Linkage control method and system of hydraulic support of working face and two-lane equipment

Abstract

The disclosure provides a linkage control method and system of a hydraulic support and a two-lane device in a working face, wherein the method comprises: in response to a coal mining machine in the working face running to a first set position along a preset direction, a first electro-hydraulic control system installed on a transfer machine controls a self-moving device of the transfer machine to lift the transfer machine; in response to the coal mining machine running to a second set position along the preset direction, a second electro-hydraulic control system installed on the hydraulic support controls the hydraulic support to perform a pushing action, and the first electro-hydraulic control system controls the self-moving device of the transfer machine to move the transfer machine. The automatic linkage control of the hydraulic support in the working face and the transfer machine in the two-lane device can be realized, thereby reducing the operation burden of the equipment operator, reducing the safety hazard, and improving the mining efficiency.

Description

Technical Field

[0001] This disclosure relates to the field of coal mining technology, and in particular to a method and system for the linkage control of hydraulic supports at the working face and equipment in two roadways. Background Technology

[0002] With the development of fully mechanized mining technology, the obstacles restricting rapid, efficient, automated, and intelligent mining in coal mines have gradually extended from the inside of the working face to the two roadways (material roadway and transport roadway).

[0003] Typically, during continuous mining in a fully mechanized longwall face, the hydraulic supports and the coal mining machine work collaboratively. The hydraulic supports can perform actions such as pushing and pulling the conveyor according to the position of the coal mining machine, thus ensuring continuous and efficient mining operations. The transfer conveyors in the two roadways also need to move simultaneously with the hydraulic supports. Achieving automatic linkage control between the hydraulic supports and the transfer conveyors in the two roadways during continuous mining is crucial for reducing the operational burden on equipment operators, minimizing safety hazards, and improving mining efficiency. Summary of the Invention

[0004] This disclosure aims to at least partially address one of the technical problems in the aforementioned technologies.

[0005] Therefore, this disclosure proposes a linkage control method for hydraulic supports in the working face and equipment in the two roadways, so as to realize automatic linkage control of hydraulic supports in the working face and transfer machines in the two roadways, thereby reducing the operational burden of equipment operators, reducing safety hazards, and improving mining efficiency.

[0006] The first aspect of this disclosure provides a method for the linkage control of a hydraulic support for a working face and two-way equipment, the two-way equipment including a transfer conveyor. The method includes: in response to the coal mining machine at the working face moving along a preset direction to a first set position, using a first electro-hydraulic control system installed on the transfer conveyor to control the self-moving device of the transfer conveyor to raise the transfer conveyor; in response to the coal mining machine moving along the preset direction to a second set position, using a second electro-hydraulic control system installed on the hydraulic support to control the hydraulic support to perform a pushing action, and using the first electro-hydraulic control system to control the self-moving device of the transfer conveyor to move the transfer conveyor, so as to realize the linkage control of the hydraulic support and the transfer conveyor.

[0007] A second aspect of this disclosure provides a linkage control system for a hydraulic support at a working face and two-way equipment, the two-way equipment including a transfer conveyor. The system includes: a first electro-hydraulic control system installed on the transfer conveyor, used to control the self-moving device of the transfer conveyor to raise the transfer conveyor in response to the coal mining machine at the working face moving along a preset direction to a first set position, and to control the self-moving device of the transfer conveyor to move the transfer conveyor in response to the coal mining machine moving along the preset direction to a second set position; and a second electro-hydraulic control system installed on the hydraulic support, used to control the hydraulic support to perform a pushing action in response to the coal mining machine moving along the preset direction to the second set position.

[0008] The linkage control method and system for the hydraulic support and the two-way equipment in the working face of this disclosure can realize automatic linkage control of the hydraulic support and the transfer machine in the two-way equipment in the working face, so that the hydraulic support and the transfer machine no longer need to be operated by the operators on the spot, thereby reducing the operating burden of the equipment operators, reducing safety hazards, and improving mining efficiency.

[0009] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0010] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0011] Figure 1 A schematic diagram showing the connection of a hydraulic support for a working face, a scraper conveyor, a transfer conveyor, and a belt conveyor provided in an embodiment of this disclosure;

[0012] Figure 2 A side view schematic diagram of the connection between a hydraulic support for a working face, a scraper conveyor, a transfer conveyor and a belt conveyor provided for an embodiment of this disclosure;

[0013] Figure 3 A top view schematic diagram of the connection between a hydraulic support for a working face, a scraper conveyor, a transfer conveyor, and a belt conveyor provided in an embodiment of this disclosure;

[0014] Figure 4 A schematic diagram of the linkage control system between a hydraulic support for a working face and two-lane equipment provided in an embodiment of this disclosure;

[0015] Figure 5 A schematic diagram illustrating the elevation of a transfer machine and a belt conveyor, provided as an embodiment of this disclosure;

[0016] Figure 6This is a schematic diagram illustrating the pushing of a hydraulic support and the movement of a transfer conveyor and belt conveyor, as provided in an embodiment of this disclosure.

[0017] Figure 7 This is a schematic diagram of a host computer control interface provided in an embodiment of the present disclosure;

[0018] Figure 8 A schematic diagram of the linkage control system between the hydraulic support of the working face and the two-lane equipment provided in an embodiment of this disclosure;

[0019] Figure 9 This is a schematic diagram illustrating the control of a hydraulic support, a transfer conveyor, and a belt conveyor, provided as an embodiment of this disclosure.

[0020] Figure 10 A flowchart illustrating a method for the linkage control of a hydraulic support at a working face and two-lane equipment, provided in an embodiment of this disclosure;

[0021] Figure 11 This is a flowchart illustrating another method for the linkage control of hydraulic supports and two-lane equipment at the working face, provided in an embodiment of this disclosure. Detailed Implementation

[0022] Embodiments of this disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this disclosure, and should not be construed as limiting this disclosure.

[0023] The transfer conveyor, also known as a scraper transfer conveyor, is a bridge-type scraper conveyor installed in the transport roadway at the lower exit of the fully mechanized mining face in a mine.

[0024] In the continuous mining process of fully mechanized mining faces, the relevant technologies allow operators to manually operate the hydraulic supports and transfer conveyors in the two roadways. However, this method requires multiple operators to coordinate the operation of multiple devices. Operators often use flashing miner lamps and underground loudspeakers to maintain synchronization, which can easily lead to errors and threaten the safety of operators. At the same time, this manual operation method restricts the efficient mining of fully mechanized mining faces and hinders the intelligent advancement of the mining face.

[0025] This disclosure addresses the aforementioned problems by proposing a linkage control method and system for the hydraulic supports at the working face and the transfer machines in the two roadways. This system enables automatic linkage control of the hydraulic supports at the working face and the transfer machines in the two roadways, thereby reducing the operational burden on equipment operators, minimizing safety hazards, and improving mining efficiency.

[0026] The following describes, with reference to the accompanying drawings, a method and system for the linkage control of the hydraulic support at the working face and the equipment in the two lanes according to an embodiment of the present disclosure.

[0027] To clearly illustrate the linkage control method and system of the hydraulic support at the working face and the two-lane equipment in the embodiments of this disclosure, the connection methods of the hydraulic support, scraper conveyor, and transfer machine and belt conveyor in the two-lane equipment in the embodiments of this disclosure will first be described.

[0028] Figure 1-3 This is a schematic diagram illustrating the connection of a hydraulic support for a working face, a scraper conveyor, a transfer conveyor, and a belt conveyor, provided as an embodiment of this disclosure. Figure 2 This is a side view. Figure 3 This is a top view. Among them, Figure 1 Solid lines in the diagram indicate hard connections, while dashed lines indicate overlapping connections.

[0029] refer to Figure 1-3 The hydraulic supports 14 are arranged sequentially along the working surface, and the hydraulic supports 14 at the ends of the working surface are end hydraulic supports. Figure 1 (The diagram uses three end hydraulic supports as an example.) The hydraulic support 14 is rigidly connected to the scraper conveyor 13. The transfer conveyor 12 is located in front of the end hydraulic support of the hydraulic support 14 and is rigidly connected to the end of the scraper conveyor 13 (i.e., the transfer conveyor 12 and the scraper conveyor are fixedly connected). The transfer conveyor 12 is used to transfer the coal transported by the scraper conveyor 13 in the working face to the belt conveyor, and then transport it to the ground. The belt conveyor 11 is located in front of the transfer conveyor 12 and is connected to the transfer conveyor 12 by an overlap, the overlap length of which can be 2 meters. Since the hydraulic support 14 and the scraper conveyor 13 are rigidly connected, when the hydraulic support 14 performs a pushing action, the scraper conveyor 13 will also move accordingly.

[0030] The linkage control system of the working face hydraulic support and the two-lane equipment according to an embodiment of the present disclosure will be described below with reference to the accompanying drawings.

[0031] Figure 4 This is a schematic diagram of the linkage control system between a hydraulic support for a working face and two lane equipment, provided in an embodiment of this disclosure.

[0032] refer to Figure 4 A first electro-hydraulic control system 21 can be installed on the transfer machine 12, and a second electro-hydraulic control system 22 can be installed on each hydraulic support 14. The linkage control system 20 between the hydraulic support of the working face and the equipment in the two lanes can include the first electro-hydraulic control system 21 and the second electro-hydraulic control system 22.

[0033] The second electro-hydraulic control system 22 installed on the hydraulic support 14 is used to control various actions of the hydraulic support 14, such as raising and lowering the column, pulling the frame, pushing the conveyor, and raising the bottom. The first electro-hydraulic control system 21 installed on the transfer machine 12 is used to control the self-moving device of the transfer machine 12 to move the transfer machine 12. The self-moving device of the transfer machine 12 is a device installed on the transfer machine 12 for moving the transfer machine 12.

[0034] In this embodiment, a unified movement scheme can be planned based on the movement of the coal mining machine in the working face, and the self-moving devices of the hydraulic support 14 and the transfer machine 12 in the working face can be coordinated and controlled. This allows the hydraulic support 14, the conveyor 13, and the transfer machine 12 to move forward automatically according to the set process while the coal mining working face moves forward, reducing the operator's workload, reducing safety hazards, and improving production efficiency.

[0035] The first electro-hydraulic control system 21 and the second electro-hydraulic control system 23 can be connected to the host computer to receive the position of the coal mining machine sent by the host computer, and then control the hydraulic support 14 to perform the pushing action and control the transfer machine 12 to move according to the position of the coal mining machine sent by the host computer.

[0036] Because the self-moving device of the transfer machine 12 has a complex structure and involves many steps during movement, the movement of the transfer machine 12 can be designed to better control its movement. The movement of the transfer machine 12 can be divided into a lifting stage and a moving stage. In the lifting stage, the transfer machine 12 can be raised to prepare for subsequent linkage. In the moving stage, the hydraulic support 14 can perform a pushing action and move the transfer machine 12, thereby achieving linkage control between the hydraulic support 14 and the transfer machine 12. Specifically, moving the transfer machine 12 can involve pushing it forward.

[0037] In this embodiment, the mining direction and operating position of the coal mining machine in the working face during the mining process can be preset, and the correspondence between them and the actions of the transfer machine 12 and the hydraulic support 14 can be established in advance. The host computer can send the mining direction and operating position of the coal mining machine to the first electro-hydraulic control system 21 and the second electro-hydraulic control system 22 in real time. Thus, the first electro-hydraulic control system 21 can control the transfer machine 12 according to the preset correspondence and the mining direction and operating position of the coal mining machine obtained from the host computer in real time. The second electro-hydraulic control system 22 can control the hydraulic support 14 according to the preset correspondence and the mining direction and operating position of the coal mining machine obtained from the host computer in real time.

[0038] Specifically, during the coal mining process, the host computer can send the real-time mining direction and operating position of the coal mining machine to the first electro-hydraulic control system 21 and the second electro-hydraulic control system 22.

[0039] When the coal mining machine reaches the first set position, the first electro-hydraulic control system 21 installed on the transfer machine 12 can respond to the coal mining machine moving along the preset direction to the first set position, and control the self-moving device of the transfer machine 12 to raise the transfer machine 12 according to the preset correspondence.

[0040] Furthermore, as the coal mining machine continues to run in the preset direction, when the coal mining machine reaches the second set position in the preset direction, the second electro-hydraulic control system 22 installed on the hydraulic support 14 can respond to the coal mining machine running in the preset direction to the second set position and control the hydraulic support 14 to perform a pushing action according to a preset correspondence. Here, the hydraulic support refers to one or more hydraulic supports that need to perform the pushing action, and this disclosure does not limit this. In addition, the first electro-hydraulic control system 21 installed on the transfer machine 12 can respond to the coal mining machine running in the preset direction to the second set position and control the self-moving device of the transfer machine 12 to move the transfer machine 12 according to a preset correspondence.

[0041] Through the above method, automatic linkage control of the hydraulic support 14 in the working face and the transfer machine 121 in the two roadway equipment can be realized, so that the hydraulic support 14 and the transfer machine 12 no longer need to be operated by the operators on the spot, thereby reducing the operating burden of the equipment operators, reducing safety hazards, and improving mining efficiency.

[0042] Furthermore, to achieve automatic linkage control between the hydraulic supports and the equipment in the two roadways within the working face, related technologies can directly connect the transfer machine to the hydraulic support's tie-down cylinder, directly driving the transfer machine forward via the hydraulic support's cylinder. However, this method only allows the transfer machine to move when the hydraulic support is in motion, preventing it from moving forward when the hydraulic support is not in motion, making it difficult to handle special scenarios such as working face adjustment and cutter adjustment in practical applications. The linkage control method disclosed herein, however, allows the lifting and moving phases to be embedded into appropriate positions in the coal mining process as needed, flexibly lifting and moving the transfer machine as required, thus applying it to special scenarios such as working face adjustment and cutter adjustment.

[0043] In this embodiment of the disclosure, the first electro-hydraulic control system 21 includes a first controller and a first electromagnetic pilot valve group, and the self-moving device of the transfer machine 12 includes a first hydraulic cylinder, and the first electromagnetic pilot valve group is connected to the first hydraulic cylinder.

[0044] The first hydraulic cylinder can be a lifting cylinder, and the number of first hydraulic cylinders can be one or more, which is not limited in this disclosure.

[0045] The first electromagnetic pilot valve group includes one or more electromagnetic pilot valves, and a first hydraulic cylinder is connected to a corresponding electromagnetic pilot valve.

[0046] The first controller is the core of the first electro-hydraulic control system 21. The first controller includes a control program, which can drive the electromagnetic pilot valve group included in the first electro-hydraulic control system 21 to operate according to the received instructions, the internally set program, or sensor data, thereby controlling the operation of the hydraulic cylinders included in the self-moving device of the transfer machine 12.

[0047] Accordingly, refer to Figure 5 In this embodiment of the present disclosure, during the lifting phase, a first controller can be used to drive a first electromagnetic pilot valve group to control the action of the first hydraulic cylinder 31 in order to lift the transfer machine 12.

[0048] In this embodiment of the disclosure, the second electro-hydraulic control system 22 includes a second controller and a second electromagnetic pilot valve group, the second electromagnetic pilot valve group being connected to the second hydraulic cylinder of the hydraulic support 14.

[0049] The second hydraulic cylinder can be a telescopic cylinder, and the number of second hydraulic cylinders can be one or more, which is not limited in this disclosure.

[0050] The second electromagnetic pilot valve assembly includes one or more electromagnetic pilot valves, and a second hydraulic cylinder is connected to a corresponding electromagnetic pilot valve.

[0051] The second controller is the core of the second electro-hydraulic control system 22. The second controller includes a control program, which can drive the electromagnetic pilot valve group included in the second electro-hydraulic control system 22 to operate according to received instructions, internally set programs, or sensor data, thereby controlling the hydraulic support to perform various actions.

[0052] Accordingly, refer to Figure 6 In this embodiment of the disclosure, a second controller can be used to drive the second electromagnetic pilot valve group to control the action of the second hydraulic cylinder 32 so that the hydraulic support 14 can perform a pushing action.

[0053] Furthermore, the self-moving device of the transfer machine 12 may also include a third hydraulic cylinder 33, with the first electromagnetic pilot valve group in the first electro-hydraulic control system 21 connected to the third hydraulic cylinder 33. The third hydraulic cylinder may be a telescopic cylinder, and the number of third hydraulic cylinders may be one or more; this disclosure does not limit this. One third hydraulic cylinder is correspondingly connected to one electromagnetic pilot valve in the first electromagnetic pilot valve group.

[0054] Accordingly, refer to Figure 6 In this embodiment of the present disclosure, during the moving phase, a first controller can be used to drive a first electromagnetic pilot valve group to control the action of a third hydraulic cylinder 33 in order to move the transfer machine 12.

[0055] The third hydraulic cylinder 33 is a telescopic cylinder. Whether the third hydraulic cylinder 33 extends or retracts can be determined based on its installation method on the transfer machine 12. Figure 6 The installation method allows control of the extension of the third hydraulic cylinder 33 to push the transfer machine 12 forward.

[0056] It should be noted that in this embodiment, the first controller and the second controller are connected by a cable and can communicate with each other in full-duplex mode.

[0057] In this embodiment, the first electro-hydraulic control system 21 may further include a pressure sensor. During the moving phase, when the hydraulic support 14 performs the pushing action, the pressure sensor in the first electro-hydraulic control system 21 can detect the hydraulic pressure of the first hydraulic cylinder 31. When the first controller determines that the hydraulic pressure of the first hydraulic cylinder 31 meets the set requirements, it then drives the first electromagnetic pilot valve group to control the third hydraulic cylinder 33 to move the transfer machine 12. Thus, the transfer machine 12 can be moved only after it has been determined to be raised to a certain level, thereby protecting the equipment.

[0058] Specifically, it can be determined that the hydraulic pressure meets the set requirements when the hydraulic pressure reaches the preset pressure value.

[0059] In addition, when the hydraulic pressure of the first hydraulic cylinder 31 is detected to be insufficient, the first controller and the second controller can communicate with each other to stop the movement of the transfer machine 12 and the current pushing action of the hydraulic support 14, so as to protect the equipment.

[0060] In this embodiment of the disclosure, reference is made to Figure 3 The first electro-hydraulic control system 21 may also include a first stroke sensor 41 installed on the third hydraulic cylinder 33, and the second electro-hydraulic control system 22 may also include a second stroke sensor 42 installed on the second hydraulic cylinder 32.

[0061] During the linkage process of hydraulic support 14 and transfer conveyor 12, the first stroke sensor 41 can collect the pushing stroke of the third hydraulic cylinder 33 in real time and send it to the corresponding first controller. The second stroke sensor 42 can collect the pushing stroke of the second hydraulic cylinder 32 in real time and send it to the corresponding second controller. When any pushing stroke reaches the preset stroke, the corresponding controller can stop the operation of the controlled equipment and send a termination command to other controllers to stop the operation of the controlled equipment. This achieves simultaneous stopping of hydraulic support 14, scraper conveyor 13, and transfer conveyor 12, completing the linkage control of multiple devices. By controlling the operation of the equipment based on the pushing stroke of the hydraulic cylinders collected by the stroke sensors, precise coordinated control can be achieved.

[0062] As can be seen from the above analysis, in the above embodiments, the movement of the transfer machine 12 is triggered by the mining direction and operating position of the coal mining machine. In one possible implementation, the transfer machine 12 and the hydraulic support 14 can also move independently under the control of a host computer or operator, thereby increasing the convenience of control.

[0063] Specifically, the host computer can display a control interface. Operators can trigger the host computer to send control commands to at least one of the transfer machine 12 and hydraulic support 14 by touching the corresponding buttons on the control interface. The controller in the corresponding device can then respond to the control command sent by the host computer and control the corresponding device to perform the corresponding action.

[0064] For example, operators can use touch screens Figure 7 The "Front and Rear Vertical Cylinder Lift" button in the control interface triggers a lifting command from the host computer to the transfer machine 12. The first controller then responds to the lifting command, controlling the self-moving device of the transfer machine 12 to lift it. Alternatively, the operator can use a touch screen... Figure 7 The "Left and Right Push Cylinder Extension" button at the top of the control interface triggers the host computer to send a movement command to the transfer machine 12, so that the first controller can respond to the movement command and control the self-moving device of the transfer machine 12 to move the transfer machine 12.

[0065] Furthermore, in this embodiment, the movement of the transfer machine 12 can be linked to the pushing action of the hydraulic support 14. When the hydraulic support 14 performs the pushing action as needed, such as when it is manually triggered, the second controller on the hydraulic support 14 can send a control command to the first controller, causing the first controller to control the self-moving device of the transfer machine 12 to raise and move the transfer machine. Thus, the pushing action of the hydraulic support 14 can automatically trigger the transfer machine 12 to move forward, reducing the operator's workload and minimizing safety hazards.

[0066] Furthermore, in this embodiment, the linkage control system between the hydraulic support of the working face and the equipment in the two lanes can also be used to realize the linkage control of the transfer machine and belt conveyor in the hydraulic support of the working face and the equipment in the two lanes.

[0067] The linkage control system of the working face hydraulic support and the two-lane equipment in the embodiments of this application will be further described below with reference to the accompanying drawings. Figure 8 This is a schematic diagram of the linkage control system between the hydraulic support of the working face and the two-lane equipment provided in an embodiment of this disclosure.

[0068] refer to Figure 8 ,exist Figure 4Based on the linkage control system 20 of the working face hydraulic support and the two-lane equipment shown, the linkage control system 20 of the working face hydraulic support and the two-lane equipment may further include a third electro-hydraulic control system 23 installed on the belt conveyor 11 and a host computer 24. The description of the first electro-hydraulic control system 21 and the second electro-hydraulic control system 22 can be found in other embodiments and will not be repeated here.

[0069] The third electro-hydraulic control system 23 installed on the belt conveyor 11 is used to control the self-moving device of the belt conveyor 11, so as to move the belt conveyor 11. The self-moving device of the belt conveyor 11 is a device installed on the belt conveyor 11 for moving the belt conveyor 11.

[0070] In this embodiment, a unified movement scheme can be planned based on the movement of the coal mining machine in the working face, and the self-moving devices of the hydraulic support 14, the transfer machine 12, and the belt conveyor 11 in the working face can be coordinated and controlled. This allows all equipment to move forward automatically according to the set process while the coal mining working face advances, reducing the operator's workload, reducing safety hazards, and improving production efficiency.

[0071] The first electro-hydraulic control system 21, the second electro-hydraulic control system 22, and the third electro-hydraulic control system 23 can be connected to the host computer 24 to receive the position of the coal mining machine sent by the host computer 24, and then control the movement of the transfer machine 12 and the belt conveyor 11 according to the position of the coal mining machine sent by the host computer 24.

[0072] Because the self-moving devices of the transfer conveyor 12 and the belt conveyor 11 have complex structures and involve multiple steps during movement, the movement of the transfer conveyor 12 and the belt conveyor 11 can be designed to better control their movement. The movement of the transfer conveyor 12 and the belt conveyor 11 can be divided into a lifting stage and a moving stage. In the lifting stage, the transfer conveyor 12 and the belt conveyor 11 can be raised to prepare for subsequent linkage. In the moving stage, the hydraulic support 14 can perform a pushing action to move the transfer conveyor 12 and the belt conveyor 11, thereby achieving linkage control of the hydraulic support 14, the transfer conveyor 12, and the belt conveyor 11. Moving the transfer conveyor 12 can specifically mean pushing it forward, and moving the belt conveyor 11 can specifically mean pushing the belt conveyor 11 forward.

[0073] In this embodiment, the mining direction and operating position of the coal mining machine during the mining process can be preset, along with the correspondence between the actions of the transfer conveyor 12, the belt conveyor 11, and the hydraulic support 14. The host computer 24 can send the mining direction and operating position of the coal mining machine to the first electro-hydraulic control system 21, the second electro-hydraulic control system 22, and the third electro-hydraulic control system 23 in real time. Thus, the first electro-hydraulic control system 21 can control the transfer conveyor 12 according to the preset correspondence and the mining direction and operating position of the coal mining machine obtained in real time from the host computer 24; the third electro-hydraulic control system 23 can control the belt conveyor 11 according to the preset correspondence and the mining direction and operating position of the coal mining machine obtained in real time from the host computer 24; and the second electro-hydraulic control system 22 can control the hydraulic support 14 according to the preset correspondence and the mining direction and operating position of the coal mining machine obtained in real time from the host computer 24.

[0074] Specifically, during the coal mining process, the host computer 24 can send the real-time mining direction and operating position of the coal mining machine to the first electro-hydraulic control system 21, the second electro-hydraulic control system 22 and the third electro-hydraulic control system 23.

[0075] When the coal mining machine reaches the first preset position, the first electro-hydraulic control system 21 installed on the transfer conveyor 12 can respond to the coal mining machine moving along the preset direction to the first preset position, and according to the preset correspondence, control the self-moving device of the transfer conveyor 12 to raise the transfer conveyor 12. Similarly, the third electro-hydraulic control system 23 installed on the belt conveyor 11 can respond to the coal mining machine moving along the preset direction to the first preset position, and according to the preset correspondence, control the self-moving device of the belt conveyor 11 to raise the belt conveyor 11. The actions of raising the transfer conveyor 12 by its self-moving device and raising the belt conveyor 11 by its self-moving device can be performed simultaneously or not simultaneously, ensuring that there is an overlap between the belt conveyor 11 and the transfer conveyor 12 to prevent coal from falling off.

[0076] Furthermore, as the coal mining machine continues to run in the preset direction, when it reaches the second set position, the second electro-hydraulic control system 22 installed on the hydraulic support 14 can respond to the coal mining machine reaching the second set position and control the hydraulic support 14 to perform a pushing action according to a preset correspondence. Here, the hydraulic support refers to one or more hydraulic supports that need to perform the pushing action, which is not limited in this disclosure. In addition, the first electro-hydraulic control system 21 installed on the transfer machine 12 can respond to the coal mining machine reaching the second set position and control the self-moving device of the transfer machine 12 to move the transfer machine 12 according to a preset correspondence. In addition, the third electro-hydraulic control system 23 installed on the belt conveyor 11 can respond to the coal mining machine reaching the second set position and control the self-moving device of the belt conveyor 11 to move the belt conveyor 11 according to a preset correspondence, so as to realize the simultaneous movement of the hydraulic support, transfer machine, and belt conveyor. The actions of the self-moving device of the transfer machine 12 moving the transfer machine 12 and the self-moving device of the belt conveyor 11 moving the belt conveyor 11 can be performed simultaneously or not simultaneously, so that there is an overlapping part between the belt conveyor 11 and the transfer machine 12, so as not to cause coal to fall off.

[0077] Through the above method, automatic linkage control of the hydraulic support 14 in the working face and the transfer machine 12 and belt conveyor 11 in the two roadway equipment can be realized, so that the hydraulic support 14, transfer machine 12 and belt conveyor 11 no longer need to be operated by the operators on the spot, thereby reducing the operating burden of the equipment operators, reducing safety hazards and improving mining efficiency.

[0078] Furthermore, to achieve automatic linkage control of the hydraulic supports and the equipment in both roadways within the working face, related technologies can directly connect the transfer conveyor to the hydraulic support's tie-down cylinder, directly driving the transfer conveyor forward via the hydraulic support's cylinder. However, this method only allows the transfer conveyor to move when the hydraulic support is in motion, making it difficult to move forward when the hydraulic support is not in motion, and thus unsuitable for handling special scenarios such as working face adjustment and cutter adjustment in practical applications. In contrast, the linkage control method disclosed herein can be embedded into appropriate positions in the coal mining process during the raising and moving phases, flexibly raising and moving the transfer conveyor and belt conveyor as needed, thereby applying it to special scenarios such as working face adjustment and cutter adjustment.

[0079] In this embodiment of the disclosure, the third electro-hydraulic control system 23 includes a third controller and a third electromagnetic pilot valve group, and the self-moving device of the belt conveyor 11 includes a fourth hydraulic cylinder, with the third electromagnetic pilot valve group connected to the fourth hydraulic cylinder.

[0080] The fourth hydraulic cylinder can be a telescopic cylinder, and the number of fourth hydraulic cylinders can be one or more, which is not limited in this disclosure.

[0081] The third electromagnetic pilot valve group includes one or more electromagnetic pilot valves, and a fourth hydraulic cylinder is connected to a corresponding electromagnetic pilot valve.

[0082] The third controller is the core of the third electro-hydraulic control system 23. The third controller includes a control program, which can drive the electromagnetic pilot valve group included in the third electro-hydraulic control system 23 to operate according to the received instructions, the internally set program, or sensor data, thereby controlling the operation of the hydraulic cylinders included in the self-moving device of the belt conveyor 11.

[0083] Accordingly, refer to Figure 5 In this embodiment of the present disclosure, during the lifting phase, a third controller can be used to drive a third electromagnetic pilot valve group to control the action of a fourth hydraulic cylinder 34 in order to lift the belt conveyor 11.

[0084] Furthermore, the self-moving device of the belt conveyor 11 may also include a fifth hydraulic cylinder 35, and the third electromagnetic pilot valve group in the third electro-hydraulic control system 23 is connected to the fifth hydraulic cylinder 35. The fifth hydraulic cylinder may be a telescopic cylinder, and the number of fifth hydraulic cylinders may be one or more; this disclosure does not limit this. One fifth hydraulic cylinder is correspondingly connected to one electromagnetic pilot valve in the third electromagnetic pilot valve group.

[0085] Accordingly, refer to Figure 6 In this embodiment of the present disclosure, during the moving phase, a third controller can be used to drive a third electromagnetic pilot valve group to control the fifth hydraulic cylinder 35 to move the belt conveyor.

[0086] The fifth hydraulic cylinder 35 is a telescopic cylinder. Controlling the movement of the fifth hydraulic cylinder 35—specifically, whether it extends or retracts—can be determined based on its installation method on the belt conveyor 11. Figure 6 The installation method allows control of the fifth hydraulic cylinder 35 to pull the belt conveyor forward.

[0087] It should be noted that the first controller, the third controller, and the second controller in this embodiment are connected by a cable and can communicate with each other in full-duplex mode.

[0088] In this embodiment, the first electro-hydraulic control system 21 and the third electro-hydraulic control system 23 may further include pressure sensors. During the moving phase, when the hydraulic support 14 performs the pushing action, the pressure sensor in the first electro-hydraulic control system 21 can detect the hydraulic pressure of the first hydraulic cylinder 31. When the first controller determines that the hydraulic pressure of the first hydraulic cylinder 31 meets the set requirements, it then drives the first electromagnetic pilot valve group to control the third hydraulic cylinder 33 to move the transfer machine 12. Thus, the transfer machine 12 can be moved only after it has been determined to be raised to a certain level, thereby protecting the equipment.

[0089] Furthermore, during the moving phase, when the hydraulic support 14 performs the pushing action, the pressure sensor in the third electro-hydraulic control system 23 can detect the hydraulic pressure of the fourth hydraulic cylinder 34. When the third controller determines that the hydraulic pressure of the fourth hydraulic cylinder 34 meets the set requirements, it then drives the third solenoid pilot valve group to control the fifth hydraulic cylinder 35 to move the belt conveyor 11. Therefore, the belt conveyor 11 can be moved only after it has been raised to a certain level, thus protecting the equipment.

[0090] Specifically, it can be determined that the hydraulic pressure meets the set requirements when the hydraulic pressure reaches the preset pressure value.

[0091] In addition, when it is detected that the hydraulic pressure of either the first hydraulic cylinder 31 or the fourth hydraulic cylinder 34 does not meet the set requirements, the first controller, the third controller and the second controller can communicate with each other to stop the movement of the transfer machine 12 and the belt conveyor 11 as well as the current pushing action of the hydraulic support 14, so as to protect the equipment.

[0092] In this embodiment of the disclosure, reference is made to Figure 3 The first electro-hydraulic control system 21 may also include a first stroke sensor 41 installed on the third hydraulic cylinder 33, the third electro-hydraulic control system 23 may also include a third stroke sensor 43 installed on the fifth hydraulic cylinder 35, and the second electro-hydraulic control system 22 may also include a second stroke sensor 42 installed on the second hydraulic cylinder 32.

[0093] During the coordinated operation of the hydraulic support 14, the transfer conveyor 12, and the belt conveyor 11, the first stroke sensor 41 can collect the pushing stroke of the third hydraulic cylinder 33 in real time and send it to the corresponding first controller. The third stroke sensor 43 can collect the pushing stroke of the fifth hydraulic cylinder 35 in real time and send it to the corresponding third controller. The second stroke sensor 42 can collect the pushing stroke of the second hydraulic cylinder 32 in real time and send it to the corresponding second controller. When any of the pushing strokes reaches the preset stroke, the corresponding controller can stop the operation of the controlled equipment and send a termination command to other controllers, so that the other controllers stop the operation of the controlled equipment. This achieves simultaneous stopping of the hydraulic support 14, scraper conveyor 13, transfer conveyor 12, and belt conveyor 11, completing the coordinated control of multiple devices. By controlling the operation of the equipment based on the pushing stroke of the hydraulic cylinders collected by the stroke sensors, precise coordinated control can be achieved.

[0094] As can be seen from the above analysis, in the above embodiments, the movement of the transfer conveyor 12 and the belt conveyor 11 is triggered by the mining direction and operating position of the coal mining machine. In one possible implementation, the transfer conveyor 12, the belt conveyor 11, and the hydraulic support 14 can also move independently under the control of a host computer or operator, thereby increasing the convenience of control.

[0095] Specifically, the host computer 24 can display, for example... Figure 7 As shown in the control interface, the operator can trigger the host computer 24 to send control commands to at least one of the transfer machine 12, belt conveyor 11 and hydraulic support 14 by touching the corresponding buttons on the control interface. The controller in the corresponding device can then respond to the control command sent by the host computer and control the corresponding device to perform the corresponding action.

[0096] For example, operators can use touch screens Figure 7 The "Front and Rear Vertical Cylinder Lift" button in the control interface triggers the host computer 24 to issue a lifting command to the transfer machine 12. The first controller then responds to the lifting command and controls the self-moving device of the transfer machine 12 to lift it. Alternatively, the operator can use a touch screen... Figure 7 The "Raise Cylinder Extension" button in the control interface triggers the host computer 24 to issue a raising command to the belt conveyor 11. The third controller then responds to the raising command and controls the belt conveyor's self-moving device to raise the belt conveyor 11. The operator can control the belt conveyor via touch... Figure 7 The "Left and Right Push Cylinder Extension" button at the top of the control interface triggers the host computer 24 to issue a movement command to the transfer machine 12. The first controller then responds to the movement command and controls the self-moving device of the transfer machine 12 to move the transfer machine 12. Operators can control the transfer machine 12 via touch... Figure 7 The "left and right push cylinder extension" button at the bottom of the control interface shown triggers the host computer 24 to send a movement command to the belt conveyor 11, so that the third controller can respond to the movement command and control the self-moving device of the belt conveyor 11 to move the belt conveyor.

[0097] in addition, Figure 7 The "front and rear vertical cylinder lowering" button is used to control the self-moving device of the transfer machine 12 to lower the raised transfer machine 12; the "lifting cylinder retracting" button is used to control the self-moving device of the belt conveyor 11 to lower the raised belt conveyor 11; the upper "left and right pushing cylinder retracting" button is used to control the retraction cylinder of the transfer machine 12 to retract; and the lower "left and right pushing cylinder retracting" button is used to control the retraction cylinder of the belt conveyor 11 to retract.

[0098] Furthermore, in this embodiment, the movement of the transfer machine 12 and the belt conveyor 11 can be linked to the pushing action of the hydraulic support 14. When the hydraulic support 14 performs the pushing action as needed, such as when the hydraulic support 14 is manually triggered to perform the pushing action, the second controller on the hydraulic support 14 can send control commands to the first controller and the third controller. This causes the first controller to control the self-moving device of the transfer machine 12 to raise and move the transfer machine, and the third controller to control the self-moving device of the belt conveyor 11 to raise and move the belt conveyor. Thus, the pushing action of the hydraulic support 14 can automatically trigger the forward movement of the transfer machine 12 and the belt conveyor 11, reducing the operator's workload and minimizing safety hazards.

[0099] The following is for reference. Figure 9 The coordinated control process of the hydraulic support, transfer conveyor, and belt conveyor is explained. Among them, Figure 9 In the diagram, numbers 138-153 represent hydraulic supports, number 154 represents a transfer machine, and number 155 represents a belt conveyor. Figure 9 The middle arrow indicates the direction of operation of the coal mining machine. At this point, the coal mining machine is moving downwards after cutting through the coal seam at the end.

[0100] Specifically, along the coal mining machine Figure 9 During coal mining operations, as indicated by the middle arrow, the host computer can send the real-time mining direction and operating position of the coal mining machine to the first controller in the first electro-hydraulic control system, the second controller in the second electro-hydraulic control system, and the third controller in the third electro-hydraulic control system.

[0101] refer to Figure 9 When the coal mining machine reaches the first set position ( Figure 5 As shown in Figure ①, the first controller installed on the transfer machine can control the first hydraulic cylinder of the transfer machine to move in response to the coal mining machine running to the first set position, so as to raise the transfer machine. In addition, the third controller installed on the belt conveyor can control the fourth hydraulic cylinder of the belt conveyor to move in response to the coal mining machine running to the first set position, so as to raise the belt conveyor and prepare for the moving stage.

[0102] Furthermore, the coal mining machine continued along... Figure 9 The machine will move in the direction indicated by the middle arrow until it reaches the second set position. Figure 9As shown in Figure ②, the second controller installed on the hydraulic supports shown in figures 144-153 can control the second hydraulic cylinder of the corresponding hydraulic support to actuate when the coal mining machine reaches the second set position, so that the hydraulic support performs a pushing action; and the first controller installed on the transfer conveyor can control the third hydraulic cylinder of the transfer conveyor to actuate when the coal mining machine reaches the second set position, so as to push the transfer conveyor forward; and the third controller installed on the belt conveyor can control the fifth hydraulic cylinder of the belt conveyor to actuate when the coal mining machine reaches the second set position, so as to push the belt conveyor forward. Thus, the hydraulic supports, transfer conveyor, and belt conveyor can move simultaneously.

[0103] Based on the above-described linkage control system of the hydraulic support at the working face and the equipment in the two roadways, this disclosure also provides a linkage control method for the hydraulic support at the working face and the equipment in the two roadways. The linkage control method for the hydraulic support at the working face and the equipment in the two roadways according to an embodiment of this disclosure will be described below with reference to the accompanying drawings.

[0104] Figure 10 This is a flowchart illustrating a method for the linkage control of a hydraulic support for a working face and two roadway equipment, provided in an embodiment of this disclosure.

[0105] like Figure 10 As shown, the linkage control method between the hydraulic support of the working face and the equipment in the two roadways may include:

[0106] Step 1001: In response to the coal mining machine at the working face moving to the first set position along the preset direction, the first electro-hydraulic control system installed on the transfer machine is used to control the self-moving device of the transfer machine to raise the transfer machine.

[0107] Step 1002: In response to the coal mining machine moving to the second set position along the preset direction, the second electro-hydraulic control system installed on the hydraulic support is used to control the hydraulic support to perform the pushing action, and the first electro-hydraulic control system is used to control the self-moving device of the transfer machine to move the transfer machine, so as to realize the linkage control of the hydraulic support and the transfer machine.

[0108] The explanation of the linkage control system between the hydraulic support of the working face and the two-lane equipment in the embodiments of this disclosure is also applicable to the linkage control method between the hydraulic support of the working face and the two-lane equipment, and will not be repeated here.

[0109] In one possible implementation, the first electro-hydraulic control system includes a first controller and a first electromagnetic pilot valve group, the first electromagnetic pilot valve group being connected to a first hydraulic cylinder included in the self-moving device of the transfer machine; step 1001 may specifically include:

[0110] The first controller drives the first electromagnetic pilot valve group to control the action of the first hydraulic cylinder, thereby raising the transfer machine.

[0111] In one possible implementation, before step 1002, the following may also be included:

[0112] The first electro-hydraulic control system is used to detect the hydraulic pressure of the first hydraulic cylinder and determine whether the hydraulic pressure of the first hydraulic cylinder meets the set requirements.

[0113] In one possible implementation, the second electro-hydraulic control system includes a second controller and a second electromagnetic pilot valve group, the second electromagnetic pilot valve group being connected to the second hydraulic cylinder of the hydraulic support; step 1002 may specifically include:

[0114] A second controller is used to drive the second electromagnetic pilot valve group, which in turn controls the action of the second hydraulic cylinder, so that the hydraulic support performs a pushing action.

[0115] In one possible implementation, the first electromagnetic pilot valve group is connected to the third hydraulic cylinder of the self-moving device of the transfer machine; step 1002 may specifically include:

[0116] The first controller drives the first electromagnetic pilot valve group to control the movement of the third hydraulic cylinder, thereby moving the transfer machine.

[0117] Therefore, the linkage control method for the hydraulic support and the two-way equipment in the working face provided in this embodiment of the present disclosure, by responding to the coal mining machine in the working face moving along a preset direction to a first set position, uses a first electro-hydraulic control system installed on the transfer machine to control the self-moving device of the transfer machine to raise the transfer machine; and responding to the coal mining machine moving along a preset direction to a second set position, uses a second electro-hydraulic control system installed on the hydraulic support to control the hydraulic support to perform a pushing action, and uses the first electro-hydraulic control system to control the self-moving device of the transfer machine to move the transfer machine, so as to realize the linkage control of the hydraulic support and the transfer machine. This method can realize the automatic linkage control of the hydraulic support and the transfer machine in the two-way equipment in the working face, thereby reducing the operational burden of equipment operators, reducing safety hazards, and improving mining efficiency.

[0118] Figure 11 This is a flowchart illustrating another method for the linkage control of a hydraulic support for a working face and two-lane equipment, provided in an embodiment of this disclosure. The first electro-hydraulic control system may include a first controller and a first electromagnetic pilot valve group, the first electromagnetic pilot valve group being connected to a first hydraulic cylinder included in the self-moving device of the transfer conveyor. The third electro-hydraulic control system may include a third controller and a third electromagnetic pilot valve group, the third electromagnetic pilot valve group being connected to a fourth hydraulic cylinder included in the self-moving device of the belt conveyor.

[0119] like Figure 11 As shown, the linkage control method between the hydraulic support of the working face and the equipment in the two roadways may include the following steps:

[0120] Step 1101: In response to the coal mining machine on the working face moving to the first set position along the preset direction, the first electro-hydraulic control system installed on the transfer conveyor controls the self-moving device of the transfer conveyor to raise the transfer conveyor, and the third electro-hydraulic control system installed on the belt conveyor controls the self-moving device of the belt conveyor to raise the belt conveyor.

[0121] Step 1102: In response to the coal mining machine moving to the second set position along the preset direction, the second electro-hydraulic control system installed on the hydraulic support is used to control the hydraulic support to perform the pushing action, and the first electro-hydraulic control system is used to control the self-moving device of the transfer machine to move the transfer machine, and the third electro-hydraulic control system is used to control the self-moving device of the belt conveyor to move the belt conveyor, so as to realize the linkage control of the hydraulic support, the transfer machine and the belt conveyor.

[0122] In one possible implementation, the third electro-hydraulic control system includes a third controller and a third electromagnetic pilot valve group, the third electromagnetic pilot valve group being connected to a fourth hydraulic cylinder included in the self-moving device of the belt conveyor; correspondingly, in step 1102, the third electro-hydraulic control system installed on the belt conveyor is used to control the self-moving device of the belt conveyor to raise the belt conveyor, including:

[0123] A third controller is used to drive the third electromagnetic pilot valve group, which in turn controls the fourth hydraulic cylinder to raise the belt conveyor.

[0124] In one possible implementation, the third electromagnetic pilot valve group is connected to the fifth hydraulic cylinder of the self-moving device of the belt conveyor.

[0125] Accordingly, step 1102 uses a third electro-hydraulic control system to control the self-moving device of the belt conveyor to move the belt conveyor. This may include: using a third controller to drive a third electromagnetic pilot valve group to control the fifth hydraulic cylinder to move the belt conveyor.

[0126] In one possible implementation, the first electro-hydraulic control system further includes a first stroke sensor mounted on a third hydraulic cylinder, the third electro-hydraulic control system further includes a third stroke sensor mounted on a fifth hydraulic cylinder, and the second electro-hydraulic control system further includes a second stroke sensor mounted on a second hydraulic cylinder; correspondingly, the method further includes:

[0127] In response to the push stroke of the third hydraulic cylinder collected by the first stroke sensor, the push stroke of the fifth hydraulic cylinder collected by the third stroke sensor, and the push stroke of the second hydraulic cylinder collected by the second stroke sensor, if at least one push stroke reaches a preset stroke, the hydraulic support is stopped from performing the push-slide action, the self-moving device of the transfer machine is stopped from moving the transfer machine, and the self-moving device of the belt conveyor is stopped from moving the belt conveyor.

[0128] In one possible implementation, the method further includes:

[0129] In response to the hydraulic support's pushing action, a first electro-hydraulic control system is used to control the self-moving device of the transfer machine to raise and move the transfer machine, and a third electro-hydraulic control system installed on the belt conveyor is used to control the self-moving device of the belt conveyor to raise and move the belt conveyor, so as to achieve linkage control of the hydraulic support, transfer machine and belt conveyor.

[0130] The explanation of the linkage control system between the hydraulic support of the working face and the two-lane equipment in the embodiments of this disclosure is also applicable to the linkage control method between the hydraulic support of the working face and the two-lane equipment, and will not be repeated here.

[0131] The linkage control method for hydraulic supports and two-way equipment provided in this disclosure can realize automatic linkage control of hydraulic supports in the working face and transfer machines and belt conveyors in the two-way equipment, thereby reducing the operational burden of equipment operators, reducing safety hazards, and improving mining efficiency.

[0132] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0133] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0134] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0135] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0136] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0137] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0138] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0139] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A method for linkage control of hydraulic supports at the working face and equipment in two roadways, characterized in that, The two-lane equipment includes a transfer machine, and the method includes: In response to the coal mining machine at the working face moving to the first set position along the preset direction, the first electro-hydraulic control system installed on the transfer machine is used to control the self-moving device of the transfer machine to raise the transfer machine. In response to the coal mining machine moving to the second set position along the preset direction, the second electro-hydraulic control system installed on the hydraulic support is used to control the hydraulic support to perform a pushing action, and the first electro-hydraulic control system is used to control the self-moving device of the transfer machine to move the transfer machine, so as to realize the linkage control of the hydraulic support and the transfer machine. The first electro-hydraulic control system includes a first controller and a first electromagnetic pilot valve group. The first electromagnetic pilot valve group is connected to the first hydraulic cylinder of the self-moving device of the transfer machine. Before using the first electro-hydraulic control system to control the self-moving device of the transfer machine to move the transfer machine, the system further includes: The first electro-hydraulic control system is used to detect the hydraulic pressure of the first hydraulic cylinder and determine whether the hydraulic pressure of the first hydraulic cylinder meets the set requirements. The first electromagnetic pilot valve group is connected to the self-moving device of the transfer machine, which includes the third hydraulic cylinder. The first electro-hydraulic control system also includes a first stroke sensor installed on the third hydraulic cylinder, and the second electro-hydraulic control system also includes a second stroke sensor installed on the second hydraulic cylinder. The method further includes: During the linkage between the hydraulic support and the transfer machine, the first stroke sensor collects the pushing stroke of the third hydraulic cylinder in real time and sends it to the corresponding first controller. The second stroke sensor collects the pushing stroke of the second hydraulic cylinder in real time and sends it to the corresponding second controller. When either pushing stroke reaches the preset stroke, the corresponding controller stops the operation of the controlled equipment and sends a command to other controllers to terminate the operation, so that the other controllers stop the operation of the controlled equipment.

2. The method according to claim 1, characterized in that, The first electro-hydraulic control system installed on the transfer machine is used to control the self-moving device of the transfer machine to raise the transfer machine, including: The first controller drives the first electromagnetic pilot valve group to control the first hydraulic cylinder to raise the transfer machine.

3. The method according to claim 1, characterized in that, The second electro-hydraulic control system includes a second controller and a second electromagnetic pilot valve group, the second electromagnetic pilot valve group being connected to the second hydraulic cylinder of the hydraulic support; The second electro-hydraulic control system, mounted on a hydraulic support, controls the hydraulic support to perform a pushing action, including: The second controller drives the second electromagnetic pilot valve group to control the action of the second hydraulic cylinder, so that the hydraulic support performs a pushing action.

4. The method according to claim 2, characterized in that, The method of using the first electro-hydraulic control system to control the self-moving device of the transfer machine to move the transfer machine includes: The first controller drives the first electromagnetic pilot valve group to control the third hydraulic cylinder to move the transfer machine.

5. The method according to any one of claims 1-4, characterized in that, The two-lane equipment also includes a belt conveyor; the method further includes: In response to the coal mining machine moving to the first set position along the preset direction, the third electro-hydraulic control system installed on the belt conveyor is used to control the self-moving device of the belt conveyor to raise the belt conveyor. In response to the coal mining machine moving to the second set position along the preset direction, the third electro-hydraulic control system is used to control the self-moving device of the belt conveyor to move the belt conveyor, so as to realize the linkage control of the hydraulic support, the transfer machine and the belt conveyor.

6. The method according to claim 5, characterized in that, The third electro-hydraulic control system includes a third controller and a third electromagnetic pilot valve group, the third electromagnetic pilot valve group being connected to the fourth hydraulic cylinder included in the self-moving device of the belt conveyor. The third electro-hydraulic control system installed on the belt conveyor controls the self-moving device of the belt conveyor to raise the belt conveyor, including: The third controller drives the third electromagnetic pilot valve group to control the fourth hydraulic cylinder to raise the belt conveyor.

7. The method according to claim 6, characterized in that, The third electromagnetic pilot valve group is connected to the fifth hydraulic cylinder included in the self-moving device of the belt conveyor; The method of using the third electro-hydraulic control system to control the self-moving device of the belt conveyor to move the belt conveyor includes: The third controller drives the third electromagnetic pilot valve group to control the fifth hydraulic cylinder to move the belt conveyor.

8. The method according to any one of claims 1-4, characterized in that, The two-lane equipment also includes a belt conveyor; the method further includes: In response to the hydraulic support performing a pushing action, the first electro-hydraulic control system controls the self-moving device of the transfer machine to raise and move the transfer machine, and the third electro-hydraulic control system installed on the belt conveyor controls the self-moving device of the belt conveyor to raise and move the belt conveyor, so as to realize the linkage control of the hydraulic support, the transfer machine and the belt conveyor.

9. A linkage control system for hydraulic supports at the working face and equipment in two roadways, characterized in that, The system implements the method as described in claim 1, wherein the two-lane equipment includes a transfer machine, and the system comprises: The first electro-hydraulic control system installed on the transfer machine is used to control the self-moving device of the transfer machine to raise the transfer machine in response to the coal mining machine of the working face running along the preset direction to a first set position, and to control the self-moving device of the transfer machine to move the transfer machine in response to the coal mining machine running along the preset direction to a second set position. A second electro-hydraulic control system installed on the hydraulic support is used to control the hydraulic support to perform a pushing action in response to the coal mining machine moving along the preset direction to the second preset position.

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