A method for detecting and adjusting the safety support status of a hydraulic support

Abstract

The present invention relates to the technical field of hydraulic support posture detection, and in particular to a method for detecting and adjusting the safe support status of a hydraulic support, which includes the following steps: measuring the inclination angles of the shield beam, front connecting rod, and rear connecting rod, as well as the length, inclination angle, and inner cavity pressure value of each column; judging the degree of inclination, torsion, and overload of the hydraulic support posture; obtaining the theoretical inclination angles of each component of the hydraulic support at different support heights; judging the degree of deviation of the hydraulic support posture according to the actual inclination angle; judging the load-bearing conditions of each point of the top beam; and adjusting the length of each column according to the degree of inclination, torsion, and overload of the hydraulic support. The present invention establishes a mathematical model of the hydraulic support, calculates the theoretical positions of each key component of the hydraulic support, compares them with the actual positions measured by the sensor, and automatically adjusts the posture of the hydraulic support through negative feedback regulation when the posture of the hydraulic support deviates.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic support posture detection, and in particular to a method for detecting and adjusting the safe supporting state of a hydraulic support. Background Art

[0002] As a key support device for underground fully mechanized mining faces, the intelligence level of hydraulic supports directly affects the safe production efficiency of the working face. Currently, hydraulic supports are unable to autonomously monitor and adjust their posture based on roof characteristics and their own support posture, requiring frequent manual intervention. This fails to meet the requirements for intelligent and safe support of hydraulic supports in intelligent mining. Existing research lacks research on the safe support status of hydraulic supports based on the deviation between their theoretical and actual postures, and lacks safe support status judgment that combines hydraulic support posture monitoring with hydraulic support support force. Furthermore, current research lacks research on the degree of deviation between the theoretical and actual postures of hydraulic supports, resulting in a lack of a quantitative hydraulic support safe support posture adjustment method based on the degree of deviation. Summary of the Invention

[0003] The present invention aims to solve the above problems and provides a method for detecting and adjusting the safe support status of a hydraulic support. The technical solution adopted is as follows:

[0004] A method for detecting and adjusting the safety support state of a hydraulic support comprises the following steps:

[0005] S1. Measure the inclination angles of the shield beam, front link, and rear link, as well as the length, inclination angle, and internal pressure of each column;

[0006] S2. Determine the tilt degree of the hydraulic support according to the length difference of each column, determine the torsion of the hydraulic support according to the tilt angle of each column, and determine the eccentric load of the hydraulic support according to the inner cavity pressure value of each column;

[0007] S3. Establish a mathematical model of the hydraulic support to obtain the theoretical inclination angles of the hydraulic support shield beam, front link, rear link and columns at different support heights;

[0008] S4. The hydraulic support shield beam, front link, rear link and the actual tilt angle of each column is compared with the theoretical tilt angle difference to obtain the attitude deviation coefficient to determine the degree of deviation of the hydraulic support attitude;

[0009] S5. Calculate the theoretical maximum bearing pressure and actual supporting force at each point of the hydraulic support top beam, and determine the bearing capacity of each point of the top beam;

[0010] S6. Adjust the length of each column according to the tilt, torsion and eccentric load of the hydraulic support obtained in step S2.

[0011] On the basis of the above scheme, a top beam angle sensor is set on the top beam to measure the inclination angle of the top beam relative to the horizontal plane of the base A shield beam angle sensor is installed on the shield beam to measure the inclination angle of the shield beam relative to the horizontal plane of the base. The front link and rear link are respectively provided with a front link angle sensor and a rear link angle sensor to measure the tilt angle of the front link and the rear link relative to the horizontal plane of the base. and The first angle sensor, the first length sensor and the first pressure sensor are provided on the first front column to measure the inclination angle of the first front column relative to the horizontal plane of the base. Column length L 10 and intracavitary pressure A second angle sensor, a second length sensor and a second pressure sensor are provided on the second front column to measure the inclination angle of the second front column relative to the horizontal plane of the base. Column length L 13 and intracavitary pressure A third angle sensor, a third length sensor and a third pressure sensor are provided on the first rear column to measure the inclination angle of the first rear column relative to the horizontal plane of the base. Column length L 11 and intracavitary pressure A fourth angle sensor, a fourth length sensor and a fourth pressure sensor are provided on the second rear column to measure the inclination angle of the second rear column relative to the horizontal plane of the base. Column length L 14 and intracavitary pressure

[0012] Based on the above scheme, the steps for determining the tilt degree of the hydraulic support posture include:

[0013] S2-1-1. Define the normal interval [0, l1], the tilt interval [l1, l2], and the severe tilt interval [l2, l3];

[0014] S2-1-2. Calculate the length difference between the first and second front-row columns | L 10 -L 13 |, when |L 10 -L 13 | is within the interval [0, l1], it is determined that the front of the hydraulic support has not tilted. When |L 10 -L 13 | is within the interval [l1,l2], it is determined that the front of the hydraulic support is tilted. 10 -L 13 |When the value is within the interval [l2, l3], it is determined that the front of the hydraulic support is severely tilted;

[0015] S2-1-3. Calculate the length difference between the first and second rear pillars | L 11 -L 14 |, when |L 11 -L 14 | is within the interval [0, l1], it is determined that the rear of the hydraulic support has not tilted. 11 -L 14 | is within the interval [l1,l2], it is determined that the rear of the hydraulic support is tilted. 11 -L 14 |When it is within the interval [l2,l3], it is determined that the rear part of the hydraulic support is severely tilted;

[0016] The steps for determining the torsion of the hydraulic support posture include:

[0017] S2-2-1. Define the normal interval [0, φ1], the torsion interval [φ1, φ2], and the severe torsion interval [φ2, φ3];

[0018] S2-2-2. Calculate the inclination angle of the first and second front columns relative to the horizontal plane of the base when When the hydraulic support is within the interval [0,φ1], it is determined that the front part has not twisted. When the hydraulic support is within the interval [φ1,φ2], the front part is judged to be twisted. When it is within the interval [φ2,φ3], it is determined that the front part of the hydraulic support has severe torsion;

[0019] S2-2-3. Calculate the inclination angle of the first and second rear columns relative to the horizontal plane of the base when When the hydraulic support is within the interval [0,φ1], it is determined that the rear part has not been twisted. When the hydraulic support is within the interval [φ1,φ2], it is determined that the rear part is twisted. When it is within the interval [φ2,φ3], it is determined that the rear part of the hydraulic support has severe torsion;

[0020] The steps to determine the eccentric load condition of the hydraulic support include:

[0021] S2-3-1. Define the normal interval [0,γ1], the eccentric load interval [γ1,γ2] and the severe eccentric load interval [γ2,γ3];

[0022] S2-3-2. Calculate the pressure difference between the first and second front columns when When the hydraulic support is within the interval [0,γ1], it is judged that there is no eccentric load on the front part. When the hydraulic support is within the interval [γ1,γ2], it is judged that the front part of the hydraulic support is overloaded. When it is within the interval [γ2,γ3], it is determined that the front of the hydraulic support has serious eccentric load;

[0023] S2-3-3. Calculate the pressure difference between the first and second rear pillars when When the hydraulic support is within the interval [0,γ1], it is judged that there is no eccentric load at the rear of the hydraulic support. When the hydraulic support is within the interval [γ1,γ2], it is judged that the rear part of the hydraulic support is overloaded. When it is within the interval [γ2,γ3], it is determined that the rear part of the hydraulic support has serious eccentric load;

[0024] The judgment results of the tilt degree, torsion and eccentric load of the hydraulic support are sent to the host computer, which will alarm for abnormal results and adjust the length of each column.

[0025] Preferably, step S3 specifically includes:

[0026] S3-1. Simplify the theoretical model of the hydraulic support structure, and define the following: θ1 is the angle between the rear connecting rod and the horizontal plane of the base; θ2 is the angle between the front connecting rod and the horizontal plane of the base; θ3 is the angle between the shield beam and the horizontal plane of the base; θ4 is the angle between the top beam and the horizontal plane of the base; θ5 is the angle between the rear column and the horizontal plane of the base; θ6 is the angle between the front column and the horizontal plane of the base; L1 is the distance between the front column and the rear column on the base; L2 is the distance between the rear column and the front connecting rod on the base. The distance between the vertical projection points of the lower ends of the rods, L3 is the distance between the vertical projection points of the lower ends of the front link and the lower ends of the rear link on the base, L4 is the length of the rear link, L5 is the length of the front link, L6 is the distance between the hinge points of the front link and the rear link on the shield beam, L7 is the remaining distance of the shield beam, L8 is the distance between the hinge points of the rear column on the top beam and the shield beam, L9 is the distance between the hinge points of the front column and the rear column on the top beam, L 10 is the length of the front column, L 11 is the length of the rear column, L 12 is the distance between the end of the top beam and the hinge point of the front column;

[0027] S3-2. Establishing the closed-loop vector equation of the hydraulic support

[0028]

[0029] S3-3. Change the variable θ i Expressed as an estimated value of the solution and a A small correction factor Δθ for the difference from the solution to the equation i The sum of

[0030]

[0031] S3-4. Using Taylor series to expand equations

[0032]

[0033] S3-5. Use the Newton-Simpson method to solve the above nonlinear transcendental equation, omitting the higher-order terms in the Taylor expansion and using only the linear terms. The difference Δθ between the estimated value of the unknown quantity and the exact solution of the equation is i It can be solved as:

[0034]

[0035] Where [J] is the Jacobian matrix of the equation system;

[0036] S3-6. According to equations (1) to (4), the values of θ1 to θ6 are solved to obtain the theoretical inclination angles of the hydraulic support shield beam, front link, rear link and each column at different support heights.

[0037] Based on the above solution, step S4 includes:

[0038] S4-1. Define the hydraulic support posture deviation coefficient as the ratio of the difference between the theoretical tilt angle and the actual tilt angle of each key component of the hydraulic support to the theoretical tilt angle, denoted as δ i ,Right now

[0039]

[0040] S4-2. Define the normal posture angle range Deviation posture angle range and severe deviation posture angle range

[0041] S4-3. When δ i fall into The structural posture is considered to have no deviation when δ i fall into The structure is considered to have a deviation in the interval. i fall into The structure is considered to have serious deviations in posture when the interval is

[0042] S4-4. Send the result of the posture deflection judgment of the hydraulic support to the host computer, which will alarm for abnormal results and adjust the structure length.

[0043] Preferably, step S5 specifically includes:

[0044] S5-1. Define the top beam extension direction as X direction, and the direction perpendicular to the top beam extension direction as Y direction; define G1 as the top beam gravity, with the force point at the midpoint of the top beam; P1 as the support force of the front column; P2 as the support force of the rear column; F x is the force on the top beam at a distance x from the hinge point between the top beam and the shield beam; -F Ex 、-F Ey are the X-direction and Y-direction components of the top beam and the protected beam; P1 = p1S; P2 = p2S, where p1 and p2 are the pressures under the front and rear columns of the hydraulic support, respectively, and S is the area of the column lower cavity;

[0045] S5-2. The moment equilibrium equation for the hinge point between the shield beam and the top beam can be obtained:

[0046] F x x+G1(L8+L9+L 12 ) / 2-P1(L8+L9)sinθ6-P2L8sinθ5=0 (6)

[0047] Among them F x That is, the force carried by the top beam at a distance x from the hinge point between the top beam and the shield beam,

[0048] The solution is

[0049]

[0050] S5-3. Substituting the maximum lower cavity pressure P of the column into formula (7), the theoretical maximum support force that each point of the top beam can withstand can be obtained. for

[0051]

[0052] Substitute the measured inclination angles of the shield beam, front link and rear link, as well as the length, inclination angle and inner cavity pressure of each column into formula (7) to obtain the actual support force that each point of the top beam can withstand. for

[0053]

[0054] S5-4. Define the ratio of the actual pressure at each point of the top beam to the theoretical maximum support force as the load factor at that point, denoted as η x ,Right now:

[0055]

[0056] Based on the above solution, step S5 further includes:

[0057] S5-5. Take x1, x2…x9, x in the top beam length range. 10The average value of the bearing coefficients of these 10 points is taken as the bearing coefficient η of the hydraulic support as a whole, that is,

[0058]

[0059] S5-6. Define the light load interval [0,λ1], full load interval [λ1,1] and overload interval [1,λ2];

[0060] S5-7. When η falls within the interval [0, λ1], the hydraulic support is considered to be lightly loaded; when η falls within the interval [λ1, 1], the hydraulic support is considered to be fully loaded; and when η falls within the interval [1, λ2], the hydraulic support is considered to be overloaded;

[0061] S5-8. Send the load-bearing condition judgment result of the hydraulic support to the host computer, and the host computer will alarm if the result is abnormal.

[0062] Preferably, step S6 specifically includes:

[0063] S6-1. Define ξ1>ξ2>ξ3>0;

[0064] S6-2. Calculate the length difference between the first column in the front row and the second column in the front row (L 10 -L 13 ); when (L 10 -L 13 ) is within the interval [-ξ1,-ξ2], the host computer controls the first column in the front row to extend by l1 or the second column in the front row to shorten by l1; when (L 10 -L 13 ) is within the interval [-ξ2,-ξ3], the host computer controls the first column in the front row to extend by l2 or the second column in the front row to shorten by l2; when (L 10 -L 13 ) is within the interval [-ξ3,0], the host computer controls the first column in the front row to extend by l3 or the second column in the front row to shorten by l3; when (L 10 -L 13 ) is within the interval [0,ξ3], the host computer controls the first column in the front row to shorten by l3 or the second column in the front row to extend by l3; when (L 10 -L 13 ) is within the interval [ξ3,ξ2], the host computer controls the first column in the front row to shorten by l2 or the second column in the front row to extend by l2; when (L 10 -L 13 ) is within the interval [ξ2,ξ1], the host computer controls the first front column to shorten by l1 or the second front column to extend by l1;

[0065] S6-3. Adjust the length of the first and second rear pillars according to the method of step S6-2;

[0066] S6-4. Based on the results of the adjustment of each column, the length of each column, as well as the tilt, torsion and eccentricity of the hydraulic support are collected in real time, and negative feedback adjustment is performed on the length of each column. Repeat steps S6-2 and S6-3.

[0067] Preferably, the lengths of the shield beam, front link, rear link and columns are adjusted according to the comparison result of the difference between the actual inclination angle and the theoretical inclination angle of the hydraulic support shield beam, front link, rear link and columns obtained in step S4.

[0068] The beneficial effects of the present invention are: by establishing a mathematical model of the hydraulic support, calculating the theoretical positions of the key components of the hydraulic support at different support heights, and comparing them with the actual positions measured by the sensor, by reducing the deviation between the theoretical position and the actual position, and through negative feedback regulation, when the posture of the hydraulic support deviates, the posture of the hydraulic support is automatically adjusted, thereby improving the safe support performance of the hydraulic support, reducing the number of underground personnel, promoting unmanned and intelligent construction of the working face, and improving the stability and safety of the comprehensive mining working face support. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 : Flowchart of the method for detecting the safe support status of the hydraulic support of the present invention;

[0070] Figure 2 : Flowchart of the method for adjusting the safety support state of the hydraulic support of the present invention;

[0071] Figure 3 : The hydraulic support structure and sensor layout diagram of the present invention;

[0072] Figure 4 : Another perspective of the hydraulic support structure and sensor layout of the present invention;

[0073] Figure 5 : Theoretical model diagram of the hydraulic support structure of the present invention;

[0074] Figure 6 : Force analysis diagram of the top beam of the present invention. DETAILED DESCRIPTION

[0075] The present invention will be further described below with reference to the accompanying drawings and examples:

[0076] In the present invention, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; they may refer to direct connection or indirect connection through an intermediate medium; they may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0077] In the description of the present invention, it should be understood that the terms "center", "length", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0078] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0079] like Figure 1 and Figure 2 As shown, a method for detecting and adjusting the safe support state of a hydraulic support includes the following steps:

[0080] S1. Measure the inclination angle of the shield beam 21, the front link 31 and the rear link 33, as well as the length, inclination angle and inner cavity pressure value of each column; Figures 3 and 4 As shown, a top beam angle sensor 12 is provided on the top beam 11 of the hydraulic support to measure the tilt angle of the top beam 11 relative to the horizontal plane of the base 81. A shield beam angle sensor 22 is provided on the shield beam 21 to measure the inclination angle of the shield beam 21 relative to the horizontal plane of the base. A front link angle sensor 32 and a rear link angle sensor 34 are respectively provided on the front link 31 and the rear link 33 to measure the tilt angles of the front link 31 and the rear link 33 relative to the horizontal plane of the base 81. and The first angle sensor 42, the first length sensor 43 and the first pressure sensor 44 are provided on the first front column 41 to measure the tilt angle of the first front column 41 relative to the horizontal plane of the base 81. Column length L 10 and intracavitary pressure A second angle sensor 52, a second length sensor 53 and a second pressure sensor 54 are provided on the second front column 51 to measure the tilt angle of the second front column 51 relative to the horizontal plane of the base 81. Column length L 13 and intracavitary pressure A third angle sensor 62, a third length sensor 63 and a third pressure sensor 64 are provided on the first rear column 61 to measure the tilt angle of the first rear column 61 relative to the horizontal plane of the base 81. Column length L 11 and intracavitary pressure A fourth angle sensor 72, a fourth length sensor 73 and a fourth pressure sensor 74 are provided on the rear second column 71 to measure the tilt angle of the rear second column 71 relative to the horizontal plane of the base 81. Column length L 14 and intracavitary pressure

[0081] S2. Determine the tilt degree of the hydraulic support according to the length difference of each column, determine the torsion of the hydraulic support according to the tilt angle of each column, and determine the eccentric load of the hydraulic support according to the inner cavity pressure value of each column;

[0082] The steps for determining the tilt degree of the hydraulic support posture include:

[0083] S2-1-1. Define the normal interval [0, l1], the tilt interval [l1, l2], and the severe tilt interval [l2, l3];

[0084] S2-1-2. Calculate the length difference between the first front column 41 and the second front column 51 | L 10 -L 13 |, when L 10 -L 13 | is within the interval [0, l1], it is determined that the front of the hydraulic support has not tilted. When |L 10 -L 13 | is within the interval [l1,l2], it is determined that the front of the hydraulic support is tilted. 10 -L 13 |When the value is within the interval [l2, l3], it is determined that the front of the hydraulic support is severely tilted;

[0085] S2-1-3. Calculate the length difference between the first rear column 61 and the second rear column 71 | L11 -L 14 |, when |L 11 -L 14 | is within the interval [0, l1], it is determined that the rear of the hydraulic support has not tilted. 11 -L 14 | is within the interval [l1,l2], it is determined that the rear of the hydraulic support is tilted. 11 -L 14 |When it is within the interval [l2,l3], it is determined that the rear part of the hydraulic support is severely tilted;

[0086] The steps for determining the torsion of the hydraulic support posture include:

[0087] S2-2-1. Define the normal interval [0, φ1], the torsion interval [φ1, φ2], and the severe torsion interval [φ2, φ3];

[0088] S2-2-2. Calculate the inclination angle of the front first column 41 and the front second column 51 relative to the horizontal plane of the base 81 when When the hydraulic support is within the interval [0,φ1], it is determined that the front part has not twisted. When the hydraulic support is within the interval [φ1,φ2], the front part is judged to be twisted. When it is within the interval [φ2,φ3], it is determined that the front part of the hydraulic support has severe torsion;

[0089] S2-2-3. Calculate the inclination angle of the first rear column 61 and the second rear column 71 relative to the horizontal plane of the base 81 when When the hydraulic support is within the interval [0,φ1], it is determined that the rear part has not been twisted. When the hydraulic support is within the interval [φ1,φ2], it is determined that the rear part is twisted. When it is within the interval [φ2,φ3], it is determined that the rear part of the hydraulic support has severe torsion;

[0090] The steps to determine the eccentric load condition of the hydraulic support include:

[0091] S2-3-1. Define the normal interval [0,γ1], the eccentric load interval [γ1,γ2] and the severe eccentric load interval [γ2,γ3];

[0092] S2-3-2. Calculate the pressure difference between the first front column 41 and the second front column 51 when When the hydraulic support is within the interval [0,γ1], it is judged that there is no eccentric load on the front part. When the hydraulic support is within the interval [γ1,γ2], it is judged that the front part of the hydraulic support is overloaded. When it is within the interval [γ2,γ3], it is determined that the front of the hydraulic support has serious eccentric load;

[0093] S2-3-3. Calculate the pressure difference between the first rear column 61 and the second rear column 71 when When the hydraulic support is within the interval [0,γ1], it is judged that there is no eccentric load at the rear of the hydraulic support. When the hydraulic support is within the interval [γ1,γ2], it is judged that the rear part of the hydraulic support is overloaded. When it is within the interval [γ2,γ3], it is determined that the rear part of the hydraulic support has serious eccentric load;

[0094] The judgment results of the tilt degree, torsion and eccentric load of the hydraulic support are sent to the host computer, which will alarm for abnormal results and adjust the length of each column.

[0095] S3 establishes a mathematical model of the hydraulic support, obtains the hydraulic support shield beam 21, the front link 31, the rear link 33 and the theoretical inclination angles of the columns at different support heights; this step specifically comprises:

[0096] S3-1. Simplify the theoretical model of hydraulic support structure, such as Figure 5 As shown, in the theoretical model, θ1 is defined as the angle between the rear link and the horizontal plane of the base, θ2 is the angle between the front link and the horizontal plane of the base, θ3 is the angle between the shield beam and the horizontal plane of the base, θ4 is the angle between the top beam and the horizontal plane of the base, θ5 is the angle between the rear column and the horizontal plane of the base, θ6 is the angle between the front column and the horizontal plane of the base, L1 is the distance between the front column and the rear column on the base 81, L2 is the distance between the rear column on the base 81 and the vertical projection point of the lower end of the front link 31, and L 3 is the distance between the vertical projection point of the lower end of the front link 31 and the vertical projection point of the lower end of the rear link 33 on the base 81, L4 is the length of the rear link 33, L5 is the length of the front link 31, L6 is the distance between the hinge point of the front link 31 and the hinge point of the rear link 33 on the shield beam 21, L7 is the remaining distance of the shield beam 21, L8 is the distance between the hinge point of the rear column and the hinge point of the shield beam on the top beam 11, L9 is the distance between the hinge point of the front column and the hinge point of the rear column on the top beam 11, L 10 is the length of the front column, L 11 is the length of the rear column, L 12 is the distance between the end of the top beam 11 and the hinge point of the front column;

[0097] S3-2. Establishing the closed-loop vector equation of the hydraulic support

[0098]

[0099] S3-3. Change the variable θ i Expressed as an estimated value of the solution and a A small correction factor Δθ for the difference from the solution to the equation i The sum of

[0100]

[0101] S3-4. Using Taylor series to expand equations

[0102]

[0103] S3-5. Use the Newton-Simpson method to solve the above nonlinear transcendental equation, omitting the higher-order terms in the Taylor expansion and using only the linear terms. The difference Δθ between the estimated value of the unknown quantity and the exact solution of the equation is i It can be solved as:

[0104]

[0105] Where [J] is the Jacobian matrix of the equation system;

[0106] S3-6. According to equations (1) to (4), the values of θ1 to θ6 are obtained, and the theoretical inclination angles of the hydraulic support shield beam 21, the front link 31, the rear link 33 and each column at different support heights are obtained.

[0107] S4. The hydraulic support shield beam 21, the front link 31, the rear link 33 and the actual tilt angle of each column is compared with the theoretical tilt angle difference to obtain the attitude deviation coefficient to determine the degree of deviation of the hydraulic support attitude; this step specifically includes:

[0108] S4-1. Define the hydraulic support posture deviation coefficient as the ratio of the difference between the theoretical tilt angle and the actual tilt angle of each key component of the hydraulic support to the theoretical tilt angle, denoted as δ i ,Right now

[0109]

[0110] S4-2. Define the normal posture angle range Deviation posture angle range and severe deviation posture angle range

[0111] S4-3. When δ i fall into The structural posture is considered to have no deviation when δ i fall into The structure is considered to have a deviation in the interval. i fall into The structure is considered to have serious deviations in posture when the interval is

[0112] S4-4. Send the result of the posture deflection judgment of the hydraulic support to the host computer, which will alarm for abnormal results and adjust the structure length.

[0113] S5. Calculate the maximum pressure and actual support force of each point on the hydraulic support beam 11 to determine the load-bearing conditions at each point on the beam 11; this step specifically includes:

[0114] S5-1. Figure 6 As shown, the extension direction of the top beam 11 is defined as the X direction, and the direction perpendicular to the extension direction of the top beam 11 is defined as the Y direction; G1 is defined as the gravity of the top beam 11, and the force point is taken at the midpoint of the top beam 11; P1 is the support force of the front column; P2 is the support force of the rear column; F x is the force on the top beam at a distance x from the hinge point between the top beam and the shield beam; -F Ex 、-F Ey are the X- and Y-direction components of the top beam 11 under the shield beam 21; P1 = p1S; P2 = p2S, where p1 and p2 are the pressures under the front and rear columns of the hydraulic support, respectively, and S is the area of the column lower cavity;

[0115] S5-2. The moment equilibrium equation for the hinge point between the shield beam 21 and the top beam 11 can be obtained:

[0116] F x x+G1(L8+L9+L 12 ) / 2-P1(L8+L9)sinθ6-P2L8sinθ5=0 (6)

[0117] Among them F x That is, the force carried by the top beam 11 at a distance x from the hinge point between the top beam 11 and the shield beam 21,

[0118] The solution is

[0119]

[0120] S5-3. Substituting the maximum lower cavity pressure P of the column into formula (7), the theoretical maximum supporting force that each point of the top beam 11 can withstand can be obtained. for

[0121]

[0122] Substitute the measured inclination angles of the shield beam 21, the front link 31, and the rear link 33, as well as the length, inclination angle, and inner cavity pressure of each column into formula (7) to obtain the actual supporting force that each point of the top beam 11 can withstand. for

[0123]

[0124] S5-4. Define the ratio of the actual pressure at each point of the top beam to the theoretical maximum support force as the load factor at that point, denoted as η x ,Right now:

[0125]

[0126] S6. Adjust the length of each column according to the tilt, torsion and eccentric load of the hydraulic support obtained in step S2; this step specifically includes:

[0127] S6-1. Define ξ1>ξ2>ξ3>0;

[0128] S6-2. Calculate the length difference between the front first column 41 and the front second column 51 (L 10 -L 13 ); when (L 10 -L 13 ) is within the interval [-ξ1, -ξ2], the host computer controls the front first column 41 to extend l1 or the front second column 51 to shorten l1; when (L 10 -L 13 ) is within the interval [-ξ2, -ξ3], the host computer controls the front first column 41 to extend by l2 or the front second column 51 to shorten by l2; when (L 10 -L 13 ) is within the interval [-ξ3,0], the host computer controls the front first column 41 to extend l3 or the front second column 51 to shorten l3; when (L 10 -L 13 ) is within the interval [0,ξ3], the host computer controls the front first column 41 to shorten by l3 or the front second column 51 to extend by l3; when (L 10 -L 13 ) is within the interval [ξ3,ξ2], the host computer controls the front first column 41 to shorten by l2 or the front second column 51 to extend by l2; when (L 10 -L 13 ) is within the interval [ξ2,ξ1], the host computer controls the front first column 41 to shorten by l1 or the front second column 51 to extend by l1;

[0129] S6-3. Adjust the length of the first rear column 61 and the second rear column 71 according to the method of step S6-2;

[0130] S6-4. Based on the results of the adjustment of each column, the length of each column, as well as the tilt, torsion and eccentricity of the hydraulic support are collected in real time, and negative feedback adjustment is performed on the length of each column. Repeat steps S6-2 and S6-3.

[0131] S7. According to the difference between the actual tilt angle of the hydraulic support shield beam 21, the front link 31, the rear link 33 and each column obtained in step S4 and the theoretical tilt angle, the shield beam 21, the front link 31, the rear link 33 and the length of each column are adjusted;

[0132] Taking the posture adjustment of the top beam 11 as an example, the theoretical tilt angle of the top beam 11 is θ4 and the actual tilt angle is And define that when the top beam is tilted upward, θ4>0, and when the top beam is tilted downward, θ4<0, and define

[0133] When the top beam 11 tilts upward, that is, θ4>0: calculate the difference between the theoretical tilt angle and the actual tilt angle when In the interval When the upper computer controls the front column to shorten by l4 or the rear column to extend by l4; when In the interval When the upper computer controls the front column to shorten by l5 or the rear column to extend by l5; when In the interval When the upper computer controls the front column to shorten by l6 or the rear column to extend by l6; when In the interval When the upper computer controls the front column to extend by l6 or the rear column to shorten by l6; when In the interval When the upper computer controls the front column to extend by l5 or the rear column to shorten by l5; when In the interval When inside, the host computer controls the front column to extend by l4 or the rear column to shorten by l4;

[0134] Similarly, when the top beam 11 tilts downward, that is, when θ4 < 0, the above calculation and analysis process is repeated, and the opposite adjustment action is performed. After the adjustment is completed, the position information is collected in real time through the sensor, and negative feedback adjustment is performed, and the above steps are repeated.

[0135] The present invention has been described above by way of examples, but the present invention is not limited to the above specific embodiments. Any changes or modifications based on the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A method for detecting and adjusting the safety support status of a hydraulic support, characterized in that: The following steps are involved: S1. Measure the inclination angles of the shield beam (21), the front link (31) and the rear link (33), as well as the length, inclination angle and inner cavity pressure of each column; S2. Determine the tilt degree of the hydraulic support according to the length difference of each column, determine the torsion of the hydraulic support according to the tilt angle of each column, and determine the eccentric load of the hydraulic support according to the inner cavity pressure value of each column; S3. Establish a mathematical model of the hydraulic support to obtain the hydraulic support shield beam (21), the front link (31), the rear link (33) and the theoretical inclination angle of each column at different support heights; S4. The hydraulic support shield beam (21), the front link (31), the rear link (33) and the actual tilt angle of each column is compared with the theoretical tilt angle difference to obtain the attitude deviation coefficient to determine the degree of attitude deviation of the hydraulic support; S5. Calculate the maximum bearing pressure and actual supporting force of each point of the hydraulic support top beam (11), and determine the bearing conditions of each point of the top beam (11); S6. Adjust the length of each column according to the tilt, torsion and eccentric load of the hydraulic support obtained in step S2; The steps for determining the tilt degree of the hydraulic support posture include: S2-1-1. Definition of normal range , tilt interval and severely tilted areas ; S2-1-2. Calculate the length difference between the first column (41) and the second column (51) in the front row ,when exist When the hydraulic support is within the range, it is determined that the front part is not tilted. exist When the front of the hydraulic support is within the range, it is determined that the front of the hydraulic support is tilted. exist When within the interval, it is determined that the front of the hydraulic support is severely tilted; S2-1-3. Calculate the length difference between the first column (61) and the second column (71) in the rear row ,when exist When the rear of the hydraulic support is within the range, it is determined that there is no tilt. exist When the rear of the hydraulic support is within the range, it is determined that the hydraulic support is tilted. exist When within the interval, it is determined that the rear part of the hydraulic support is severely tilted; The steps for determining the torsion of the hydraulic support posture include: S2-2-1. Definition of normal range , torsion interval and severe reversal interval ; S2-2-2. Calculate the inclination angle of the first front column (41) and the second front column (51) relative to the horizontal plane of the base (81) ,when exist When the hydraulic support is within the range, it is determined that the front part has not twisted. exist When the hydraulic support is within the range, it is judged that the front part is twisted. exist When it is within the interval, it is determined that the front part of the hydraulic support is severely twisted; S2-2-3. Calculate the inclination angle of the first rear column (61) and the second rear column (71) relative to the horizontal plane of the base (81) ,when exist When the hydraulic support is within the range, it is determined that there is no torsion at the rear. exist When the hydraulic support is within the range, it is judged that the rear part is twisted. exist When it is within the interval, it is determined that the rear part of the hydraulic support is severely torsioned; The steps to determine the eccentric load condition of the hydraulic support include: S2-3-1. Definition of normal range , eccentric load interval and severe overload area ; S2-3-2. Calculate the pressure difference between the first front column (41) and the second front column (51) ,when exist When the hydraulic support is within the range, it is judged that there is no overload at the front of the hydraulic support. exist When the hydraulic support is within the range, it is judged that the front part is overloaded. exist When the hydraulic support is within the interval, it is determined that the front part has serious eccentric load; S2-3-3. Calculate the pressure difference between the first rear column (61) and the second rear column (71) ,when exist When the hydraulic support is within the range, it is determined that there is no overload at the rear of the hydraulic support. exist When the hydraulic support is within the range, it is judged that the rear part is overloaded. exist When the hydraulic support is within the interval, it is determined that serious eccentric load occurs at the rear of the hydraulic support; The judgment results of the tilt degree, torsion and eccentric load of the hydraulic support are sent to the host computer, which will alarm for abnormal results and adjust the length of each column.

2. A method for detecting and adjusting the safety support status of a hydraulic support according to claim 1, characterized in that: A top beam angle sensor (12) is provided on the top beam (11) to measure the tilt angle of the top beam (11) relative to the horizontal plane of the base (81) A shield beam angle sensor (22) is provided on the shield beam (21) to measure the inclination angle of the shield beam (21) relative to the horizontal plane of the base A front link angle sensor (32) and a rear link angle sensor (34) are respectively provided on the front link (31) and the rear link (33) to measure the tilt angles of the front link (31) and the rear link (33) relative to the horizontal plane of the base (81) and A first angle sensor (42), a first length sensor (43) and a first pressure sensor (44) are provided on the first front column (41) to measure the tilt angle of the first front column (41) relative to the horizontal plane of the base (81) , column length L 10 and intracavitary pressure A second angle sensor (52), a second length sensor (53) and a second pressure sensor (54) are provided on the second front column (51) to measure the tilt angle of the second front column (51) relative to the horizontal plane of the base (81) , column length L 13 and intracavitary pressure A third angle sensor (62), a third length sensor (63) and a third pressure sensor (64) are provided on the first rear column (61) to measure the tilt angle of the first rear column (61) relative to the horizontal plane of the base (81) , column length L 11 and intracavitary pressure A fourth angle sensor (72), a fourth length sensor (73) and a fourth pressure sensor (74) are provided on the second rear column (71) to measure the inclination angle of the second rear column (71) relative to the horizontal plane of the base (81) , column length L 14 and intracavitary pressure .

3. A method for detecting and adjusting the safety support status of a hydraulic support according to claim 2, characterized in that: Step S3 specifically includes: S3-1. Simplify the theoretical model of the hydraulic support structure, and define the theoretical model as follows: θ1 is the angle between the rear link and the horizontal plane of the base, θ2 is the angle between the front link and the horizontal plane of the base, θ3 is the angle between the shield beam and the horizontal plane of the base, θ4 is the angle between the top beam and the horizontal plane of the base, θ5 is the angle between the rear column and the horizontal plane of the base, θ6 is the angle between the front column and the horizontal plane of the base, L1 is the distance between the front column and the rear column on the base (81), L2 is the distance between the rear column on the base (81) and the vertical projection point of the lower end of the front link (31), and L3 is the distance between the front column and the rear column on the base (81). is the distance between the vertical projection point of the lower end of the front link (31) and the vertical projection point of the lower end of the rear link (33) on the base (81), L4 is the length of the rear link (33), L5 is the length of the front link (31), L6 is the distance between the hinge point of the front link (31) and the hinge point of the rear link (33) on the shield beam (21), L7 is the remaining distance of the shield beam (21), L8 is the distance between the hinge point of the rear column on the top beam (11) and the hinge point of the shield beam, L9 is the distance between the hinge point of the front column on the top beam (11) and the hinge point of the rear column, L 10 is the length of the front column, L 11 is the length of the rear pillar, L 12 is the distance between the end of the top beam (11) and the hinge point of the front column; S3-2. Establishing the closed-loop vector equation of the hydraulic support (1) S3-3. Change the variable Expressed as an estimated value of the solution and a A small correction factor for the difference from the solution to the equation The sum of （2） S3-4. Using Taylor series to expand equations （3） S3-5. Use the Newton-Simpson method to solve the above nonlinear transcendental equation, omitting the high-order terms in the Taylor expansion and using only the linear terms. The difference between the estimated value of the unknown quantity and the exact solution of the equation is It can be solved as: （4） In the formula is the Jacobian matrix of the equation system; S3-6. According to equations (1) to (4), the values of θ1 to θ6 are obtained, and the theoretical inclination angles of the hydraulic support shield beam (21), the front link (31), the rear link (33) and each column at different support heights are obtained.

4. A method for detecting and adjusting the safety support status of a hydraulic support according to claim 3, characterized in that: Step S4 includes: S4-1. Define the hydraulic support posture deviation coefficient as the ratio of the difference between the theoretical tilt angle and the actual tilt angle of each key component of the hydraulic support to the theoretical tilt angle, denoted as ,Right now （5） S4-2. Define the normal posture angle range , deviation posture angle range and severe deviation posture angle range ; S4-3. When fall into The structural posture is considered to have no deviation when fall into The structure is considered to have a deviation in its posture when fall into The structure is considered to have serious deviations in posture when the interval is S4-4. Send the result of the posture deflection judgment of the hydraulic support to the host computer, which will alarm for abnormal results and adjust the structure length.

5. A method for detecting and adjusting the safety support status of a hydraulic support according to claim 3, characterized in that: Step S5 specifically includes: S5-1. Define the extension direction of the top beam (11) as the X direction, and the extension direction perpendicular to the top beam (11) as the Y direction; define G1 as the gravity of the top beam (11), and take the force point at the midpoint of the top beam (11); P1 is the support force of the front column; P2 is the support force of the rear column; F x is the force on the top beam at a distance x from the hinge point between the top beam and the shield beam; -F Ex 、-F Ey are the components of the X-direction and Y-direction forces of the top beam (11) and the protected beam (21); P1=p1S; P2=p2S, where p1 and p2 are the pressures in the lower cavity of the front column and the lower cavity of the rear column of the hydraulic support, respectively, and S is the area of the lower cavity of the column; S5-2. The moment equilibrium equation for the hinge point between the shield beam (21) and the top beam (11) can be obtained: （6） Among them F x That is, the force carried by the top beam (11) at a distance x from the hinge point between the top beam (11) and the shield beam (21), The solution is （7） S5-3. Substituting the maximum lower cavity pressure P of the column into equation (7), the theoretical maximum support force that each point of the top beam (11) can be obtained. for （8） Substitute the measured inclination angles of the shield beam (21), the front connecting rod (31) and the rear connecting rod (33), as well as the length, inclination angle and inner cavity pressure of each column into formula (7) to obtain the actual supporting force that each point of the top beam (11) can withstand. for （9） S5-4. Define the ratio of the actual pressure at each point of the top beam to the theoretical maximum support force as the bearing coefficient of that point, denoted as ,Right now: （10）。 6. A method for detecting and adjusting the safety support status of a hydraulic support according to claim 5, characterized in that: Step S5 further includes: S5-5. Take the length of the top beam (11) 、 … 、 Take the average load factor of these 10 points as the load factor of the hydraulic support as a whole. ,Right now （11） S5-6. Define the light load range , Full load range and overload range ; S5-7. When Falling The hydraulic support is considered to be lightly loaded when Falling The hydraulic support is considered to be fully loaded when Falling in the interval The hydraulic support is considered to be overloaded; S5-8. Send the load-bearing condition judgment result of the hydraulic support to the host computer, and the host computer will alarm if the result is abnormal.

7. A method for detecting and adjusting the safety support status of a hydraulic support according to claim 1, characterized in that: Step S6 specifically includes: S6-1. Definition ; S6-2. Calculate the length difference between the first front column (41) and the second front column (51) ;when In the interval When the upper computer controls the front first column (41) to extend Or the second front column (51) is shortened ;when In the interval When the upper computer controls the front first column (41) to extend Or the second front column (51) is shortened ;when In the interval When the upper computer controls the front first column (41) to extend Or the second front column (51) is shortened ;when In the interval When the upper computer controls the first column (41) in the front row to shorten Or the second front column (51) is extended ;when In the interval When the upper computer controls the first column (41) in the front row to shorten Or the second front column (51) is extended ;when In the interval When the upper computer controls the first column (41) in the front row to shorten Or the second front column (51) is extended ; S6-3. Adjust the length of the first rear column (61) and the second rear column (71) according to the method of step S6-2; S6-4. Based on the results of the adjustment of each column, the length of each column, as well as the tilt, torsion and eccentricity of the hydraulic support are collected in real time, and negative feedback adjustment is performed on the length of each column. Repeat steps S6-2 and S6-3.

8. A method for detecting and adjusting the safety support status of a hydraulic support according to claim 4, characterized in that: According to the comparison result of the difference between the actual inclination angle of the hydraulic support shield beam (21), the front connecting rod (31), the rear connecting rod (33) and each column and the theoretical inclination angle obtained in step S4, the length of the shield beam (21), the front connecting rod (31), the rear connecting rod (33) and each column is adjusted.

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