Dynamic wear monitoring and early warning device and method for supporting and guiding system of coal mining machine

Abstract

The invention discloses a dynamic wear monitoring and early warning device and method for a supporting and guiding system of a coal mining machine. A plurality of sensors (dynamic wear monitoring devices) which are distributed dispersedly are adopted to dynamically monitor the wear condition of key parts of the supporting and guiding system of the coal mining machine, different position structures of a guiding sliding shoe and a smooth sliding shoe are fully utilized, a reasonable space is partitioned and created, sensor configuration points are optimized, and effective protection is implemented. Besides, a dynamic wear early warning device is adopted to carry out centralized management and control on wear conditions of key parts of the coal mining machine supporting and guiding system, so that four-point supporting of the coal mining machine supporting and guiding system and different optimized sensor configuration points of a guiding sliding shoe and a smooth shoe with dispersed structures are facilitated; the sensor configuration points are gathered together in a shortcut, economical and reasonable mode, centralized management and control are carried out on the sensor configuration points, control precision can be improved conveniently, measurement errors are reduced, and cost is reduced.

Description

Technical Field

[0001] The invention relates to a dynamic wear monitoring and early warning device for a coal mining machine support and guide system and a method thereof, which are applied to a coal mining machine support and guide system and relate to the field of coal mining machinery and automatic control. Background Art

[0002] At present, the coal mining machine adopts the guide sliding shoe and smooth shoe support mechanism. When the coal mining machine is mining underground, the guide sliding shoe on the mining side supports the guide groove, supports, guides and limits the position on the pin row of the conveyor up and down, and supports the weight of the coal mining machine and limits the walking guide. At the same time, it also bears the traction reaction force generated by the sprocket transmission torque and the lateral force generated during the operation of the coal mining machine; the coal wall smooth shoe of the coal mining machine is supported on the transport shovel board, supports the weight of the coal mining machine, and also bears part of the cutting reaction force generated by the coal cutting drum of the coal mining machine and the friction resistance generated during the operation of the coal mining machine.

[0003] The gap G between the guide shoe and the conveyor pin row (vertical Y=8~10mm and horizontal X=5~6mm) should be able to ensure that the coal mining machine can pass smoothly when the conveyor vertically fluctuates ±3° and horizontally bends ±1°; when the size of the gap G is reasonable, it ensures that the coal mining machine sprocket and the conveyor pin row engage normally, the force is reasonable, and the operation is smooth. When the gap G is too large, the guide shoe cannot support, guide, and limit normally, the coal mining machine sprocket and the conveyor pin row may engage abnormally, and even the sprocket teeth on both sides are subjected to lateral force, causing rapid pitting, sharp wear, and even broken teeth of the sprocket teeth; at the same time, it causes high impact vibration noise, and sometimes the coal mining machine may also have a smooth shoe derailment failure; when the gap G is too small, the guide shoe cannot adapt to the vertical fluctuation of ±3° and horizontal bending of ±1° of the conveyor normally, and there will be rigid collision, jamming, and interference with the conveyor pin row, resulting in abnormal support, guiding, and limiting functions. Sometimes, accidents such as the guide shoe support ear being torn, the guide groove being broken, and the guide groove short baffle being broken may occur; the loss of the normal support, guiding, and limiting functions of the guide shoe will cause the sprocket teeth on both sides to bear lateral force, causing huge impact vibration noise, often causing frequent damage to the coal mining machine sprocket, affecting underground production safety.

[0004] Since the surface hardness and wear resistance of the conveyor pin row are stronger than the support, guide and limit surfaces of the mining machine guide and smooth boots, and the conveyor pin row is arranged along the entire working surface, the contact wear area involved in support, guidance and limitation is much larger than the mining machine guide sliding boots and smooth boots themselves. Therefore, the following analysis is carried out under the assumption that the wear of the conveyor pin row has met the normal use requirements, except for the case where the conveyor pin row is severely worn and must be replaced.

[0005] At present, the mainstream equipment and detection methods for detecting the mechanical wear of guide shoes and smooth shoes of coal mining machines at home and abroad are represented by the following two types:

[0006] 1. Use shoe-shaped calipers to check the wear of the horizontal surface of the guide shoe and the smooth shoe; check the wear of the vertical surface of the guide groove of the guide shoe (the guide limit surface on both sides), and check according to the wear tolerance range specified in each size; generally check once a week. The defects of this detection method are: pure mechanical measurement, primitive and backward concept; special measuring tools for sliding shoes must be customized, and most of the special measuring tools for sliding shoes of different series and specifications are different, with poor versatility; the auxiliary workload is large, time-consuming and labor-intensive, low efficiency, and poor actual operability for underground use; operators must stay at the work site for a long time, which poses a safety risk.

[0007] 2. Use JXCLGJ special measuring tool to measure the gap between the guide shoe and the pin row of the coal mining machine, so as to calculate the wear amount of the guide shoe. The defects of this detection method are: it is only a mechanical state detection, not real-time dynamic monitoring; pure manual measurement, low efficiency, and not conducive to safe production. Summary of the invention

[0008] The purpose of the present invention is to provide a dynamic wear monitoring and early warning device and method for a support and guide system of a coal mining machine, so as to solve the common problems of the existing coal mining machines, such as difficult underground detection of mechanical wear of the support and guide system, difficulty in operation, backward concepts, large auxiliary workload, low efficiency, and safety risks.

[0009] In order to achieve the above technical objectives, the present invention will adopt the following technical solutions:

[0010] A dynamic wear monitoring and early warning device for a support and guide system of a coal mining machine is used for dynamically monitoring the wear of the support and guide system of the coal mining machine and issuing early warnings; the support and guide system of the coal mining machine includes a guide sliding shoe support mechanism and a smooth shoe support mechanism; the guide sliding shoe support mechanism includes a guide sliding shoe and a conveyor pin row matched with the guide sliding shoe; the smooth shoe support mechanism includes a smooth shoe and a conveyor shovel plate matched with the smooth shoe, and the guide sliding shoe and the smooth shoe are respectively arranged on the coal mining machine body; the dynamic wear monitoring and early warning device includes a dynamic wear monitoring device and a dynamic wear early warning device; wherein:

[0011] The dynamic wear monitoring device comprises first and second dynamic wear monitoring groups;

[0012] The first dynamic wear monitoring group is installed on the smooth boot, and is used to monitor the wear amount A of the characteristic wear area of ​​the smooth boot bottom plane, and can transmit the monitored wear amount A to the dynamic wear warning device;

[0013] The second dynamic wear monitoring group is installed on the guide shoe, and is used to monitor the wear amount B of the characteristic wear area of ​​the guide shoe, and can transmit the monitored wear amount B to the dynamic wear warning device;

[0014] The dynamic wear warning device determines whether the wear condition of the smooth sole surface exceeds the limit according to the received wear amount A, and outputs a first warning prompt if the judgment result shows that the wear condition of the smooth sole surface exceeds the limit;

[0015] The dynamic wear warning device determines whether the wear condition of the guide shoe exceeds the limit based on the received wear amount B, and outputs a second warning prompt if the judgment result shows that the wear condition of the guide shoe exceeds the limit.

[0016] Preferably, the smooth sole plane is provided with two characteristic points, each of which is located on the longitudinal center line of the smooth boot's two ears, and the distance between the smooth sole plane and the adjacent end is L / 8, where L is the distance between the two lateral ends of the smooth sole plane; the characteristic wear area of ​​the smooth sole plane is the area of ​​the smooth sole plane between the two characteristic points.

[0017] Preferably, the first dynamic wear monitoring group includes two sensors A, corresponding to the first and second sensors A; the first and second sensors A are respectively installed at two characteristic points set on the smooth sole plane.

[0018] Preferably, the characteristic wear area of ​​the guide sliding shoe includes the characteristic wear area of ​​the upper plane of the support where the guide groove of the guide sliding shoe contacts the upper plane of the conveyor pin row, and the characteristic wear area of ​​the left side surface of the guide limiter and the characteristic wear area of ​​the right side surface of the guide limiter where the guide groove of the guide sliding shoe contacts the left and right sides of the conveyor pin row;

[0019] The second dynamic wear monitoring group includes sensor B, sensor C and sensor D; wherein:

[0020] The sensor B is used to sense the wear amount of the characteristic wear area of ​​the support upper plane where the guide groove of the guide shoe contacts the upper plane of the conveyor pin row, which is recorded as the first wear amount B1; and can transmit the sensed first wear amount B1 to the dynamic wear warning device;

[0021] The sensor C is used to sense the wear amount of the characteristic wear area on the left side of the guide limiter in side contact between the guide groove of the guide shoe and the conveyor pin row, which is recorded as the second wear amount B2; and can transmit the sensed second wear amount B2 to the dynamic wear warning device;

[0022] The sensor D is used to sense the wear amount of the characteristic wear area on the right side of the guide limiter in side contact between the guide groove of the guide shoe and the conveyor pin row, which is recorded as the third wear amount B3; and can transmit the sensed third wear amount B3 to the dynamic wear warning device;

[0023] The dynamic wear warning device determines whether the wear condition of the characteristic wear area of ​​the upper support plane of the guide shoe guide groove exceeds the limit according to the received first wear amount B1, and outputs a second warning prompt if the judgment result shows that the wear condition of the characteristic wear area of ​​the upper support plane of the guide shoe guide groove exceeds the limit;

[0024] The dynamic wear warning device determines whether the wear condition of the characteristic wear area on the left side of the guide limit of the guide groove of the guide shoe exceeds the limit according to the received second wear amount B2, and outputs a second warning prompt if the judgment result shows that the wear condition of the characteristic wear area on the left side of the guide limit of the guide groove of the guide shoe exceeds the limit;

[0025] The dynamic wear warning device determines whether the wear condition of the characteristic wear area on the right side of the guide limit of the guide shoe guide groove exceeds the limit based on the received third wear amount B3. If the judgment result shows that the wear condition of the characteristic wear area on the right side of the guide limit of the guide shoe guide groove exceeds the limit, a second warning prompt is output.

[0026] Preferably, the characteristic wear area of ​​the upper support plane is a strip area with a thickness of B±(δ1+δ2) near the geometric center point of the four force-bearing small faces formed when the upper support plane contacts the conveyor pin row; wherein: B is the short side length of the quadrilateral formed by the geometric center point of the four force-bearing small faces, δ1 is the design clearance setting value that meets the needs, and δ2 is the maximum wear amount of the left / right side surface of the guide limit;

[0027] The sensor B includes two, corresponding to the first and second sensors B; the first and second sensors B are respectively installed at the positions of two characteristic points set on the upper plane of the support; the two characteristic points set on the upper plane of the support are the geometric center points of two of the four force-bearing small surfaces that are diagonally distributed.

[0028] Preferably, the characteristic wear area on the left side of the guide limiter is a strip area where the horizontal left characteristic line floats upward by σ1 and downward by σ2 and includes two characteristic points set on the left side of the guide limiter, σ1 is the maximum upward floating amount of the horizontal left characteristic line when the supporting upper plane of the guide shoe has the maximum wear amount; σ2 is the maximum downward floating amount of the horizontal left characteristic line caused by the deflection angle of the guide shoe clearance; the horizontal left characteristic line is the intersection line of the pitch circle of the coal mining machine sprocket, the horizontal plane of the conveyor pin row and the left side of the guide limiter;

[0029] The sensor C includes two, corresponding to the first and second sensors C; the first and second sensors C are respectively installed at the positions of the two characteristic points set on the left side surface of the guide limiter;

[0030] The two feature points set on the left side of the guiding and limiting member are the intersection points of the horizontally leftward feature line and the geometric vertical centerlines of the two small force-bearing surfaces on the left side; the two small force-bearing surfaces on the left side are two discontinuous and separated small force-bearing surfaces formed by the contact between the left side of the guiding and limiting member and the left side of the conveyor pin row.

[0031] Preferably, the characteristic wear area on the right side of the guiding and limiting member is a strip area where the horizontally rightward feature line floats upward by σ3 and downward by σ4 and includes the two feature points set on the right side of the guiding and limiting member. σ3 is the maximum upward floating amount of the horizontally rightward feature line when the upper support plane of the guiding sliding shoe has the maximum wear amount; σ4 is the maximum downward floating amount of the horizontally rightward feature line caused by the clearance deflection angle of the guiding sliding shoe; the horizontally rightward feature line is the intersection line of the pitch circle of the shearer sprocket, the horizontal plane of the conveyor pin row, and the right side of the guiding and limiting member.

[0032] There are two of the described sensors D, corresponding to the first and second sensors D; the first and second sensors D are respectively installed at the positions where the two feature points set on the right side of the guiding and limiting member are located.

[0033] The two feature points set on the right side of the guiding and limiting member are the intersection points of the horizontally rightward feature line and the geometric vertical centerlines of the two small force-bearing surfaces on the right side; the two small force-bearing surfaces on the right side are two discontinuous and separated small force-bearing surfaces formed by the contact between the right side of the guiding and limiting member and the right side of the conveyor pin row.

[0034] Preferably, for the dynamic wear warning device, a first maximum wear amount Bmax1 is preset for the upper support plane, a second maximum wear amount Bmax2 is preset for the left side of the guiding and limiting member, and a third maximum wear amount Bmax3 is preset for the right side of the guiding and limiting member.

[0035] The dynamic wear warning device determines whether the wear condition of the upper support plane is over-limit by comparing whether the first wear amount B1 is within the allowable range of the first maximum wear amount Bmax1. If the judgment result shows that |B1 - Bmax1| < a1, it indicates that the wear condition of the upper support plane is not over-limit; otherwise, it indicates that the wear condition of the upper support plane is over-limit, and a second warning prompt is output; a1 is a constant.

[0036] The dynamic wear warning device determines whether the wear condition of the left side of the guiding and limiting member is over-limit by comparing whether the second wear amount B2 is within the allowable range of the second maximum wear amount Bmax2. If the judgment result shows that |B2 - Bmax2| < a2, it indicates that the wear condition of the left side of the guiding and limiting member is not over-limit; otherwise, it indicates that the wear condition of the left side of the guiding and limiting member is over-limit, and a second warning prompt is output; a2 is a constant.

[0037] The dynamic wear warning device determines whether the wear condition of the right side of the guiding and limiting part exceeds the limit by comparing whether the third wear amount B3 is within the allowable range of the first maximum wear amount Bmax3. If the judgment result shows that |B3 - Bmax3| < a3, it indicates that the wear condition of the right side of the guiding and limiting part does not exceed the limit; otherwise, it indicates that the wear condition of the right side of the guiding and limiting part exceeds the limit, and a second warning prompt is output; a3 is a constant.

[0038] Preferably, sensors A to D are displacement sensors or stroke sensors; and sensors A to D have the same structure, including a sensor body, a cable, and a contact head; the sensor body is integrally columnar, one end of the sensor body is provided with a mounting head, the other end is provided with a contact head, and a lead hole is provided inside the sensor body. One end of the cable is led out from the lead hole, and the other end is connected to the contact head.

[0039] Another technical object of the present invention is to provide a method for dynamically monitoring and warning the wear of a shearer support guiding system, including the following steps:

[0040] Step 1. Design a special sensor:

[0041] According to the actual operating environment requirements of the shearer support guiding system, design a special sensor;

[0042] The special sensor is a displacement sensor or a stroke sensor, including a sensor body, a cable, and a contact head; the sensor body is integrally columnar, one end of the sensor body is provided with a mounting head, the other end is provided with a contact head, and a lead hole is provided inside the sensor body. One end of the cable is led out from the lead hole, and the other end is connected to the contact head;

[0043] Step 2. Determine the installation position of the dynamic wear monitoring device:

[0044] Step 2.1. Consider each plane of the guiding groove of the guiding shoe and the multi-surface contact with the conveyor pin row as a single-surface contact:

[0045] In the contacts between the supporting upper plane, the left side of the guiding and limiting part, and the right side of the guiding and limiting part of the guiding groove of the guiding shoe and the conveyor pin row respectively, the multi-surface contacts between the supporting upper plane, the left side of the guiding and limiting part, the right side of the guiding and limiting part and the conveyor pin row are all separated and intermittent multi-small-force-surface contacts. These separated and intermittent multi-small-force-surfaces are processed by one cut during the processing. Therefore, the multi-surface contacts between the supporting upper plane, the left side of the guiding and limiting part, the right side of the guiding and limiting part and the conveyor pin row can be regarded as single-surface contacts;

[0046] Step 2.2. Select the characteristic wear areas of the supporting upper plane, the left side of the guiding and limiting part, and the right side of the guiding and limiting part:

[0047] Selection of characteristic wear area of ​​the upper support plane: The strip area with a thickness of B±(δ1+δ2) near the geometric center point of the four force-bearing small faces formed by the contact between the upper support plane and the conveyor pin row is selected as the characteristic wear area of ​​the upper support plane, where: B is the short side length of the quadrilateral formed by the geometric center point of the four force-bearing small faces, δ1 is the design clearance setting value that meets the needs, and δ2 is the maximum wear amount of the left / right side of the guide limit;

[0048] Selection of characteristic wear area on the left side of the guide limiter: The strip area of ​​the horizontal left characteristic line that floats upward by σ1 and downward by σ2 and includes two characteristic points set on the left side of the guide limiter is selected as the characteristic wear area on the left side of the guide limiter, wherein: σ1 is the maximum upward floating amount of the horizontal left characteristic line when the upper support plane of the guide shoe has the maximum wear amount; σ2 is the maximum downward floating amount of the horizontal left characteristic line caused by the deflection angle of the guide shoe gap; the horizontal left characteristic line is the intersection line of the pitch circle of the coal mining machine sprocket, the horizontal plane of the conveyor pin row and the left side of the guide limiter;

[0049] Selection of characteristic wear area on the right side of the guide limiter: The characteristic wear area on the right side of the guide limiter is a strip area with an upward float of σ3 and a downward float of σ4 on the horizontal right characteristic line and includes two characteristic points set on the right side of the guide limiter, wherein: σ3 is the maximum upward float of the horizontal left characteristic line when the upper support plane of the guide shoe has the maximum wear; σ4 is the maximum downward float of the horizontal left characteristic line caused by the clearance deflection angle of the guide shoe; the horizontal right characteristic line is the intersection line of the pitch circle of the coal mining machine sprocket, the horizontal plane of the conveyor pin row and the right side of the guide limiter;

[0050] Step 2.3: Selection of installation sites for each dedicated sensor:

[0051] In the characteristic wear region of the upper support plane, one group of geometric center points distributed diagonally among the geometric center points of the four force-bearing small faces formed by the contact between the upper support plane and the conveyor pin row is selected as the characteristic point of the upper support plane;

[0052] In the characteristic wear area on the left side of the guide limiter, the intersection of the horizontal left characteristic line and the geometric vertical center line of the two left force-bearing small faces is selected as the characteristic point of the left side of the guide limiter, and the two left force-bearing small faces are two separated discontinuous force-bearing small faces formed by the contact between the left side of the guide limiter and the left side of the conveyor pin row;

[0053] In the characteristic wear area on the right side of the guide limiter, the intersection of the horizontal right characteristic line and the geometric vertical center line of the two right side force-bearing small faces is selected as the characteristic point of the right side of the guide limiter, and the two right side force-bearing small faces are two separated discontinuous force-bearing small faces formed by the contact between the right side of the guide limiter and the right side of the conveyor pin row;

[0054] On the smooth shoe sole plane, two points whose distance from the longitudinal center line of the two ears of the smooth shoe to the adjacent ends of the two ends of the smooth shoe in the transverse direction is L / 8 are selected as feature points of the smooth shoe sole plane;

[0055] The characteristic points of the upper support plane, the left side of the guide limiter, the right side of the guide limiter, and the smooth sole plane obtained above are the installation positions of the dynamic wear monitoring device;

[0056] Step 3: Install the dynamic wear monitoring device:

[0057] According to the installation position of the dynamic wear monitoring device determined in step 2, the special sensors designed in step 1 are installed one by one at the location of each characteristic point, and the cables of each special sensor are connected to the electrical control box of the coal mining machine;

[0058] Step 4: Dynamic monitoring of wear warning:

[0059] The electrical control box of the coal mining machine is equipped with a dynamic wear warning device; the dynamic wear warning device dynamically monitors the wear conditions of the areas around the installation positions of each special sensor based on the data monitored by each special sensor, until the wear conditions of the areas around the installation positions of each special sensor exceed the limit, and issues a corresponding warning prompt to realize dynamic monitoring of wear warning.

[0060] Based on the above technical objectives, the present invention has the following advantages over the prior art:

[0061] 1. The dynamic wear monitoring and early warning device for the support and guide system of the coal mining machine described in the present invention uses a number of dispersedly arranged sensors (dynamic wear monitoring devices) to dynamically monitor the wear conditions of key parts of the support and guide system of the coal mining machine, making full use of the different position structures of the guide sliding shoes and the smoothing shoes, dividing and creating a reasonable space, optimizing the sensor configuration points, and implementing effective protection. In addition, the present invention also uses a dynamic wear early warning device to centrally control the wear conditions of key parts of the support and guide system of the coal mining machine, which is conducive to bringing together the different optimized sensor configuration points of the four-point support and dispersed guide sliding shoes and smoothing shoes of the support and guide mechanism of the coal mining machine in the most direct, economical and reasonable way, and implementing centralized control of each sensor configuration point, which is convenient for improving control accuracy, reducing measurement errors, and reducing costs.

[0062] When practical, operators can obtain real-time dynamic wear information of the support and guide system of the coal mining machine by simply clicking the keyboard, operating buttons and looking at the display screen at the underground drift control station (or even the ground control room). There is no need to stay at the work site for a long time for preparation and detection operations, which reduces safety risks. The whole process is electrically automatically controlled, and the wear detection of the guide sliding shoes and smooth shoes of the coal mining machine can be carried out with fewer people or even unmanned operation, thereby improving work efficiency.

[0063] 2. When determining the installation position of each sensor, the present invention summarizes the "recognition method of regarding the multi-faceted contact of the guide groove of the guide shoe of the coal mining machine and the pin row of the conveyor as a single-faced contact"; this simplifies the sensor arrangement while still being universal and distortion-free, and maintaining the sensor detection accuracy.

[0064] At the same time, the present invention creates "optimal rules for characteristic wear areas of contact between the guide groove of the guide shoe of the coal mining machine and the pin row of the conveyor, and between the smooth shoe and the coal shovel plate of the conveyor", pointing out that there are characteristic wear areas in the contact between the guide groove of the guide shoe of the coal mining machine and the pin row of the conveyor; by optimizing the characteristic wear area, the wear condition of the upper plane of the contact support and the guide limit surfaces on both sides can be basically reflected, and at the same time, it has certain guiding and constructive significance for the structural design, process treatment, production and manufacturing, and use and maintenance of the coal mining machine and the smooth shoe; the bottom plane where the smooth shoe of the coal mining machine and the conveyor shovel plate contact is approximately the characteristic wear area, and generally no further subdivision is required.

[0065] 3. The present invention has developed a special sensor for the structure of the support and guidance system of the coal mining machine and its actual working environment. The special sensor has high adaptability; it can work reliably for a long time under working conditions such as harmful gases and dust, and has strong anti-seismic, waterproof, dustproof, and anti-corrosion functions.

[0066] This special sensor is a displacement or stroke sensor, explosion-proof and intrinsically safe, compact in structure and moderately priced; the structural dimensions are generally 10-15mm in diameter, ≤25-35mm in length, and weigh 0.1kg / piece; each coal mining machine generally uses up to 16 pieces, and the weight including the protective structure and electrical control parts generally does not exceed 2.5kg, which is only 1 / 2 of the weight of special measuring tools for foreign coal mining machines (about 5kg).

[0067] This special sensor has high data collection accuracy; the measurement accuracy is not less than 0.2mm, which is at least 5-10 times the measurement accuracy of the original domestic slipper wear detection equipment; the sensor structure has high rigidity and strength, and is easy to protect. It is generally used in combination and buried in the selected characteristic points of the guide slipper and smooth shoe of the coal mining machine. It is safe and convenient to use.

[0068] 4. Multiple special sensors can be arranged in the characteristic wear area of ​​the guide shoe and smooth shoe of the coal mining machine support mechanism. If the arrangement density is too large and the number is too large, it will cause redundant information, complex structure, and increase costs; if the arrangement density is sparse and the number is too small, there will be information loss and fragmentation, resulting in distorted and inaccurate measurement information. If the arrangement position is not good, the information cannot be effectively and accurately collected, which is undoubtedly another unreasonable design. Therefore, how to obtain the optimal number and points of arrangement is the key.

[0069] In the present invention, in the characteristic wear area of ​​each sensing position (smooth shoe sole plane, guide shoe guide groove support upper plane, guide limit left side, guide limit right side), there are 2 or 4 characteristic points (the characteristic wear areas of the smooth shoe sole plane, guide limit left side and guide limit right side have 2 characteristic points; the characteristic wear area of ​​the guide shoe guide groove support upper plane has 4 characteristic points). When arranging special sensors, the present invention uses the principle of two points and one line to approximately replace three points and one plane, and two points are two characteristic points. Therefore, for a characteristic wear area with only two characteristic points, it is only necessary to arrange special sensors at the locations of the characteristic points to realize the wear monitoring of the corresponding characteristic wear area. For a characteristic wear area with four characteristic points, it is necessary to select a group of diagonally distributed characteristic points and arrange special sensors at the locations to realize the wear monitoring of this type of characteristic wear area. It can be seen that the present invention arranges special sensors at the preferred characteristic points, and the arrangement structure is the simplest and representative of the characteristics; adopting this rule reduces the number of sensor arrangements and reduces the cost of use; it is both economical and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 It is an automatic control block diagram of the dynamic wear monitoring and early warning device of the support and guidance system of the coal mining machine described in the present invention;

[0071] Figure 2 It is a structural schematic diagram of the dynamic wear monitoring and early warning device for the support and guidance system of a coal mining machine according to the present invention;

[0072] Figure 3 yes Figure 2 Schematic diagram of the arrangement of corresponding sensors on the left smooth shoe in the middle; in the figure: (a) is a front view of the arrangement of corresponding sensors on the left smooth shoe, and (b) is a view in the direction of A of (a);

[0073] Figure 4 yes Figure 2 Schematic diagram of the arrangement of corresponding sensors on the middle left guide shoe; in the figure: (a) is a front view of the arrangement of corresponding sensors on the left guide shoe, (b) is a top view of (a); (c) is a left view of (a), and (d) is a view in the direction of B of (a);

[0074] Figure 5 is a schematic diagram of the structure of the sensor of the present invention;

[0075] In the figure: 1. guide shoe; 2. sprocket; 3. coal mining machine body; 4. smooth shoe; 5. conveyor pin row; 611. first sensor A; 612. second sensor A; 621. first sensor B; 622. second sensor B; 631. first sensor C; 632. second sensor C; 641. first sensor D; 642. second sensor D; 601. cable; 602. flange; 603. mounting thread; 604. sensor body; 605. contact. DETAILED DESCRIPTION

[0076] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means any limitation to the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Unless otherwise specified, the relative arrangement, expressions and numerical values ​​of the components and steps described in these embodiments do not limit the scope of the present invention. The techniques, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but in appropriate cases, the techniques, methods and equipment should be regarded as part of the specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0077] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations).

[0078] Example 1

[0079] like Figure 1-5As shown, the present invention discloses a dynamic wear monitoring and early warning device for a support and guide system of a coal mining machine, which is used for dynamically monitoring the wear of the support and guide system of a coal mining machine and issuing an early warning; the support and guide system of the coal mining machine includes a guide sliding shoe support mechanism and a smooth shoe support mechanism; the guide sliding shoe support mechanism includes a guide sliding shoe 1 and a conveyor pin row 5 matched with the guide sliding shoe 1; the smooth shoe support mechanism includes a smooth shoe 4 and a conveyor shovel plate matched with the smooth shoe 4, and the guide sliding shoe 1 and the smooth shoe 4 are respectively arranged on the coal mining machine body 3; the dynamic wear monitoring and early warning device includes a dynamic wear monitoring device and a dynamic wear early warning device; wherein: the dynamic wear monitoring device includes a first and a second dynamic wear monitoring group; the first dynamic wear monitoring group is installed on the smooth shoe 4, and is used to monitor the wear amount A of the characteristic wear area of ​​the bottom plane of the smooth shoe 4, and can transmit the monitored wear amount A to the dynamic wear early warning device, and the first dynamic wear monitoring group includes two sensors A, corresponding to the first sensor A611 and the second sensor A612; the first sensor A611 and the second sensor A612 are respectively installed at two characteristic points set on the bottom plane of the smooth shoe. The second dynamic wear monitoring group is installed on the guide shoe 1, and is used to monitor the wear amount B of the characteristic wear area of ​​the guide shoe 1, and can transmit the monitored wear amount B to the dynamic wear warning device. The dynamic wear warning device determines whether the wear condition of the bottom plane of the smooth shoe 4 exceeds the limit based on the received wear amount A, and outputs a first warning prompt if the judgment result shows that the wear condition of the bottom plane of the smooth shoe 4 exceeds the limit; the dynamic wear warning device determines whether the wear condition of the guide shoe 1 exceeds the limit based on the received wear amount B, and outputs a second warning prompt if the judgment result shows that the wear condition of the guide shoe 1 exceeds the limit.

[0080] In view of the fact that the guide groove of the guide shoe 1 has three surfaces (the upper plane of the support, the left side of the guide limit, and the right side of the guide limit) in contact with the conveyor pin row 5, these three surfaces are bound to be worn. Therefore, the second dynamic wear monitoring group described in the present invention includes sensor B, sensor C and sensor D; wherein: sensor B is used to sense the wear amount of the characteristic wear area of ​​the upper plane of the support where the guide groove of the guide shoe 1 contacts the upper plane of the conveyor pin row 5, which is recorded as the first wear amount B1; and can transmit the sensed first wear amount B1 to the dynamic wear warning device; sensor C is used to sense the wear amount of the characteristic wear area of ​​the left side of the guide limit that is in side contact between the guide groove of the guide shoe 1 and the conveyor pin row 5, which is recorded as the second wear amount B2; and can transmit the sensed second wear amount B2 to the dynamic wear warning device; sensor D is used to sense the wear amount of the characteristic wear area of ​​the right side of the guide limit that is in side contact between the guide groove of the guide shoe 1 and the conveyor pin row 5, which is recorded as the third wear amount B3; and can transmit the sensed third wear amount B3 to the dynamic wear warning device. It can be seen that the characteristic wear area of ​​the guide slipper 1 includes the characteristic wear area of ​​the supporting upper plane where the guide groove of the guide slipper 1 contacts the upper plane of the conveyor pin row 5, as well as the characteristic wear area on the left side of the guide limiter where the guide groove of the guide slipper 1 contacts the left and right sides of the conveyor pin row 5, and the characteristic wear area on the right side of the guide limiter.

[0081] The dynamic wear warning device determines whether the wear of the supporting upper plane of the guide groove of the guide slide 1 exceeds the limit based on the received first wear amount B1, and outputs a second warning prompt if the judgment result shows that the wear of the supporting upper plane of the guide groove of the guide slide 1 exceeds the limit; the dynamic wear warning device determines whether the wear of the left side surface of the guide limit of the guide groove of the guide slide 1 exceeds the limit based on the received second wear amount B2, and outputs a second warning prompt if the judgment result shows that the wear of the left side surface of the guide limit of the guide groove of the guide slide 1 exceeds the limit; the dynamic wear warning device determines whether the wear of the right side surface of the guide limit of the guide groove of the guide slide 1 exceeds the limit based on the received third wear amount B3, and outputs a second warning prompt if the judgment result shows that the wear of the right side surface of the guide limit of the guide groove of the guide slide 1 exceeds the limit.

[0082] In order to be able to more realistically monitor the wear conditions of each contact plane (the upper support plane, the left side of the guide limit, the right side of the guide limit and the bottom plane of the smooth shoe 4), and to reduce the use of sensors and the data processing volume of the subsequent dynamic wear warning device, the characteristic wear areas set on the upper support plane, the left side of the guide limit, the right side of the guide limit and the bottom plane of the smooth shoe 4, especially the characteristic point selection of the characteristic wear areas is particularly important.

[0083] In the present invention: the characteristic wear area of ​​the upper support plane is a strip area with a thickness of B±(δ1+δ2) near the geometric center point of the four force-bearing small faces formed when the upper support plane contacts the conveyor pin row 5; wherein: B is the short side length of the quadrilateral formed by the geometric center point of the four force-bearing small faces, δ1 is the design clearance setting value that meets the needs, and δ2 is the maximum wear amount of the left / right side of the guide limit. The sensor B includes two, corresponding to the first sensor B621 and the second sensor B622; the first sensor B621 and the second sensor B622 are respectively installed at the positions of the two characteristic points set on the upper support plane; the two characteristic points set on the upper support plane are the geometric center points of two of the four force-bearing small faces that are distributed diagonally.

[0084] In the present invention: the characteristic wear area on the left side of the guide limit is a strip area in which the horizontal left characteristic line floats upward by σ1 and downward by σ2 and includes two characteristic points set on the left side of the guide limit, σ1 is the maximum upward floating amount of the horizontal left characteristic line when the supporting upper plane of the guide shoe has the maximum wear; σ2 is the maximum downward floating amount of the horizontal left characteristic line caused by the deflection angle of the guide shoe gap; the horizontal left characteristic line is the intersection line of the pitch circle of the coal mining machine sprocket, the horizontal plane of the conveyor pin row 5 and the left side of the guide limit; the sensor C includes two, corresponding to the first sensor C631 and the second sensor C632; the first sensor C631 and the second sensor C632 are respectively installed at the positions of the two characteristic points set on the left side of the guide limit; the two characteristic points set on the left side of the guide limit are the intersection points of the horizontal left characteristic line and the geometric vertical center lines of the two left force-bearing small faces; the two left force-bearing small faces are two separated discontinuous force-bearing small faces formed by the contact between the left side of the guide limit and the left side of the conveyor pin row 5.

[0085] In the present invention: the characteristic wear area on the right side of the guide limit is a strip area in which the horizontal right characteristic line floats upward by σ3 and downward by σ4 and includes two characteristic points set on the right side of the guide limit, σ3 is the maximum upward floating amount of the horizontal right characteristic line when the supporting upper plane of the guide shoe 1 is worn to the maximum; σ4 is the maximum downward floating amount of the horizontal right characteristic line caused by the gap deflection angle of the guide shoe 1; the horizontal right characteristic line is the intersection line of the pitch circle of the coal mining machine sprocket, the horizontal plane of the conveyor pin row 5 and the right side of the guide limit; the sensor D includes two, corresponding to the first sensor D641 and the second sensor D642; the first sensor D641 and the second sensor D642 are respectively installed at the positions of the two characteristic points set on the right side of the guide limit; the two characteristic points set on the right side of the guide limit are the intersection points of the horizontal right characteristic line and the geometric vertical center lines of the two force-bearing small faces on the right side; the two force-bearing small faces on the right side are two separated discontinuous force-bearing small faces formed by the contact between the right side of the guide limit and the right side of the conveyor pin row 5.

[0086] For the dynamic wear warning device described above, a first maximum wear amount Bmax1 is preset for the supporting upper plane, a second maximum wear amount Bmax2 is preset for the left side of the guiding and limiting part, and a third maximum wear amount Bmax3 is preset for the right side of the guiding and limiting part; the dynamic wear warning device determines whether the wear condition of the supporting upper plane is excessive by comparing whether the first wear amount B1 is within the allowable range of the first maximum wear amount Bmax1. If the judgment result shows that |B1 - Bmax1| < a1, it indicates that the wear condition of the supporting upper plane is not excessive; otherwise, it indicates that the wear condition of the supporting upper plane is excessive, and a second warning prompt is output; a1 is a constant; the dynamic wear warning device determines whether the wear condition of the left side of the guiding and limiting part is excessive by comparing whether the second wear amount B2 is within the allowable range of the second maximum wear amount Bmax2. If the judgment result shows that |B2 - Bmax2| < a2, it indicates that the wear condition of the left side of the guiding and limiting part is not excessive; otherwise, it indicates that the wear condition of the left side of the guiding and limiting part is excessive, and a second warning prompt is output; a2 is a constant; the dynamic wear warning device determines whether the wear condition of the right side of the guiding and limiting part is excessive by comparing whether the third wear amount B3 is within the allowable range of the first maximum wear amount Bmax3. If the judgment result shows that |B3 - Bmax3| < a3, it indicates that the wear condition of the right side of the guiding and limiting part is not excessive; otherwise, it indicates that the wear condition of the right side of the guiding and limiting part is excessive, and a second warning prompt is output; a3 is a constant.

[0087] In the present invention, sensors A to D are displacement sensors or stroke sensors; and the structures of sensors A to D are the same, including a sensor body 604, a cable 601, and a contact 605; the sensor body 604 is integrally columnar, and one end of the sensor body 604 is provided with a mounting head, and the other end is provided with a contact 605. The mounting head is provided with a mounting thread 603 and a flange 602. The mounting thread 603 is used to install the sensor body 604 into the target mounting hole by means of threaded connection. The flange 602 is used to realize the axial limit of the sensor body 604 in the target mounting hole. A lead hole is provided inside the sensor body 604, and one end of the cable 601 is led out from the lead hole, and the other end is connected to the contact 605.

[0088] Embodiment 2

[0089] A method for dynamically monitoring and warning the wear of a shearer support guiding system in this embodiment includes the following steps:

[0090] Step 1: Design a special sensor:

[0091] Aiming at the actual working environment requirements of the support and guidance system of the coal mining machine, a special sensor is designed, which has the advantages of high adaptability and high precision and can meet the use requirements of the support and guidance system of the coal mining machine.

[0092] like Figure 5 As shown, the special sensor is a displacement sensor or a stroke sensor, including a sensor body 604, a cable 601 and a contact 605; the sensor body 604 is arranged in a columnar shape as a whole, and a mounting head is arranged at one end of the sensor body 604, and a contact 605 is arranged at the other end, and a lead hole is arranged inside the sensor body 604, one end of the cable 601 is led out from the lead hole, and the other end is connected to the contact 605. Of course, the special sensor described in the present invention can also be wirelessly transmitted. Its structural dimensions are generally 10 to 15 mm in diameter, ≤25 to 35 mm in length, 0 to 20 mm in range, and ≤0.2 mm in measurement accuracy. It has the advantages of high data acquisition accuracy and reliability, and also has strong anti-seismic, waterproof, dustproof, anti-corrosion and other functions, and is suitable for long-term reliable operation under working conditions such as harmful gases and dust.

[0093] Step 2: Determine the installation location of the dynamic wear monitoring device:

[0094] When assembling a dynamic wear monitoring and early warning device in the support and guide system of the coal mining machine, on the one hand, it is necessary to adopt a "dispersed layout", adapt to local conditions, and make full use of the different positions and structures of the guide shoe 1 and the smooth shoe 4 to divide and create a reasonable space, optimize the sensor configuration points, and implement effective protection; on the other hand, it is necessary to adopt a "centralized control", which is conducive to bringing together the differently optimized sensor configuration points of the guide shoe 1 and the smooth shoe 4 with four-point support and dispersed structure of the coal mining machine support and guide mechanism in the most direct, real-time, economical and reasonable way, and implementing centralized control of each sensor configuration point, so as to improve control accuracy, reduce measurement errors and reduce costs.

[0095] According to the principle of "decentralized layout and centralized control", sensors at various configuration points of the guide slipper 1 and smooth shoe 4 of the supporting guide mechanism of the coal mining machine collect data in real time by utilizing the piezoelectric ranging principle of the displacement sensor; the respective measured data values ​​are transmitted (or wirelessly) to the control center of the coal mining machine electrical control box through cable 601 for data processing; the controller compares the processed data with the wear warning calibration value in the control center database; the controller issues a warning command to remind the coal mining machine driver that the wear of the guide slipper 1 and smooth shoe 4 has reached the warning value or to remind replacement.

[0096] In order to determine the selection of the configuration points of the guide sliding shoe 1 and the smooth shoe 4 of the supporting guide mechanism of the coal mining machine, the present invention will adopt the following method:

[0097] The multi-surface contact between each plane of the guide groove of the guide shoe 1 and the conveyor pin row 5 is regarded as a single-surface contact:

[0098] In the contact between the guide groove of the guide slide 1 and the conveyor pin row 5, the multi-faceted contacts between the support upper plane of the guide groove of the guide slide 1, the left side surface of the guide limit, the right side surface of the guide limit and the conveyor pin row 5 are all separated and discontinuous multi-force-bearing small surface contacts. These separated and discontinuous multi-force-bearing small surfaces are processed with one cut during the machining process. Therefore, the multi-faceted contacts between the support upper plane, the left side surface of the guide limit, the right side surface of the guide limit and the conveyor pin row 5 can be regarded as single-faceted contacts.

[0099] Selection of installation sites for each dedicated sensor:

[0100] When the coal mining machine is mining underground, during the guide groove of the guide shoe 1 and the conveyor pin row 5, the smooth shoe 4 and the conveyor shovel support guide limit process, according to the working principle, contact characteristics and force characteristics of the related parts, there are characteristic points that can be optimized on the support upper plane of the guide groove of the guide shoe 1, the left side of the guide limit, the right side of the guide limit and the bottom plane of the smooth shoe 4. Specifically:

[0101] The method for selecting the characteristic points of the support upper plane is:

[0102] Although the upper plane of the support separates two discontinuous load-bearing surfaces, it can still be regarded as a plane because it is processed in one cut.

[0103] When the coal mining machine and the conveyor are used together, the upper support plane and the conveyor pin row 5 can contact to form four small force-bearing surfaces (due to the empty space at the pin column of the pin row), and the geometric center points of the four small force-bearing surfaces are respectively recorded as a, b, c, and d. Among them: the geometric center points a and d are on one side of the longitudinal geometric center line direction, and the geometric center points b and c are on the other side of the longitudinal geometric center line direction.

[0104] Since the geometric center points a, b, c, and d are close to each other and the coal mining machine works in bidirectional traction, the contact probability of the four geometric center points is approximately equal. Obviously, at least one geometric center point in the longitudinal geometric center line direction of the two force-bearing small faces on each side is in contact with force.

[0105] According to the property that the contact probability of the four geometric center points a, b, c, d is approximately equal, the four geometric center points a, b, c, d can form a relatively regular quadrilateral abcd; the regular quadrilateral abcd contains at least one plane (such as abc, adc, etc.), and according to the axiom that a plane is determined by three points that are not on a straight line, the three geometric center points that make up the plane must have two characteristic points (such as ac or bd) appearing at the diagonal positions of the regular quadrilateral. We can further divide the four geometric center points a, b, c, d arranged in a peripheral manner into two groups, each including two geometric center points and arranged diagonally, corresponding to the geometric center points a, c and the geometric center points b, d. The two geometric center points a, c or b, d in one group can approximately replace the four peripherally arranged geometric center points a, b, c, d; this can simplify the structure, reduce the number of sensors arranged, and reduce costs.

[0106] In other words, in this embodiment, one group of diagonally distributed geometric center points of the four force-bearing small surfaces formed by the contact between the upper support plane and the conveyor pin row 5 is selected as the characteristic points of the upper support plane.

[0107] Method for selecting feature points on the left side of the guide limit:

[0108] First, the intersection line of the coal mining machine sprocket pitch circle, the horizontal plane of the conveyor pin row 5 and the left side of the guide limit is called the horizontal left characteristic line, and then the two separated discontinuous force-bearing small surfaces formed by the contact between the left side of the guide limit and the left side of the conveyor pin row 5 are called the two left-side force-bearing small surfaces; the intersection of the horizontal left characteristic line and the geometric vertical center line of the two left-side force-bearing small surfaces is the characteristic point of the left side of the guide limit.

[0109] The method for selecting the characteristic points of the right side surface of the guide limit is as follows: first, the intersection line of the coal mining machine sprocket pitch circle, the horizontal plane of the conveyor pin row 5 and the right side surface of the guide limit is called the horizontal right characteristic line, and then the two separated and discontinuous force-bearing small surfaces formed by the contact between the right side surface of the guide limit and the right side of the conveyor pin row 5 are called the two right side force-bearing small surfaces; the intersection of the horizontal right characteristic line and the geometric vertical center line of the two right side force-bearing small surfaces is the characteristic point of the right side surface of the guide limit.

[0110] The bottom plane of the smooth shoe 4 is a complete plane. According to the operating mechanism, contact characteristics, and force characteristics of the smooth shoe 4 during the operation of the coal mining machine, and taking into account the preferred installation position of the special sensor, the preferred position of the wear area is generally set within L / 8 from both ends of the bottom plane of the smooth shoe 4; the intersection of the longitudinal double-ear center line of the coal mining machine smooth shoe 4 and the straight line L / 8 from both ends of the bottom plane of the smooth shoe 4 is called the characteristic point of the contact support surface between the coal mining machine smooth shoe 4 and the conveyor shovel.

[0111] In other words, in the present invention, the characteristic points of the bottom plane of the smooth shoe 4 are arranged on the longitudinal center line of the two ears of the smooth shoe 4, and the distance between the characteristic points of the bottom plane of the smooth shoe 4 and the adjacent ends of the smooth shoe 4 at both ends in the lateral direction is L / 8.

[0112] There is a characteristic wear area between the guide groove of the coal mining machine guide shoe 1 and the plane contact of the conveyor pin row 5; the characteristic wear area can basically reflect the wear condition of the upper plane of the contact support and the guide limit surfaces on both sides; the bottom plane where the coal mining machine smooth shoe 4 and the conveyor shovel plate contact is approximately the characteristic wear area, and generally no further subdivision is required.

[0113] The design clearance adjustment values ​​of the left and right sides of the guide limit of the guide groove of the guide slipper 1 and the conveyor pin row 5 are 5 to 6 mm respectively; at the same time, the maximum design wear of the left and right sides of the guide limit are 5 mm each; and there is a gap 13-3 in the middle area of ​​the contact support surface between the guide groove of the coal mining machine guide slipper 1 and the conveyor pin row 5, which does not participate in the contact support and other factors.

[0114] During the contact support, guiding and limiting process between the guide groove of the guide shoe 1 and the conveyor pin row 5, four strip areas with a width of approximately short side B±(δ1+δ2)mm (excluding the empty part) are formed on the four force-bearing small faces along the long side A of the four force-bearing small faces, which are called the characteristic wear areas of the upper plane of the contact support between the guide groove of the guide shoe 1 of the coal mining machine and the conveyor pin row 5. Among them: B is the short side size of the four force-bearing small faces. δ1 is the design clearance setting value that meets the needs, which can be 5-6mm, and δ2 is the maximum wear amount of the left / right side of the guide limit, which can be 5mm.

[0115] During the operation of the coal mining machine, when the machine body is in a horizontal state, the left and right intersecting lines formed by the intersection of the sprocket pitch circle, the horizontal plane of the conveyor pin row 5 and the left and right sides of the guide limit are called left and right characteristic lines; the vertical distance between the upper plane of the lower hook of the coal mining machine guide slide shoe 1 and the lower plane of the left end of the conveyor pin row 5 is defined as X (generally X = 8~10mm).

[0116] The pitch mining conditions that a general coal mining machine can adapt to are ±5°. Due to the structural characteristics of the rocker drum cantilever force of the cutting mechanism of the conventional coal mining machine, the center of gravity of the coal mining machine is biased toward the coal wall during underground operation, and there is a possibility of falling toward the coal wall for a short time. With the intersection s of the vertical center line of the coal mining machine smooth shoe 4 and the plane on the conveyor shovel as the fulcrum, rotate 0.3° counterclockwise toward the coal wall (the maximum clearance angle generated by the clearance X=8~10mm), at this time, the position lines of the left and right characteristic lines mapped on the left and right sides of the guide limit will be about 10mm lower than the original initial position (Y≈10mm, approximate value).

[0117] For the upper plane of the support, the designed maximum wear is 10mm. At this time, the position lines of the left and right characteristic lines mapped on the left and right sides of the guide limit will be moved 10mm higher than the original initial position.

[0118] The floating range of the left and right characteristic lines formed by the intersection of the sprocket pitch circle, the horizontal plane of the conveyor pin row 5 and the left and right sides of the guide limiter along the vertical direction of the conveyor pin row 5 is about ±10mm; the floating area of ​​the left and right characteristic lines along the vertical direction of the conveyor pin row 5 ±10mm is called the characteristic wear area (excluding the empty part). Therefore, the guide limiter wear on the left and right sides of the guide limiter generally occurs within the floating range of ±10mm above and below the left and right characteristic lines.

[0119] It can be seen from this that the strip area in which the horizontal left characteristic line floats upward by σ1 and downward by σ2 and includes the two characteristic points set on the left side of the guide limit can be selected as the characteristic wear area on the left side of the guide limit, wherein: σ1 is the maximum upward floating amount of the horizontal left characteristic line when the supporting upper plane of the guide shoe is worn to the maximum extent; σ2 is the maximum downward floating amount of the horizontal left characteristic line caused by the clearance deflection angle of the guide shoe 1, and the values ​​of σ1 and σ2 can be 10 mm; the horizontal left characteristic line is the intersection line of the coal mining machine sprocket pitch circle, the horizontal plane of the conveyor pin row 5 and the left side of the guide limit. Similarly, the characteristic wear area on the right side of the guide limit can be selected as a strip area where the horizontal right characteristic line floats upward by σ3 and downward by σ4 and includes two characteristic points set on the right side of the guide limit, wherein: σ3 is the maximum upward floating amount of the horizontal right characteristic line when the supporting upper plane of the guide shoe 1 is worn to the maximum; σ4 is the maximum downward floating amount of the horizontal right characteristic line caused by the gap deflection angle of the guide shoe 1, and the values ​​of σ3 and σ4 can be 10 mm; the horizontal right characteristic line is the intersection line of the coal mining machine sprocket pitch circle, the horizontal plane of the conveyor pin row 5 and the right side of the guide limit.

[0120] The characteristic points of the upper support plane, the left side of the guide limiter, the right side of the guide limiter and the bottom plane of the smooth shoe 4 obtained above are the installation positions of the dynamic wear monitoring device.

[0121] Step 3: Install the dynamic wear monitoring device:

[0122] According to the installation position of the dynamic wear monitoring device determined in step 2, the special sensors designed in step 1 are installed one by one at the location of each characteristic point, and the cables 601 of each special sensor are connected to the electrical control box of the coal mining machine;

[0123] Step 4: Dynamic monitoring of wear warning:

[0124] The electrical control box of the coal mining machine is equipped with a dynamic wear warning device; the dynamic wear warning device dynamically monitors the wear conditions of the areas around the installation positions of each special sensor based on the data monitored by each special sensor, until the wear conditions of the areas around the installation positions of each special sensor exceed the limit, and issues a corresponding warning prompt to realize dynamic monitoring of wear warning.

Claims

1. A dynamic wear monitoring and early warning device for a support and guide system of a coal mining machine, used for dynamically monitoring the wear of the support and guide system of a coal mining machine and issuing early warnings; the support and guide system of the coal mining machine includes a guide sliding shoe support mechanism and a smooth shoe support mechanism; the guide sliding shoe support mechanism includes a guide sliding shoe and a conveyor pin row matched with the guide sliding shoe; the smooth shoe support mechanism includes a smooth shoe and a conveyor shovel plate matched with the smooth shoe, and the guide sliding shoe and the smooth shoe are respectively arranged on the coal mining machine body; characterized in that The dynamic wear monitoring and early warning device includes a dynamic wear monitoring device and a dynamic wear early warning device; wherein: The dynamic wear monitoring device comprises first and second dynamic wear monitoring groups; The first dynamic wear monitoring group is installed on the smooth boot, and is used to monitor the wear amount A of the characteristic wear area of ​​the smooth boot bottom plane, and can transmit the monitored wear amount A to the dynamic wear warning device; The second dynamic wear monitoring group is installed on the guide shoe, and is used to monitor the wear amount B of the characteristic wear area of ​​the guide shoe, and can transmit the monitored wear amount B to the dynamic wear warning device; The dynamic wear warning device determines whether the wear condition of the smooth sole surface exceeds the limit according to the received wear amount A, and outputs a first warning prompt if the judgment result shows that the wear condition of the smooth sole surface exceeds the limit; The dynamic wear warning device determines whether the wear condition of the guide shoe exceeds the limit based on the received wear amount B, and outputs a second warning prompt if the judgment result shows that the wear condition of the guide shoe exceeds the limit.

2. The dynamic wear monitoring and early warning device for the support and guidance system of a coal mining machine according to claim 1 is characterized in that: The smooth sole plane is provided with two characteristic points, each of which is located on the longitudinal center line of the smooth boot's two ears, and the distance between the smooth sole plane and the adjacent end is L / 8, where L is the distance between the two lateral ends of the smooth sole plane; the characteristic wear area of ​​the smooth sole plane is the area between the two characteristic points.

3. The dynamic wear monitoring and early warning device for the support and guidance system of a coal mining machine according to claim 2 is characterized in that: The first dynamic wear monitoring group includes two sensors A, corresponding to the first and second sensors A; the first and second sensors A are respectively installed at two characteristic points set on the smooth sole plane.

4. The dynamic wear monitoring and early warning device for the support and guidance system of a coal mining machine according to claim 3 is characterized in that: The characteristic wear area of ​​the guide shoe includes the characteristic wear area of ​​the upper support plane where the guide groove of the guide shoe contacts the upper plane of the conveyor pin row, and the characteristic wear area of ​​the left side surface of the guide limiter where the guide groove of the guide shoe contacts the left and right sides of the conveyor pin row, and the characteristic wear area of ​​the right side surface of the guide limiter; The second dynamic wear monitoring group includes sensor B, sensor C and sensor D; wherein: The sensor B is used to sense the wear amount of the characteristic wear area of ​​the support upper plane where the guide groove of the guide shoe contacts the upper plane of the conveyor pin row, which is recorded as the first wear amount B1; and can transmit the sensed first wear amount B1 to the dynamic wear warning device; The sensor C is used to sense the wear amount of the characteristic wear area on the left side of the guide limiter in side contact between the guide groove of the guide shoe and the conveyor pin row, which is recorded as the second wear amount B2; and can transmit the sensed second wear amount B2 to the dynamic wear warning device; The sensor D is used to sense the wear amount of the characteristic wear area on the right side of the guide limiter in side contact between the guide groove of the guide shoe and the conveyor pin row, which is recorded as the third wear amount B3; and can transmit the sensed third wear amount B3 to the dynamic wear warning device; The dynamic wear warning device determines whether the wear condition of the characteristic wear area of ​​the upper support plane of the guide shoe guide groove exceeds the limit according to the received first wear amount B1, and outputs a second warning prompt if the judgment result shows that the wear condition of the characteristic wear area of ​​the upper support plane of the guide shoe guide groove exceeds the limit; The dynamic wear warning device determines whether the wear condition of the characteristic wear area on the left side of the guide limit of the guide groove of the guide shoe exceeds the limit according to the received second wear amount B2, and outputs a second warning prompt if the judgment result shows that the wear condition of the characteristic wear area on the left side of the guide limit of the guide groove of the guide shoe exceeds the limit; The dynamic wear warning device determines whether the wear condition of the characteristic wear area on the right side of the guide limit of the guide shoe guide groove exceeds the limit based on the received third wear amount B3. If the judgment result shows that the wear condition of the characteristic wear area on the right side of the guide limit of the guide shoe guide groove exceeds the limit, a second warning prompt is output.

5. The dynamic wear monitoring and early warning device for the support and guidance system of a coal mining machine according to claim 4 is characterized in that: The characteristic wear area of ​​the upper support plane is a strip area with a thickness of B±(δ1+δ2) near the geometric center point of the four force-bearing small faces formed when the upper support plane contacts the conveyor pin row; wherein: B is the short side length of the quadrilateral formed by the geometric center point of the four force-bearing small faces, δ1 is the design clearance setting value that meets the needs, and δ2 is the maximum wear amount of the left / right side of the guide limit; The sensor B includes two, corresponding to the first and second sensors B; the first and second sensors B are respectively installed at the positions of two characteristic points set on the upper plane of the support; the two characteristic points set on the upper plane of the support are the geometric center points of two of the four force-bearing small surfaces that are diagonally distributed.

6. The dynamic wear monitoring and early warning device for the support and guidance system of a coal mining machine according to claim 4 is characterized in that: The characteristic wear area on the left side of the guide limiter is a strip area where the horizontal left characteristic line floats upward by σ1 and downward by σ2 and includes two characteristic points set on the left side of the guide limiter, σ1 is the maximum upward floating amount of the horizontal left characteristic line when the upper support plane of the guide shoe has the maximum wear amount; σ2 is the maximum downward floating amount of the horizontal left characteristic line caused by the deflection angle of the guide shoe gap; the horizontal left characteristic line is the intersection line of the pitch circle of the coal mining machine sprocket, the horizontal plane of the conveyor pin row and the left side of the guide limiter; The sensor C includes two sensors, namely the first sensor C and the second sensor C; the first sensor C and the second sensor C are respectively installed at the positions of the two characteristic points set on the left side surface of the guide limiter; The two characteristic points set on the left side surface of the guide limiter are the intersection points of the horizontal left characteristic line and the geometric vertical center lines of the two left side force-bearing small surfaces; the two left side force-bearing small surfaces are two separated and discontinuous force-bearing small surfaces formed by the contact between the left side surface of the guide limiter and the left side of the conveyor pin row.

7. The dynamic wear monitoring and early warning device for the support and guidance system of a coal mining machine according to claim 4 is characterized in that: The characteristic wear area on the right side of the guiding and limiting part is a strip area where the horizontal rightward characteristic line floats upward by σ3 and downward by σ4 and includes two characteristic points set on the right side of the guiding and limiting part. σ3 is the maximum upward floating amount of the horizontal rightward characteristic line when the upper supporting plane of the guiding slide shoe has the maximum wear amount; σ4 is the maximum downward floating amount of the horizontal rightward characteristic line caused by the clearance deflection angle of the guiding slide shoe; the horizontal rightward characteristic line is the intersection line of the pitch circle of the shearer sprocket, the horizontal plane of the conveyor pin row and the right side of the guiding and limiting part. There are two sensors D, namely the first and second sensors D; the first and second sensors D are respectively installed at the positions of the two characteristic points set on the right side of the guiding and limiting part. The two characteristic points set on the right side of the guiding and limiting part are the intersection points of the horizontal rightward characteristic line and the geometric vertical center lines of the two small stressed surfaces on the right side; the two small stressed surfaces on the right side are two discontinuous small stressed surfaces formed by the contact between the right side of the guiding and limiting part and the right side of the conveyor pin row.

8. The dynamic wear monitoring and early warning device for the support and guidance system of a coal mining machine according to claim 4 is characterized in that: For the dynamic wear warning device, a first maximum wear amount Bmax1 is preset for the upper supporting plane, a second maximum wear amount Bmax2 is preset for the left side of the guiding and limiting part, and a third maximum wear amount Bmax3 is preset for the right side of the guiding and limiting part; the dynamic wear warning device judges whether the wear condition of the upper supporting plane is excessive by comparing whether the first wear amount B1 is within the allowable range of the first maximum wear amount Bmax1. If the judgment result shows that |B1 - Bmax1| < a1, it indicates that the wear condition of the upper supporting plane is not excessive, otherwise, it indicates that the wear condition of the upper supporting plane is excessive and outputs a second warning prompt; a1 is a constant. The dynamic wear warning device judges whether the wear condition of the left side of the guiding and limiting part is excessive by comparing whether the second wear amount B2 is within the allowable range of the second maximum wear amount Bmax2. If the judgment result shows that |B2 - Bmax2| < a2, it indicates that the wear condition of the left side of the guiding and limiting part is not excessive, otherwise, it indicates that the wear condition of the left side of the guiding and limiting part is excessive and outputs a second warning prompt; a2 is a constant. The dynamic wear warning device judges whether the wear condition of the right side of the guiding and limiting part is excessive by comparing whether the third wear amount B3 is within the allowable range of the first maximum wear amount Bmax3. If the judgment result shows that |B3 - Bmax3| < a3, it indicates that the wear condition of the right side of the guiding and limiting part is not excessive, otherwise, it indicates that the wear condition of the right side of the guiding and limiting part is excessive and outputs a second warning prompt; a3 is a constant.

9. The dynamic wear monitoring and early warning device for the support and guidance system of a coal mining machine according to claim 4, characterized in that: Sensors A to D are displacement sensors or travel sensors; and sensors A to D have the same structure, including a sensor body, a cable and a contact head; the sensor body is integrally columnar, and one end of the sensor body is provided with a mounting head, and the other end is provided with a contact head, and a lead hole is arranged inside the sensor body, and one end of the cable is led out from the lead hole and the other end is connected to the contact head.

10. A method for dynamic wear monitoring and early warning of a coal mining machine support and guidance system, characterized in that: It includes the following steps: Step 1: Design a special sensor: According to the actual working environment requirements of the shearer support and guiding system, design a special sensor. The dedicated sensor is a displacement sensor or a travel sensor, including a sensor body, a cable and a contact; the sensor body is arranged in a columnar shape as a whole, and a mounting head is arranged at one end of the sensor body and a contact is arranged at the other end. A lead hole is provided inside the sensor body, one end of the cable is led out from the lead hole, and the other end is connected to the contact; Step 2: Determine the installation location of the dynamic wear monitoring device: Step 2.1, treat the multi-surface contact between each plane of the guide shoe guide groove and the conveyor pin row as a single-surface contact: in the contacts between the support upper plane, the left side surface of the guide limit, and the right side surface of the guide limit of the guide shoe guide groove and the conveyor pin row, the multi-surface contacts between the support upper plane, the left side surface of the guide limit, the right side surface of the guide limit and the conveyor pin row are all separated and discontinuous multi-force small surface contacts. These separated and discontinuous multi-force small surfaces are processed by one-cut during the processing process, so the multi-surface contacts between the support upper plane, the left side surface of the guide limit, the right side surface of the guide limit and the conveyor pin row can be regarded as single-surface contacts; Step 2.2, select the characteristic wear areas of the upper support plane, the left side of the guide limiter, and the right side of the guide limiter: Selection of characteristic wear area of ​​the upper support plane: The strip area with a thickness of B±(δ1+δ2) near the geometric center point of the four force-bearing small faces formed by the contact between the upper support plane and the conveyor pin row is selected as the characteristic wear area of ​​the upper support plane, where: B is the short side length of the quadrilateral formed by the geometric center point of the four force-bearing small faces, δ1 is the design clearance setting value that meets the needs, and δ2 is the maximum wear amount of the left / right side of the guide limit; Selection of characteristic wear area on the left side of the guide limiter: The strip area of ​​the horizontal left characteristic line that floats upward by σ1 and downward by σ2 and includes two characteristic points set on the left side of the guide limiter is selected as the characteristic wear area on the left side of the guide limiter, wherein: σ1 is the maximum upward floating amount of the horizontal left characteristic line when the upper support plane of the guide shoe has the maximum wear amount; σ2 is the maximum downward floating amount of the horizontal left characteristic line caused by the deflection angle of the guide shoe gap; the horizontal left characteristic line is the intersection line of the pitch circle of the coal mining machine sprocket, the horizontal plane of the conveyor pin row and the left side of the guide limiter; Selection of characteristic wear area on the right side of the guide limiter: The characteristic wear area on the right side of the guide limiter is a strip area with a horizontal right characteristic line floating upward by σ3 and floating downward by σ4 and including two characteristic points set on the right side of the guide limiter, wherein: σ3 is the maximum upward floating amount of the horizontal right characteristic line when the upper plane of the guide shoe supports the maximum wear amount; σ4 is the maximum downward floating amount of the horizontal right characteristic line caused by the deflection angle of the guide shoe gap; the horizontal right characteristic line is the intersection line of the pitch circle of the coal mining machine sprocket, the horizontal plane of the conveyor pin row and the right side of the guide limiter; Step 2.3: Selection of installation sites for each dedicated sensor: In the characteristic wear region of the upper support plane, one group of geometric center points distributed diagonally among the geometric center points of the four force-bearing small faces formed by the contact between the upper support plane and the conveyor pin row is selected as the characteristic point of the upper support plane; In the characteristic wear area on the left side of the guide limiter, the intersection of the horizontal left characteristic line and the geometric vertical center line of the two left force-bearing small faces is selected as the characteristic point of the left side of the guide limiter, and the two left force-bearing small faces are two separated discontinuous force-bearing small faces formed by the contact between the left side of the guide limiter and the left side of the conveyor pin row; In the characteristic wear area on the right side of the guide limiter, the intersection of the horizontal right characteristic line and the geometric vertical center line of the two right side force-bearing small faces is selected as the characteristic point of the right side of the guide limiter, and the two right side force-bearing small faces are two separated discontinuous force-bearing small faces formed by the contact between the right side of the guide limiter and the right side of the conveyor pin row; On the smooth shoe sole plane, two points whose distance from the longitudinal center line of the two ears of the smooth shoe to the adjacent ends of the two ends of the smooth shoe in the transverse direction is L / 8 are selected as feature points of the smooth shoe sole plane; The characteristic points of the upper support plane, the left side of the guide limiter, the right side of the guide limiter, and the smooth sole plane obtained above are the installation positions of the dynamic wear monitoring device; Step 3: Install the dynamic wear monitoring device: According to the installation position of the dynamic wear monitoring device determined in step 2, the special sensors designed in step 1 are installed one by one at the location of each characteristic point, and the cables of each special sensor are connected to the electrical control box of the coal mining machine; Step 4: Dynamic monitoring of wear warning: The electrical control box of the coal mining machine is equipped with a dynamic wear warning device; the dynamic wear warning device dynamically monitors the wear conditions of the areas around the installation positions of each special sensor based on the data monitored by each special sensor, until the wear conditions of the areas around the installation positions of each special sensor exceed the limit, and issues a corresponding warning prompt to realize dynamic monitoring of wear warning.

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