An adaptive hydraulic support automatic tracking control method

Abstract

The application provides an adaptive hydraulic support automatic following machine control method, and belongs to the technical field of hydraulic support automatic following machine; solves the problem of reduced production safety and production efficiency caused by too fast or too slow coal cutting speed of a coal mining machine; and comprises the following steps: firstly, calculating the maximum coal mining machine traction speed V according to the number of hydraulic support actions and the automatic following machine action period of different working faces; matching different automatic following machine modes according to the maximum coal mining machine traction speed, and the specific steps are as follows: when the coal cutting speed of the coal mining machine is less than or equal to V, sequentially adopting automatic following machine to perform the support moving and pushing actions of the hydraulic support; when the coal cutting speed of the coal mining machine is greater than V, adopting group automatic following machine to perform the support moving and pushing actions of the hydraulic support; the maximum coal mining machine traction speed V is equal to the hydraulic support width divided by the automatic following machine action period; and the application is applied to the control of hydraulic support automatic following machine.

Description

TECHNICAL FIELD

[0001] The application provides a self-adaptive hydraulic support automatic following machine control method, and belongs to the technical field of automatic following machine of hydraulic support. BACKGROUND

[0002] The hydraulic support is one of three main devices of a fully mechanized coal mining face, and its main functions are as follows: one is to effectively support the roof and maintain the safety of the working face; the other is to push the conveyor and move itself. Whether the hydraulic support can effectively support the roof and achieve timely support to make the empty roof time of the working face shortest is a guarantee requirement for the safety and efficient production of the fully mechanized coal mining face. Thus, a specialized technology, referred to as "fully mechanized coal mining face automatic following machine technology" and abbreviated as automatic following machine, is generated, which means that based on the position information of the coal mining machine, corresponding actions are automatically completed at a distance set before or after the position of the coal mining machine according to specific coal mining technology and related operation processes, and all functional actions of the hydraulic support and the scraper conveyor of the fully mechanized coal mining face following the coal mining machine are realized in a fully automatic manner. Two main works of the automatic following machine are automatic support moving and automatic pushing.

[0003] At present, the specific implementation method of the common automatic following machine technology is that the hydraulic support follows the coal cutting action of the coal mining machine, sequentially moves the supports in the direction of movement of the coal mining machine at a certain distance behind the coal mining machine, sequentially pushes the supports in the direction of movement of the coal mining machine after the moving of the supports is completed, and the calculation basis of the automatic following machine control method is the current position signal of the coal mining machine. As shown in the following table. Figure 2 Suppose that the current position of the coal mining machine is at the 51st support, the 6th support (i.e. the 57th support) behind the coal mining machine receives the moving instruction and starts moving, and the controllers of the 63rd support to the 68th support receive the pushing instruction and start pushing. When the coal mining machine moves to the 50th support, the controller of the 56th support receives the moving instruction and starts moving, and the controllers of the 62nd support to the 67th support receive the pushing instruction and start pushing. In this way, the supports follow the running position of the coal mining machine to perform corresponding moving and pushing actions.

[0004] The safety regulations of coal mines require that the adjacent two supports of the fully mechanized coal mining face cannot be moved at the same time, and the actual moving period and pushing period of each fully mechanized coal mining face are relatively fixed. Therefore, if the speed of the coal mining machine is too fast in the production process, the following action distance of the automatic following machine may increase, the empty roof time may be too long, and other phenomena may occur if the moving and pushing of the supports are sequentially performed under the premise of ensuring the action distance. If the moving and pushing of the supports are strictly performed according to the action distance, the following action of the automatic following machine may be "lost", the moving and pushing actions may interfere with each other, and other phenomena may occur. The related following actions (moving and pushing) cannot be timely completed, and the coal mining machine has to slow down or stop to wait. On the contrary, if the speed of the coal mining machine is too slow, the automatic following machine can follow, but the production efficiency is seriously affected, and the economic benefit is greatly reduced. SUMMARY

[0005] The present application proposes a self-adaptive hydraulic support automatic following machine control method to solve the problems of increased following machine action distance, air top time process or lost following machine action, and interference between support moving and pushing action caused by the fact that the current hydraulic support automatic following machine cannot adapt to different speeds of the coal mining machine.

[0006] To solve the above technical problems, the technical scheme adopted by the present application is as follows: a self-adaptive hydraulic support automatic following machine control method, comprising the following steps:

[0007] First, the maximum coal mining machine traction speed V is calculated according to the number of hydraulic support actions and the automatic following machine action period of different working faces;

[0008] Different automatic following machine modes are matched according to the maximum coal mining machine traction speed, and the specific steps are as follows:

[0009] When the coal mining machine cutting speed is ≤V, the sequential automatic following machine is used for the hydraulic support moving and pushing action;

[0010] When the coal mining machine cutting speed is >V, the grouping automatic following machine is used for the hydraulic support moving and pushing action.

[0011] The maximum coal mining machine traction speed V = hydraulic support width / automatic following machine action period.

[0012] The grouping automatic following machine is to set a certain group size of hydraulic supports, and when the coal mining machine moves forward by one group size distance, a group of moving actions is triggered, and the supports in the group move sequentially in the set direction; there is no any association between groups, and the groups can completely independently act.

[0013] The steps of the sequential automatic following machine are as follows:

[0014] The moving distance of the coal mining machine behind is set as a hydraulic supports, the interval between the last support of the moving and the start support of the pushing is set as b hydraulic supports, and the pushing size is set as c hydraulic supports;

[0015] If the current position of the coal mining machine is at the nth hydraulic support, the support controller of the nth+a hydraulic support behind the coal mining machine receives the moving instruction first to start moving, and the support controllers of the nth+a+b to nth+a+b+c-1 hydraulic supports receive the pushing instruction to start pushing;

[0016] If the current position of the coal mining machine is at the nth-1 hydraulic support, the support controller of the nth+a-1 hydraulic support behind the coal mining machine receives the moving instruction first to start moving, and the support controllers of the nth+a+b-1 to nth+a+b+c-2 hydraulic supports receive the pushing instruction to start pushing;

[0017] By analogy, the hydraulic support on the fully mechanized coal mining face follows the running position of the coal mining machine to perform corresponding moving and pushing actions.

[0018] The grouping automatic following steps are as follows:

[0019] The moving distance of the hydraulic support after the coal mining machine is a supports, the interval between the last support and the starting support for pushing is b supports, the pushing scale is c supports, the grouping scale of the moving supports is l supports, and the moving direction of the supports in the group is from the coal mining machine to the far end.

[0020] When the coal mining machine runs to the mth hydraulic support, the moving signal is sent to the support controller of the m+a th hydraulic support according to the coal mining machine position monitoring system, the m+a th and m+a+l th support controllers are grouped, the m+a th hydraulic support is moved first, the m+a+l th hydraulic support is moved after the m+a th hydraulic support is moved, the m+a+l+b th to m+a+l+b+c-1 th support controllers receive the pushing instruction to perform the grouped pushing, and the m+a+l+b-1 th to m+a+l+b+c-2 th support controllers continue to perform the grouped pushing after the group pushing is completed.

[0021] When the coal mining machine continues to run to the m-l th hydraulic support, the moving signal is sent to the m-l+a th support controller according to the coal mining machine position monitoring system, the m-l+a th and m-l+a+1 th support controllers are grouped, the m-l+a th hydraulic support is moved first, the m-l+a+1 th hydraulic support is moved after the m-l+a th hydraulic support is moved, the m-l+a+1+b th to m-l+a+b+c th support controllers receive the pushing instruction to perform the grouped pushing, and the m-l+a+b th to m-l+a+b+c-1 th support controllers continue to perform the grouped pushing after the group pushing is completed.

[0022] In this way, when the coal mining machine runs to the m-2*l th hydraulic support, the m-2*l+a th and m-2*l+a+1 th support controllers are grouped, the m-2*l+a th hydraulic support is moved, the m-2*l+a+1 th hydraulic support is moved after the m-2*l+a th hydraulic support is moved, the m-2*l+a+1+b th to m-2*l+a+b+c th support controllers are grouped to execute the pushing instruction, and the m-2*l+a+b th to m-2*l+a+b+c-1 th support controllers continue to perform the grouped pushing after the group pushing instruction is executed.

[0023] By analogy, the hydraulic support on the fully mechanized coal mining face follows the running position of the coal mining machine to perform corresponding moving and pushing actions.

[0024] The distance between the moving frame, the interval between the last moving frame and the starting pushing frame, and the pushing scale are all set to the same number of frames, i.e., a=b=c.

[0025] The group size for the grouped transfer is at least 2 units, i.e., l≥2.

[0026] The a=b=c=6.

[0027] The beneficial effects of this invention compared to the prior art are as follows: This invention can match different coal mining speeds to achieve adaptive automatic following, and under the premise of avoiding two adjacent hydraulic supports being "empty overhead" at the same time, it can get rid of the constraint of the hydraulic support automatic following speed on the coal mining machine's traction speed and production. The traction speed of the coal mining machine during coal cutting is no longer limited, which greatly improves coal mining efficiency. At the same time, it increases the automatic following speed of hydraulic supports during the production process of fully mechanized mining face, thereby improving production efficiency; and it keeps the range of empty overhead during the shifting of supports within a safe range, thereby improving production safety. Attached Figure Description

[0028] The present invention will be further described below with reference to the accompanying drawings:

[0029] Figure 1 This is a flowchart of the adaptive hydraulic support automatic following control method of the present invention;

[0030] Figure 2 This is a schematic diagram of an embodiment of the sequential automatic following frame shifting and pushing mechanism of the present invention;

[0031] Figure 3 This is a schematic diagram of an embodiment of the group-type automatic following machine shifting and pushing mechanism of the present invention;

[0032] Figure 4 This is a control flowchart of one embodiment of the group-based automatic following mechanism of the present invention. Detailed Implementation

[0033] like Figures 1 to 4 As shown, this invention addresses the impact on production safety and efficiency caused by excessively fast or slow coal cutting speeds of coal mining machines by providing an adaptive automatic hydraulic support following control method. The basic principle is as follows: Since the number and speed of hydraulic support movements vary across different working faces, the automatic following cycle also differs. Therefore, a maximum matching coal mining machine traction speed V is calculated based on the automatic following cycle, where V = hydraulic support width / automatic following cycle. Figure 1 As shown, it includes the following steps:

[0034] First, calculate the maximum coal mining machine traction speed V based on the number of hydraulic support actions and the automatic follow-up action cycle for different working faces;

[0035] Different automatic following modes are matched according to the maximum traction speed of the coal mining machine. The specific steps are as follows:

[0036] When the coal cutting speed of the coal mining machine is ≤V, the hydraulic support shifting and pushing actions are carried out in a sequential automatic following manner.

[0037] When the coal cutting speed of the coal mining machine is greater than V, the hydraulic support is moved and pushed by a group-type automatic following machine.

[0038] The group-based automatic following mechanism sets a certain group size for the hydraulic supports. When the coal mining machine moves forward by a group size distance, it triggers a group of support shifting actions. Within the group, the supports shift in sequence according to the set direction. There is no connection between the groups, and they can operate completely independently.

[0039] The steps of the sequential automatic follow-up are as follows:

[0040] The distance of the moving support after the coal mining machine is set as a hydraulic support frame a, the interval between the last moving support frame and the starting pusher frame is set as b hydraulic supports, and the pusher size is set as c hydraulic supports.

[0041] Suppose that the current position of the coal mining machine is at the nth hydraulic support, then the support controller of the (n+a)th hydraulic support behind the coal mining machine will receive the support moving command first and start moving the support. The support controllers of the (n+a+b)th to (n+a+b+c-1)th hydraulic supports will receive the push conveyor command and start pushing the conveyor.

[0042] If the current position of the coal mining machine is at hydraulic support number n-1, then the support controller of hydraulic support number n+a-1 behind the coal mining machine will receive the support moving command first and start moving the support. The support controllers of hydraulic supports number n+a+b-1 to number n+a+b+c-2 will receive the push conveyor command and start pushing the conveyor.

[0043] By analogy, the hydraulic supports on the longwall mining face are moved and pushed according to the operating position of the coal mining machine.

[0044] The steps for the group-based automatic follow-up are as follows:

[0045] The distance of the moving support after the coal mining machine is set as a hydraulic support frame, the interval between the last moving support frame and the first pushing support frame is b hydraulic supports, the size of the pushing support frame is c hydraulic supports, the group size of the moving support is l hydraulic supports, and the moving support direction within the group is from the closest to the coal mining machine to the furthest.

[0046] When the coal mining machine reaches the m-th hydraulic support, the coal mining machine position monitoring system sends a support shifting signal to the support controller of the m+a-th hydraulic support. The support controllers of the m+a and m+a+l supports are grouped together. The m+a hydraulic support shifts first. After the m+a hydraulic support has finished shifting, the m+a+l hydraulic support begins to shift. After the m+a+l hydraulic support has finished shifting, the support controllers of the m+a+l+b to m+a+l+b+c-1 supports receive the push-slide command and push the slide together. After this group push-slide is completed, since the m+a hydraulic support has already finished shifting, the support controllers of the m+a+l+b-1 to m+a+l+b+c-2 supports continue to push the slide together.

[0047] Assuming the coal mining machine continues to move towards the head, when it reaches the position of hydraulic support ml, the coal mining machine position monitoring system sends a support shifting signal to the controller of support m-l+a. The controllers of supports m-l+a and m-l+a+1 are grouped together, and hydraulic support m-l+a moves first. After the shifting is completed, hydraulic support m-l+a+1 begins to move. After hydraulic support m-l+a+1 has finished moving, controllers of supports m-l+a+1+b to m-l+a+b+c receive the push-slide command and push the slide as a group. After the group push-slide is completed, since hydraulic support m-l+a has already moved, supports m-l+a+b to m-l+a+b+c-1 continue to push the slide as a group.

[0048] Thus, when the coal mining machine reaches the position of hydraulic support m-2*l, the controllers of supports m-2*l+a and m-2*l+a+1 are grouped together. After hydraulic support m-2*l+a is moved, hydraulic support m-2*l+a+1 begins to move. After the movement is completed, the controllers of supports m-2*l+a+1+b to m-2*l+a+b+c execute the push-conveyor command as a group. After the push-conveyor command of this group is completed, the controllers of supports m-2*l+a+b to m-2*l+a+b+c-1 continue to push-conveyor as a group.

[0049] In this way, the hydraulic supports on the longwall mining face can move and slide accordingly, following the movement of the coal mining machine.

[0050] The distance between the moving frame, the interval between the last moving frame and the starting pushing frame, and the pushing scale are all set to the same number of frames, i.e., a=b=c.

[0051] The group size for the grouped transfer is at least 2 units, i.e., l≥2.

[0052] The a=b=c=6.

[0053] The method of the present invention will be further explained below with reference to specific embodiments.

[0054] When the coal cutting speed of the coal mining machine is ≤V, the automatic following mode is sequential automatic following, such as... Figure 2 As shown in the diagram, assuming the current position of the coal mining machine is at frame 51, the electro-hydraulic controller of the 6th frame (i.e., frame 57) behind the coal mining machine receives the frame-shifting command and begins to shift. Controllers for frames 63 to 68 receive the push-conveyor command and begin to push the conveyor. When the coal mining machine reaches frame 50, the controller for frame 56 receives the frame-shifting command and begins to shift, while controllers for frames 62 to 67 receive the push-conveyor command and begin to push the conveyor. This process continues, with the hydraulic supports closely following the coal mining machine's position to perform corresponding frame-shifting and push-conveyor actions.

[0055] When the coal cutting speed of the coal mining machine exceeds V, the automatic following mode automatically switches to group-based automatic following. Hydraulic supports are set to a certain group size; each time the coal mining machine travels a distance equal to one "group size," a group of supports is triggered to move. Within a group, supports move sequentially according to a set direction; there is no connection between groups, allowing them to operate completely independently. Thus, there is no need to specify or set support movement areas; the number of support movement groups adaptively increases as the coal mining machine speed increases, and theoretically, there is no speed limit. Automatic conveyor pushing still occurs sequentially according to the coal mining machine's direction of travel after the automatic support movement is completed. In this way, while ensuring that two adjacent hydraulic supports do not simultaneously experience "empty roofs," multiple groups of supports can move simultaneously, and multiple supports can move at the same time, according to the coal mining machine speed, achieving a significant increase in the following support movement speed and the following conveyor pushing speed.

[0056] The following is a brief introduction to the principle of group-based automatic follow-up: For example... Figure 3 As shown, the distance between the shifting frames after the coal mining machine is set to 6 frames, the interval between the last shifting frame and the starting pusher frame is 6 frames, the pusher scale is 6 frames, the group size for shifting frames is 2 frames, and the shifting direction within the group is from closest to furthest from the coal mining machine. Additionally... Figure 2 An additional condition needs to be added. Since this support shifting method does not require specifying or setting the support shifting area, it is assumed that after the first set of support shifting is started, the coal mining machine advances 4 more supports during the first set of support shifting process. This will adaptively trigger the condition of simultaneous shifting of 3 sets of hydraulic supports.

[0057] Assuming the coal mining machine is currently at support position 55, the machine's position monitoring system sends a support relocation signal to the controller of support 61. Supports 61 and 62 are grouped together, and support 61 relocates first. After support 61 completes its relocation, support 62 begins its relocation. Once support 62 has completed its relocation, controllers for supports 68 through 73 receive the push-conveyor command and begin group push-conveyor operation. After this group push-conveyor operation is completed, since support 61 has already relocated, controllers for supports 67 through 72 continue group push-conveyor operation.

[0058] The coal mining machine continues to move towards the head of the machine. When it reaches the position of support 53, the coal mining machine position monitoring system sends a support shifting signal to the controller of support 59. The controllers of supports 59 and 60 are grouped together, and support 59 is shifted first. After the shift of support 59 is completed, support 60 begins to shift. After support 60 has finished shifting, the controllers of supports 66 to 71 receive the push conveyor command and push the conveyor together. After the group push conveyor is completed, since support 59 has already been shifted, supports 65 to 70 continue to push the conveyor together.

[0059] Thus, when the coal mining machine reaches the position of support 51, the controllers of supports 57 and 58 are grouped together. After support 57 is moved, support 58 begins to move. After the movement is completed, the controllers of supports 64 to 69 execute the push conveyor command as a group. After this group of push conveyor commands is completed, the controllers of supports 63 to 68 continue to push the conveyor as a group.

[0060] And so on, its control flow diagram is as follows: Figure 4 As shown.

[0061] This invention can adapt to different coal mining machine speeds, thereby achieving automatic following. The traction speed of the coal mining machine during coal cutting is no longer limited, greatly improving coal mining efficiency.

[0062] Regarding the specific structure of this invention, it should be noted that the connection relationships between the various component modules used in this invention are definite and achievable. Except as specifically described in the embodiments, their specific connection relationships can bring about corresponding technical effects and solve the technical problems proposed by this invention without relying on the execution of corresponding software programs. The models of the components, modules, and specific components appearing in this invention, the connection methods between them, and the conventional usage methods and expected technical effects brought about by the above technical features, unless specifically described, are all publicly disclosed content in patents, journal articles, technical manuals, technical dictionaries, and textbooks that can be obtained by those skilled in the art before the application date, or belong to conventional technology, common knowledge, and other existing technologies in this field. There is no need to elaborate, which makes the technical solution provided in this case clear, complete, and achievable, and can reproduce or obtain corresponding physical products based on this technical means.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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 invention.

Claims

1. An adaptive automatic following control method for hydraulic supports, characterized in that: Includes the following steps: First, calculate the maximum traction speed V of the coal mining machine based on the width of the hydraulic support and the automatic following action cycle of different working faces; Different automatic following modes are matched according to the maximum traction speed of the coal mining machine. The specific steps are as follows: When the coal cutting speed of the coal mining machine is ≤V, the hydraulic support shifting and pushing actions are carried out in a sequential automatic following manner. When the coal cutting speed of the coal mining machine is greater than V, the hydraulic support is moved and pushed in a group-based automatic following manner. The group-based automatic following mechanism sets the hydraulic supports into a certain group size. When the coal mining machine moves forward by a group size distance, it triggers a group of support movement actions. Within the group, the supports move sequentially according to the set direction. There is no connection between groups, and they can operate completely independently. The steps for the group-based automatic follow-up are as follows: The distance of the moving support after the coal mining machine is set as a hydraulic support frame a, the interval between the last moving support frame and the first pushing support frame is b hydraulic support frames, the size of the pushing support frame is c hydraulic support frames, the group size of the group moving support frame is L hydraulic support frames, and the moving support frame direction within the group is from the closest to the coal mining machine to the furthest. When the coal mining machine reaches the m-th hydraulic support, the position monitoring system sends a support shifting signal to the support controller of the m+a-th hydraulic support. The support controllers of m+a and m+a+L are grouped together. The m+a-th hydraulic support shifts first. After the m+a-th hydraulic support has finished shifting, the m+a+L-th hydraulic support begins to shift. After the m+a+L-th hydraulic support has finished shifting, the support controllers of m+a+L+b to m+a+L+b+c-1 receive the push-slide command and push the slide together. After this group push-slide is completed, since the m+a-th hydraulic support has already shifted, the support controllers of m+a+L+b-1 to m+a+L+b+c-2 continue to push the slide together. Assuming the coal mining machine continues to move towards the head, when it reaches the position of hydraulic support mL, the coal mining machine position monitoring system sends a support shifting signal to the controller of support m-L+a. The controllers of supports m-L+a and m-L+a+1 are grouped together, and hydraulic support m-L+a moves first. After the shifting is completed, hydraulic support m-L+a+1 begins to move. After hydraulic support m-L+a+1 has finished moving, the controllers of supports m-L+a+b+1 to m-L+a+b+c receive the push-slide command and push the slide as a group. After the group push-slide is completed, since hydraulic support m-L+a has already moved, supports m-L+a+b to m-L+a+b+c-1 continue to push the slide as a group. Thus, the coal mining machine travels to m-2 When the hydraulic support is in position L, m-2 L+a and m-2 L+a+1 bracket controller group, m-2 After the L+a hydraulic support was moved, m-2 Hydraulic support L+a+1 begins to move; after the move is completed, m-2 L+a+1+b to m-2 The L+a+b+c bracket controllers execute push-pull commands in groups. After this group of push-pull commands is completed, m-2 L+a+b to m-2 L+a+b+c-1 bracket controller continues to push the slide in groups; In this way, the hydraulic supports on the longwall mining face can move and slide accordingly, following the movement of the coal mining machine.

2. The adaptive hydraulic support automatic following control method according to claim 1, characterized in that: The maximum traction speed of the coal mining machine, V, is equal to the width of the hydraulic support and the cycle of the automatic following action.

3. The adaptive hydraulic support automatic following control method according to claim 2, characterized in that: The steps of the sequential automatic follow-up are as follows: The distance of the moving support after the coal mining machine is set as a hydraulic support frame a, the interval between the last moving support frame and the starting pusher frame is set as b hydraulic supports, and the pusher size is set as c hydraulic supports. Suppose that the current position of the coal mining machine is at the nth hydraulic support, then the support controller of the (n+a)th hydraulic support behind the coal mining machine will receive the support moving command first and start moving the support. The support controllers of the (n+a+b)th to (n+a+b+c-1)th hydraulic supports will receive the push conveyor command and start pushing the conveyor. If the current position of the coal mining machine is at hydraulic support number n-1, then the support controller of hydraulic support number n+a-1 behind the coal mining machine will receive the support moving command first and start moving the support. The support controllers of hydraulic supports number n+a+b-1 to number n+a+b+c-2 will receive the push conveyor command and start pushing the conveyor. By analogy, the hydraulic supports on the longwall mining face are moved and pushed according to the operating position of the coal mining machine.

4. The adaptive hydraulic support automatic following control method according to claim 1 or 3, characterized in that: The distance between the moving frame, the interval between the last moving frame and the starting pushing frame, and the pushing scale are all set to the same number of frames, i.e., a=b=c.

5. The adaptive hydraulic support automatic following control method according to claim 1, characterized in that: The group size for the grouped transfer is at least 2 units, i.e., L≥2.

6. The adaptive hydraulic support automatic following control method according to claim 4, characterized in that: The a=b=c=6.

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