocker arm.

[0039] When there is no dip angle on the working face, i.e., α = 0, B = B1, and h = B1 - C. The normal direction of the radar is always consistent with the gravity direction and perpendicular to the top beam of the hydraulic support. Therefore, the distance B1 from the rotation center of the drum to the bottom surface of the top beam of the hydraulic support 3 measured is equal to the shortest distance B from the rotation center of the drum to the bottom surface of the top beam of the hydraulic support.

[0040] In addition, the data of the roof cutting amount D can also be obtained by using the interference detection method between the shearer rocker arm and the support top beam.

[0041] D = A - B1 - H, where A is the radius of the drum and H is the thickness of the top beam of the hydraulic support. Both A and H are known and can be specifically determined according to the structure and geometric dimensions of the drum and the hydraulic support.

[0042] When h < the preset safety value, the shearer control system issues a warning signal, indicating that interference is about to occur, and the rocker arm height should be reduced to avoid damage to the shearer and the hydraulic support. The preset safety value is a positive value.

Claims

1. An interference detection method for the rocker arm of a coal shearer and the roof beam of a support, characterized in that: Fix the interference detection device between the shearer rocker arm and the support roof beam on the shearer rocker arm. The interference detection device between the shearer rocker arm and the support roof beam includes a radar, a protective cover, and a pin shaft. The radar is rotatably connected in the protective cover through the two pin shafts, and the rotation axis extends horizontally forward and backward. The radar is a centrosymmetric structure and also a left-right symmetric structure. The symmetry axis of the radar coincides with the normal line of the radar and passes through the center of gravity of the radar. The center of gravity of the radar is located below the rotation axis. A radar wave emission window is provided on the protective cover, and the radar wave emission window is located directly above the rotation axis. The protective cover is fixed on the shearer rocker arm, and the pin shaft is coaxial with the drum of the shearer rocker arm. Use the interference detection device between the shearer rocker arm and the support roof beam to detect the distance B1 from the rotation center of the drum to the bottom surface of the hydraulic support roof beam in real time. The shearer control system calculates the shortest distance h between the highest point of the top surface of the shearer rocker arm housing and the bottom surface of the hydraulic support roof beam in real time according to the following formula. When h>0, the shearer control system makes a judgment that there is no interference between the rocker arm and the support roof beam. h = B - C = B1 * cosα - C, where α is the working face inclination angle, B is the shortest distance from the rotation center of the drum to the bottom surface of the hydraulic support roof beam, and C is the distance from the rotation center of the drum to the highest point of the rocker arm housing. For a determined shearer rocker arm, C is known and is specifically determined according to the geometric dimensions of the rocker arm housing.

2. The interference detection method for the shearer rocker arm and the support roof beam according to claim 1, characterized in that: An ear seat is provided at the front and rear of the upper part of the radar. The radar is rotatably connected in the protective cover through the cooperation of the ear seat and the pin shaft.

3. The interference detection method for the shearer rocker arm and the support roof beam according to claim 2, characterized in that: The outer shape of the protective cover is a cylinder, and the two pin shafts are installed on two planes of the cylinder and the pin shafts are perpendicular to the corresponding planes.

4. The interference detection method for the shearer rocker arm and the support roof beam according to claim 3, characterized in that: The protective cover includes a housing and a cover plate. The housing is a cylindrical structure with one end open and one end closed. The cover plate is fixed at the open end of the housing. The housing and the cover plate enclose a closed cavity structure. The radar wave emission window is embedded at an opening on the cylindrical surface of the housing.

5. The interference detection method for the shearer rocker arm and the support roof beam according to claim 4, characterized in that: The protective cover is located on the goaf side of the drum.

6. The interference detection method for the shearer rocker arm and the support roof beam according to claim 5, characterized in that: A boss is provided on the front outer wall of the protective cover. The protective cover is fixed on the shearer rocker arm through the cooperation of the boss and screws.

7. The interference detection method for the shearer rocker arm and the support roof beam according to claim 1, 2, 3, 4, 5 or 6, characterized in that: When h < the preset safety value, the shearer control system issues a warning signal to prompt that interference is about to occur and the rocker arm height should be reduced.

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