CN115929377A - Fully mechanized coal mining face hydraulic system based on incremental digital hydraulic cylinder - Google Patents

Abstract

This application proposes a fully mechanized mining face hydraulic system based on incremental digital hydraulic cylinders, the system includes: hydraulic support groups, each hydraulic support includes: bus controller, detection equipment and at least one incremental digital hydraulic Cylinder, incremental digital hydraulic cylinder includes: motor, multi-way proportional valve and hydraulic cylinder body, among which, detection equipment is used to detect the state information of hydraulic support; bus controller is used to send rotation control instructions to the motor according to the state information ; The motor is used to rotate forward or reverse to the corresponding angle according to the rotation control command, so as to control the left and right reversing and proportional opening changes of the multi-way proportional valve; The proportional opening controls the corresponding displacement of the hydraulic cylinder body extending or retracting. The system controls the hydraulic support through an incremental digital hydraulic cylinder, which improves the control accuracy of the support and simplifies the structure.

Description

Hydraulic system of fully mechanized mining face based on incremental digital hydraulic cylinder

technical field

The application relates to the technical field of coal mine equipment, in particular to a fully mechanized mining face hydraulic system based on incremental digital hydraulic cylinders.

Background technique

At present, in the mining process of the fully mechanized mining face in the mine, the hydraulic support is an indispensable basic equipment. The hydraulic support can control the mine pressure of the working face and realize the constant resistance support. Moreover, along with the continuous operation of the shearer in the fully mechanized mining face, the hydraulic support needs to be moved, pushed and lifted accordingly.

In the related art, usually a switch type main valve and hydraulic cylinders such as push jacks, column jacks and side jacks are installed in the hydraulic support, and various control valves are used to control the corresponding hydraulic cylinders to operate to realize the above-mentioned operations of the hydraulic support.

However, in the above-mentioned hydraulic support control scheme, due to the influence of factors such as the performance of the components in the hydraulic support and the control mode, the control accuracy of the hydraulic support is low, which cannot meet the actual control requirements. For example, in the process of moving the hydraulic support, the solutions in the related art have low control precision for the displacement of the hydraulic support, and there are deviations in the result of moving the hydraulic support. Therefore, how to realize a hydraulic support with high control precision has become an urgent problem to be solved.

Contents of the invention

This application aims to solve one of the technical problems in the related art at least to a certain extent.

For this reason, the purpose of this application is to propose a fully mechanized mining face hydraulic system based on incremental digital hydraulic cylinders. The system controls the hydraulic support through incremental digital hydraulic cylinders, and digitally controls the motors in the hydraulic cylinders. The accuracy of bracket control is improved and the structure is simplified.

In order to achieve the above purpose, the embodiment of the present application is to propose a fully mechanized mining face hydraulic system based on an incremental digital hydraulic cylinder, the system includes: a group of hydraulic supports, each hydraulic support includes: a bus controller, a detection device and at least one incremental digital hydraulic cylinder, the incremental digital hydraulic cylinder includes: a motor, a multi-way proportional valve and a hydraulic cylinder body, wherein the detection device is used to detect the state information of the hydraulic support; the The bus controller is used to send a rotation control instruction to the motor according to the status information; the motor is used to rotate forward or reverse to a corresponding angle according to the rotation control instruction to control the multiple The left and right reversing of the proportional valve and the proportional opening change; the multi-way proportional valve is used to control the corresponding displacement of the hydraulic cylinder body to extend or retract through the left and right reversing and adjusting the proportional opening, so as to control the The hydraulic support displacement.

Optionally, in one embodiment of the present application, the incremental digital hydraulic cylinder further includes: a feedback unit, configured to detect the actual displacement of the hydraulic cylinder body, and feed back the actual displacement to the the bus controller.

Optionally, in one embodiment of the present application, the detection device includes: a ranging sensor, configured to detect distance information between the hydraulic support and the coal face, and send the distance information to the bus controller.

Optionally, in an embodiment of the present application, the bus controllers of each hydraulic support communicate through the bus of the hydraulic support group, and the bus controller is specifically configured to: acquire adjacent bus control The movement distance of the corresponding hydraulic support sent by the controller; the rotation control command is generated by combining the movement distance, the actual displacement and the distance information.

Optionally, in an embodiment of the present application, based on the incremental digital hydraulic cylinder, a single-block hydraulic cylinder or a double-block hydraulic cylinder is formed, and the bus controller is specifically configured to: According to different working positions and working conditions, the single-lock hydraulic cylinder or the double-lock hydraulic cylinder is controlled to perform position pressure-maintaining locking.

Optionally, in an embodiment of the present application, the single-block hydraulic cylinder includes: a safety valve, a hydraulic control check valve, and the incremental digital hydraulic cylinder; the double-block hydraulic cylinder includes: two safety valves, Two hydraulically controlled one-way valves and the incremental digital hydraulic cylinder, wherein each hydraulically controlled one-way valve is set in a branch where the multi-way proportional valve is connected to the hydraulic cylinder body, and each Each of the safety valves is connected to one end of the corresponding hydraulic control check valve.

Optionally, in an embodiment of the present application, the single-lock hydraulic cylinder or the double-lock hydraulic cylinder is also used to: control the hydraulic support to lower the column, raise the column, move the frame, push and walk the side guard telescopic.

Optionally, in an embodiment of the present application, the system further includes: a liquid return line and a liquid supply line, and each of the hydraulic supports further includes: a delivery device, wherein the delivery device is used to The emulsion in the liquid supply pipeline is transmitted to the incremental digital hydraulic cylinder, and the excess emulsion is returned to the liquid return pipeline.

Optionally, in one embodiment of the present application, the conveying equipment includes: a cut-off valve, a high-pressure filter, a liquid return one-way valve and a multi-way valve block, wherein the first end of the cut-off valve is connected to the supply The liquid pipeline is connected, the second end of the stop valve is connected with the first end of the liquid return check valve, and the second end of the liquid return check valve is connected with the multi-way valve block; the high pressure The first end of the filter is connected to the liquid return pipeline, and the second end of the high-pressure filter is connected to the multi-way valve block; the multi-way valve block has multiple groups of liquid supply and return ports, each group of The liquid supply and return ports include a liquid return port and a liquid supply port, and each group of the liquid supply and return ports is connected with the multi-way proportional valve in the corresponding incremental digital hydraulic cylinder.

Optionally, in an embodiment of the present application, the detection device includes: an intelligent sensor unit, an intelligent instrument and an intelligent control unit, wherein the intelligent control unit is used to assist the bus controller to generate the rotation Control instruction.

The technical solution provided by the embodiments of the present application brings at least the following beneficial effects: the present application replaces the traditional on-off valve and hydraulic cylinder to control the hydraulic support through the incremental digital hydraulic cylinder control fluid, and controls the forward and reverse angle of the motor to control The left and right reversing and proportional opening changes of the digital valve can precisely control the extension and retraction of the hydraulic cylinder. Therefore, the proportional control of the circuit of the hydraulic system is realized by relying on the motor to drive, and the digital control of the hydraulic system can be realized, which can improve the accuracy of the control of the hydraulic support and is conducive to the digital development of coal mine equipment. Each incremental hydraulic cylinder integrates functions such as control, detection and locking, which enriches the functions of a single support, simplifies the system structure, and reduces the complexity of the system. In addition, all calculation processes such as data processing and signal generation can be carried out in the bus controller. Through the coordination between the bus controllers of each support, the group of hydraulic supports can be controlled to ensure the straight line accuracy of the fully mechanized mining face. Conducive to the normal operation of mining work.

Additional aspects and advantages of the invention 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 the invention.

Description of drawings

The above and/or additional aspects and advantages of the present application will become apparent and easy to understand from the following description of the embodiments in conjunction with the accompanying drawings, wherein:

Fig. 1 is a schematic structural diagram of a fully mechanized mining face hydraulic system based on an incremental digital hydraulic cylinder proposed in the embodiment of the present application;

Fig. 2 is a schematic structural view of a single-lock hydraulic cylinder proposed in the embodiment of the present application;

Fig. 3 is a schematic structural diagram of a double-blocking hydraulic cylinder proposed in the embodiment of the present application;

Fig. 4 is a schematic structural view of a specific fully mechanized mining face hydraulic system based on an incremental digital hydraulic cylinder proposed in the embodiment of the present application;

Fig. 5 is a schematic diagram of the principle of a hydraulic support group cooperative control proposed by the embodiment of the present application.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

A fully mechanized mining face hydraulic system based on an incremental digital hydraulic cylinder proposed by an embodiment of the present invention will be described below with reference to the accompanying drawings.

Fig. 1 is a schematic structural diagram of a fully mechanized mining face hydraulic system based on an incremental digital hydraulic cylinder proposed in the embodiment of the present application. As shown in Fig. 1, the hydraulic system is arranged at the fully mechanized mining face, and the system includes: Hydraulic support group, the hydraulic support group is composed of a plurality of hydraulic supports 100, each hydraulic support 100 includes: bus controller 110, detection equipment 120 and at least one incremental digital hydraulic cylinder 130, incremental digital hydraulic cylinder 130 It includes: a motor 131 , a multi-way proportional valve 132 and a hydraulic cylinder body 133 .

It should be noted that the hydraulic support is a structure used to control the mine pressure of the coal mining face, and the mine pressure of the mining face acts on the hydraulic support in the form of external load. The hydraulic support is composed of a hydraulic cylinder, a load-bearing structure, a pushing device and a control system, among which the hydraulic cylinder includes a column and a jack. The column is used to adjust the height of the support and carry the hydraulic cylinder. The general term for other hydraulic cylinders with functions such as pushing, side protection and frame adjustment. The load-bearing structure includes roof beams, shield beams and bases, etc. In this application, for a clearer and more intuitive description, only the above-mentioned equipment in the hydraulic support will be described in detail, and other necessary equipment required for the support can refer to the description in related technologies, and will not be repeated here.

Specifically, the various devices included in each hydraulic support 100 in this application cooperate with each other to realize the control of a single hydraulic support, wherein the detection device 120 is used to detect the status information of the hydraulic support. The bus controller 110 is configured to send a rotation control command to the motor 131 in the incremental digital hydraulic cylinder 130 according to the state information. The motor 131 is used for forward rotation or reverse rotation to a corresponding angle according to the rotation control command, so as to control the left and right reversing and proportional opening change of the multi-way proportional valve 132 in the digital hydraulic cylinder. The multi-way proportional valve 132 is used to control the corresponding displacement of the hydraulic cylinder body in the digital hydraulic cylinder by reversing left and right and adjusting the proportional opening under the drive of the motor, so as to control the displacement of the current hydraulic support and so on.

Specifically, in this application, an incremental digital hydraulic cylinder composed of a multi-way proportional valve, a motor and a hydraulic cylinder replaces the traditional on-off main valve of the hydraulic support and hydraulic cylinders such as push jacks, column jacks, and side jacks. Realize the control of a single hydraulic support, rely on the control of the forward and reverse angle of the motor, control the left and right reversing and proportional opening changes of the digital valve, and then precisely control the extension and retraction of the hydraulic cylinder. Therefore, it is driven by the motor to realize proportional control of the circuit of the hydraulic system.

It can be understood that, in the process of controlling the rotation of the motor, it is necessary to first generate a control command for the motor. In this application, the decision to generate the control command is carried out in the bus controller, and the bus controller generates according to the state information detected by the detection device. Corresponding rotation control command.

Wherein, the status information of the hydraulic support includes the distance between the hydraulic support and the coal wall of the fully mechanized mining face, the current angle of the hydraulic support, and other information reflecting the operating state of the hydraulic support.

In one embodiment of the present application, the detection device 120 includes: an intelligent sensor unit 121 , an intelligent instrument 122 and an intelligent control unit 123 . The intelligent sensor unit 121 and the intelligent instrumentation 122 are used as information detection equipment, which can detect the state information of the hydraulic support. The specific equipment type can be determined according to the state information to be detected. For example, when it is necessary to detect the coal wall The smart sensor unit 121 may include a distance measuring sensor or the like. For another example, when it is necessary to detect the current rotation angle of the hydraulic support relative to the horizontal line, the angle sensor in the smart sensor unit 121 may be used for detection.

Furthermore, the bus controller 110 receives and analyzes the status parameters transmitted by the intelligent sensor unit 121, the intelligent instrumentation unit 122 and the intelligent control unit 123 in real time, and gives instructions in real time to control the rotation of the digital cylinder motor. For example, when the detection device 120 detects that the distance between the hydraulic support and the coal wall of the fully mechanized mining face is too large, the bus controller 110 generates an instruction to control the forward rotation of the motor at a corresponding angle, and the motor 131 rotates forward at a corresponding angle according to the instruction The extension of the digital cylinder is controlled so that the hydraulic support 100 advances a corresponding distance to the coal wall of the fully mechanized mining face.

In an embodiment of the present application, the incremental digital hydraulic cylinder 130 further includes: a feedback unit 134 . The feedback unit 134 is used to detect the actual displacement of the hydraulic cylinder body 133 and feed back the actual displacement to the bus controller 110 . That is, the actual displacement of the hydraulic cylinder is transmitted to the spool through the feedback unit 134, and whether the actual displacement meets the expected requirements can be determined according to the feedback information. When there is a deviation, the control command can be updated for further adjustment. After the control command is finally and accurately completed, the closing of the spool is realized.

It can be understood that in practical applications, the working conditions faced by the hydraulic support are relatively complicated, and different actions need to be performed according to the work requirements. Therefore, based on the incremental digital hydraulic cylinder, the present application combines the incremental digital hydraulic cylinder 130 with other different components to generate different types of locking hydraulic cylinders for pressure maintaining and locking to meet the needs of different working conditions.

In one embodiment of the present application, a single-block hydraulic cylinder or a double-block hydraulic cylinder can be formed based on the incremental digital hydraulic cylinder 130. The position of the cavity is locked to realize functions such as constant resistance support under different conditions.

During specific implementation, in this embodiment, one or more incremental digital hydraulic cylinders 130 can be pre-set in each hydraulic support 100, and different incremental digital hydraulic cylinders 130 can be integrated with other hydraulic pressure cylinders in different ways. The component parts form a single locking hydraulic cylinder and/or a double locking hydraulic cylinder, and the type of the specific integrated locking hydraulic cylinders and the number of each type of locking hydraulic cylinders can be set according to actual needs. Then, in practical applications, the bus controller 110 controls the single-block hydraulic cylinder or the double-block hydraulic cylinder to perform position pressure-maintaining locking according to different working positions and working conditions of the hydraulic support. In this way, position pressure-maintaining locking can be realized in different working positions and under different working conditions according to different usage requirements.

As an example, as shown in FIG. 2 , the combined single-lock hydraulic cylinder includes: a safety valve 10, a hydraulic control check valve 20 and an incremental digital hydraulic cylinder 130, and the incremental digital hydraulic cylinder 130 includes a motor 131, For the multi-way proportional valve 132 and the displacement sensor 134, in this example, the displacement sensor is selected as the feedback unit. Wherein, the hydraulically controlled one-way valve 20 is arranged in a branch path connecting the multi-way proportional valve 132 and the hydraulic cylinder body 133 , and the safety valve 10 is connected with one end of the hydraulically controlled one-way valve 20 .

As another example, as shown in FIG. 3 , the combined double-blocking hydraulic cylinder includes: two safety valves 10, two hydraulic control check valves 20, and an incremental digital hydraulic cylinder 130. The incremental digital hydraulic cylinder 130 includes a motor 131 , a multi-way proportional valve 132 and a displacement sensor 134 , and in this example, the displacement sensor is selected as the feedback unit. Wherein, each hydraulically controlled check valve 20 is set in a branch circuit connecting the corresponding multi-way proportional valve 132 with the hydraulic cylinder body 133 , and each safety valve 10 is connected with one end of the corresponding hydraulically controlled check valve 20 .

Therefore, the present application pre-builts a single-block hydraulic cylinder or the double-block hydraulic cylinder in the hydraulic support. The action can be replaced by the above-mentioned single-block integrated digital integrated cylinder and double-block integrated digital integrated cylinder. Specifically, according to the different actions to be performed, a single-locking integrated digital integrated cylinder or a double-locked integrated digital integrated cylinder that is convenient for performing the current action to be performed can be selected to perform the action.

It can be understood that the operation of the hydraulic support requires high-pressure emulsion provided by the emulsion pump station installed in the roadway or chamber. For example, when the pressure emulsion enters the column through the control system, the bracket rises to initially support the roof, and as the roof sinks, the support resistance of the bracket to the roof increases, and the pressure of the locked liquid in the column is limited by the safety valve to achieve constant resistance support . Therefore, in the actual operation of the hydraulic system of the present application, the emulsion needs to be delivered to the incremental digital hydraulic cylinder through related equipment, so as to be used by the integrated digital cylinder of the hydraulic support.

In an embodiment of the present application, the hydraulic system of the fully mechanized mining face includes a liquid return pipeline 1 and a liquid supply pipeline 2 in addition to the hydraulic support group, and each hydraulic support 100 also includes: a delivery device 140 . Wherein, the conveying device 140 is used for transferring the emulsion in the liquid supply pipeline 2 to the incremental digital hydraulic cylinder 130 , and returning excess emulsion to the return pipeline 1 .

As a possible implementation manner, in this embodiment, the delivery device 140 includes: a shut-off valve 141 , a high-pressure filter 142 , a liquid return one-way valve 143 and a multi-way valve block 144 . Among them, the first end of the stop valve 141 is connected with the liquid supply pipeline, the second end of the stop valve 142 is connected with the first end of the liquid return check valve 143, and the second end of the return check valve 143 is connected with the multi-way valve. Block 144 is connected. A first end of the high-pressure filter 142 is connected to the liquid return line 1 , and a second end of the high-pressure filter is connected to the multi-way valve block 144 . The multi-way valve block 144 has multiple groups of liquid supply and return ports, each group of liquid supply and return ports includes a liquid return port R and a liquid supply port P, and each group of liquid supply and return ports is connected to the multi-way port in the corresponding incremental digital hydraulic cylinder 130 Proportional valve 132 is connected.

In order to more clearly describe the specific connection mode and working principle of the various components of the fully mechanized mining face hydraulic system based on incremental digital hydraulic cylinders in practical applications, in one embodiment of the application, a The specific hydraulic system of fully mechanized mining face based on incremental digital hydraulic cylinder. Fig. 4 is a schematic structural diagram of a specific incremental digital hydraulic cylinder based hydraulic system for a fully mechanized mining face proposed in the embodiment of the present application.

As shown in Figure 4, each hydraulic support 1 in this system includes: 1-1 liquid return pipeline, 1-2 liquid supply pipeline, 1-3 stop valve, 1-4 high pressure filter, 1-5 return Hydraulic check valve, 1-6 electro-hydraulic reversing valve, 1-7 digital push system, 1-8 ordinary hydraulic unit, 1-9 hydraulic support bus controller, 1-10 intelligent sensor unit, 1-11 intelligent instrument unit , 1-12 intelligent control bracket.

It should be noted that each hydraulic support in the hydraulic system includes the above-mentioned elements. In this embodiment, the first hydraulic support is selected for illustration, and the subsequent hydraulic supports are the same. The connection manner of each component in the bracket is shown in FIG. 4 , which will not be repeated here. In this embodiment, a single-block hydraulic cylinder is selected for digital shifting of the support, and a double-block hydraulic cylinder is used as a common hydraulic unit. Each hydraulic support may include multiple single-block hydraulic cylinders or double-block hydraulic cylinders, and the P The expansion interface of the two-way liquid pipe with R is used for the use of the integrated digital cylinder of the hydraulic support.

Therefore, the hydraulic system of the fully mechanized mining face based on the incremental digital hydraulic cylinder in the embodiment of the present application replaces the traditional switch valve-controlled hydraulic support system. Compared with the original hydraulic system of the fully mechanized mining face, the hydraulic support After the inlet passes through the filter, it is connected with a multi-way valve block to replace the traditional electro-hydraulic control reversing valve, and the multi-way valve block only plays the role of multi-way communication, without distributed control valve group, each incremental hydraulic pressure Functions such as control, detection, and locking are integrated on the cylinder, the system is significantly simplified, the control accuracy is higher, and it has higher position control accuracy.

It is understandable that a large number of hydraulic supports need to be used in the process of coal mining in the fully mechanized mining face, and the hydraulic support group usually needs to include more than 100 hydraulic supports, and the hydraulic system usually needs to control a large number of hydraulic supports to move in groups , in order to realize the follow-up of the shearer, etc. When controlling the bracket group, it is necessary to ensure the straightness of the fully mechanized mining face, that is, to ensure that the fully mechanized mining face is in a straight line to facilitate coal mining. Therefore, the step distance of the group shifting of hydraulic supports is required to ensure the straight line accuracy of the fully mechanized mining face, and the displacement distance of each hydraulic support needs to be controlled to be equal.

For this reason, in the embodiment of the present application, the bus controllers of the various hydraulic supports cooperate to control the group of hydraulic supports. During specific implementation, as a possible implementation, as shown in FIG. 5 , the intelligent sensor unit of each hydraulic support 100 is preset to include a ranging sensor and an angle sensor, and the ranging sensor is used to detect the hydraulic support it is in. 100 and the coal face, and send the detected distance information to the corresponding bus controller 110. Wherein, the distance information may be the distance between the hydraulic support and the coal mining face, or may also be the change amount of the distance between the hydraulic support and the coal mining face, which is specifically determined according to calculation requirements. The bus controller 110 reads the data sent by the ranging sensor 1211 in real time.

Furthermore, the bus controller 110 of each hydraulic support also communicates through the bus of the hydraulic support group to realize data interaction, and can obtain data such as displacement distances of other adjacent hydraulic supports. Moreover, as described in the above-mentioned embodiments, the bus controller 110 can also obtain the actual displacement of the support returned by the feedback unit 134 in its own hydraulic support 100 . Furthermore, after the bus controller 110 obtains the moving distance of the corresponding hydraulic support sent by the adjacent bus controller and the detection information fed back by the travel sensor, it combines the moving distance of the adjacent support, its actual displacement and the current and fully mechanized mining work. The distance information on the surface generates a rotation control instruction, and the bus controller controls the rotation angle of each hydraulic digital cylinder motor to ensure that after the motor executes the rotation control instruction, the displacement distance of the hydraulic support is adapted to the step distance of the group moving frame. By carrying out the above-mentioned coordinated control on each support in Fig. 5, the straightness of the fully mechanized mining face can be guaranteed.

Therefore, in the fully mechanized mining face hydraulic system based on the incremental digital hydraulic cylinder in the embodiment of the present application, the incremental hydraulic cylinder in each hydraulic support is controlled through the bus connection. The bus type has expandable items, which can be equipped with intelligent sensing units, intelligent instruments and intelligent control units, and all signals are analyzed in the bus controller for decision-making. This application is based on the communication mode of bus control. At the communication link end, the degree of scalability is high and the communication delay is small, which is conducive to ensuring the timely and reliable control of the hydraulic support, and the hardware equipment can be expanded and changed according to the change of working conditions. Improve the applicability of hydraulic support control.

In an embodiment of the present application, the bus controller 110 may also generate control instructions in combination with the intelligent control unit in the above embodiments, that is, the intelligent control unit is used to assist the bus controller in generating rotation control instructions. Specifically, as an example, the intelligent control unit can be an intelligent control device such as a DSP, and the intelligent control unit can communicate with the upper computer in the ground workstation, and upload the real-time data downhole to the upper computer of the ground workstation. The interactive interface is displayed, which is convenient for relevant staff to keep abreast of downhole information. Furthermore, the host computer can also perform calculations based on the received data to generate control commands for different supports, and transmit the control commands to the intelligent control unit, which then sends them to the bus controller 110, thereby controlling the hydraulic pressure according to the commands issued by the host computer. The operation of the stand. Therefore, in the control mode of this embodiment, decisions can be made by the host computer, reducing the workload of the downhole bus controller. In practical application, multiple control methods can be combined according to application needs. For example, in normal operation, the bus controller 110 generates rotation control instructions. Run, or, for the position that requires special displacement control, run according to the instructions of the relevant staff. For another example, after the bus controller 110 generates the rotation control instruction, it compares it with the instruction transmitted by the intelligent control unit to determine the final control instruction.

In one embodiment of the present application, the fault diagnosis knowledge base may also be pre-stored in the intelligent control unit, and when the hydraulic support fails, the collected real-time operation data is transmitted to the intelligent control unit, and the intelligent control unit transmits the operation data under the current working condition The data is compared with the boundary data of the corresponding normal operating state to determine the current fault of the hydraulic support, so that each hydraulic support can realize fault diagnosis.

In summary, the hydraulic system of the fully mechanized mining face based on the incremental digital hydraulic cylinder in the embodiment of the present application uses the incremental digital hydraulic cylinder to control the fluid instead of the traditional on-off valve and hydraulic cylinder to control the hydraulic support, and controls the hydraulic support by positively adjusting the motor. The control of the reverse angle controls the left and right reversing and proportional opening changes of the digital valve, and then precisely controls the extension and retraction of the hydraulic cylinder. Therefore, the proportional control of the circuit of the hydraulic system is realized by relying on the motor to drive, and the digital control of the hydraulic system can be realized, which can improve the accuracy of the control of the hydraulic support and is conducive to the digital development of coal mine equipment. Each incremental hydraulic cylinder integrates functions such as control, detection and locking, which enriches the functions of a single support, simplifies the system structure, and reduces the complexity of the system. In addition, all calculation processes such as data processing and signal generation can be carried out in the bus controller. Through the coordination between the bus controllers of each support, the group of hydraulic supports can be controlled to ensure the straight line accuracy of the fully mechanized mining face. Conducive to the normal operation of mining work.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

In the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense, for example, it can be a fixed connection or a fixed connection. Disconnected, or united; may be mechanical

A connection can also be an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal communication between two elements or an interaction relationship between two elements, unless otherwise clearly defined. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the present invention, unless otherwise clearly specified and limited, the first feature may be "on" or "under" the second feature in direct contact with the second feature, or the first and second feature through an intermediary indirect contact. Moreover, the first feature is in

The two features "above", "above" and "above" may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary and should not be construed as limitations of the present invention, and those of ordinary skill in the art can Variations, modifications, substitutions and variations are made to the above-described embodiments.

Claims (10)

1. A fully mechanized mining face hydraulic system based on incremental digital hydraulic cylinders, characterized in that it includes: hydraulic support groups, each hydraulic support includes: bus controller, detection equipment and at least one incremental digital hydraulic Cylinder, the incremental digital hydraulic cylinder includes: motor, multi-way proportional valve and hydraulic cylinder body, wherein, The detection device is used to detect the state information of the hydraulic support; The bus controller is configured to send a rotation control command to the motor according to the status information; The motor is used to rotate forward or reverse to a corresponding angle according to the rotation control command, so as to control the left and right reversing and proportional opening changes of the multi-way proportional valve; The multi-way proportional valve is used to control the corresponding displacement of the hydraulic cylinder body to extend or retract by reversing left and right and adjusting the proportional opening, so as to control the displacement of the hydraulic support. 2. The hydraulic system according to claim 1, wherein the incremental digital hydraulic cylinder further comprises: The feedback unit is used to detect the actual displacement of the hydraulic cylinder body, and feed back the actual displacement to the bus controller. 3. The hydraulic system according to claim 2, wherein the detection device comprises: The distance measuring sensor is used to detect the distance information between the hydraulic support and the coal face, and send the distance information to the bus controller. 4. The hydraulic system according to claim 3, wherein the bus controller of each hydraulic support communicates through the bus of the hydraulic support group, and the bus controller is specifically used for: Obtain the moving distance of the corresponding hydraulic support sent by the adjacent bus controller; The rotation control instruction is generated by combining the moving distance, the actual displacement and the distance information. 5. The hydraulic system according to claim 1, characterized in that, based on the incremental digital hydraulic cylinder, a single-lock hydraulic cylinder or a double-lock hydraulic cylinder is formed, and the bus controller is specifically used for: According to the different working positions and working conditions of the hydraulic support, the single-locking hydraulic cylinder or the double-locking hydraulic cylinder is controlled to perform position pressure-maintaining locking. 6. The hydraulic system according to claim 5, wherein the single-lock hydraulic cylinder comprises: a safety valve, a hydraulic control check valve and the incremental digital hydraulic cylinder; The double-blocking hydraulic cylinder includes: two safety valves, two hydraulic control check valves and the incremental digital hydraulic cylinder, wherein, Each of the hydraulically controlled one-way valves is arranged in a branch of the multi-way proportional valve connected to the hydraulic cylinder body, and each of the safety valves is connected with one end of the corresponding hydraulically controlled one-way valve. 7. The hydraulic system according to claim 5, wherein the single-lock hydraulic cylinder or the double-lock hydraulic cylinder is also used for: controlling the hydraulic support to lower the column, raise the column, move the frame, push the Walking and side guards retract. 8. The hydraulic system according to claim 1, further comprising: a liquid return pipeline and a liquid supply pipeline, and each hydraulic support further comprises: a conveying device, wherein, The conveying device is used to transfer the emulsion in the liquid supply pipeline to the incremental digital hydraulic cylinder, and return excess emulsion to the liquid return pipeline. 9. The hydraulic system according to claim 8, wherein the conveying equipment comprises: a cut-off valve, a high-pressure filter, a liquid return check valve and a multi-way valve block, wherein, The first end of the shut-off valve is connected to the liquid supply pipeline, the second end of the shut-off valve is connected to the first end of the liquid return one-way valve, and the second end of the liquid return one-way valve connected with the multi-way valve block; The first end of the high-pressure filter is connected to the liquid return pipeline, and the second end of the high-pressure filter is connected to the multi-way valve block; The multi-way valve block has multiple sets of liquid supply and return ports, each set of liquid supply and return ports includes a liquid return port and a liquid supply port, and each set of liquid supply and return ports is connected to the corresponding incremental digital hydraulic cylinder. The multi-way proportional valves are connected. 10. The hydraulic system according to claim 1, wherein the detection device comprises: an intelligent sensor unit, an intelligent instrument and an intelligent control unit, wherein, The intelligent control unit is configured to assist the bus controller to generate the rotation control instruction.

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