Automatic leveling system for coal mine belt conveyor tail and leveling method thereof

Abstract

The invention discloses a coal mine belt conveyor tail automatic leveling system and a leveling method thereof. The coal mine belt conveyor tail automatic leveling system comprises a lifting oil cylinder, a driver, a controller, a tilt angle sensor and a displacement sensor. The leveling method comprises the following steps that S1, the four lifting oil cylinders are all lowered to the minimum value; s2, sending a monitoring value of a displacement sensor on the left side of the tail of the belt conveyor and a pitch angle value of a tilt angle sensor to a controller; s3, the height difference h is compared with the displacement value h of the lifting oil cylinder with the top end located at the high position; s4, leveling according to a comparison result; s5, sending a monitoring value of a displacement sensor on the right side of the tail of the belt conveyor and a pitch angle value of a tilt angle sensor to a controller; the step S3 and the step S4 are repeated, and leveling operation is conducted on the right side of the tail of the belt conveyor; s6, the monitoring value of the belt conveyor tail displacement sensor and the roll angle value of the tilt angle sensor are sent to a controller; s7, repeating the step S3; and leveling according to a comparison result.

Description

Technical Field

[0001] The invention relates to the field of coal mining machines, and in particular to an automatic leveling system and a leveling method for a tail of a coal mine belt conveyor. Background Art

[0002] With the development of coal mining mechanization, the stable and smooth operation of the belt conveyor is crucial to coal mine production. However, in the existing technology, the self-moving trolley at the tail of the belt conveyor is mainly leveled manually, which has the problems of low leveling efficiency, poor leveling accuracy, and inconsistent leveling effect, which seriously affects the normal coal mining operation of the coal mining machine. Therefore, there is an urgent need for a system and method that can automatically and accurately adjust the posture of the belt conveyor tail to solve the above problems. Summary of the invention

[0003] The purpose of the present invention is to provide a coal mine belt conveyor tail automatic leveling system and a leveling method thereof, which can realize automatic adjustment of the belt conveyor tail posture through electronic control and precise leveling strategy, improve leveling efficiency and accuracy, reduce the demand for operating personnel, and improve the safety and stability of comprehensive mining operations.

[0004] In order to achieve the above object, the technical solution of the present invention is:

[0005] A coal mine belt conveyor tail automatic leveling system comprises a lifting cylinder, a driver, a controller, an inclination sensor, and a displacement sensor; there are four lifting cylinders and they are arranged in pairs on the left and right sides of the belt conveyor tail, the lifting cylinders are fixedly connected with displacement sensors and the lifting height displacement of the lifting cylinders is monitored through the displacement sensors; there are two inclination sensors, which are arranged on the left and right sides of the belt conveyor tail and monitor the inclination angle of the belt conveyor tail; the driver is respectively connected to the four lifting cylinder pipelines and realizes the lifting and lowering drive operations of the four lifting cylinders; the signal input end of the controller is respectively connected to the displacement sensor and the inclination sensor circuits and receives the monitoring data of the displacement sensor and the inclination sensor, and the signal output end of the controller is connected to the driver and sends a cylinder driving instruction to the driver.

[0006] Furthermore, a dual-speed valve is provided on the pipeline between the driver and the lifting cylinder to control the oil flow rate when the lifting cylinder performs a lifting action.

[0007] A leveling method for an automatic leveling system at the tail of a coal mine belt conveyor, comprising the following steps:

[0008] S1. Lower all four lifting cylinders to their lowest values;

[0009] S2, sending the displacement sensor monitoring values ​​on the two lifting cylinders on the left side of the belt conveyor tail and the pitch angle monitoring value of the inclination sensor on the left side of the belt conveyor tail to the controller;

[0010] S3, the controller calculates the height difference △h between the top ends of the two lifting cylinders according to the principle of trigonometric functions; compares the height difference △h with the displacement value h of the lifting cylinder whose top end is at a higher position;

[0011] S4. When the height difference △h is greater than the displacement value h, the controller uses the leveling strategy to make the driver control the lifting cylinder at the lower position to ascend, and the ascending distance is △h; when the height difference △h is less than the displacement value h, the controller uses the leveling strategy to make the driver control the lifting cylinder at the higher position to descend, and the descending distance is △h;

[0012] S5, sending the displacement sensor monitoring values ​​on the two lifting cylinders on the right side of the belt conveyor tail and the pitch angle monitoring value of the inclination sensor on the right side of the belt conveyor tail to the controller; repeating steps S3 and S4 to perform leveling operation on the right side of the belt conveyor tail;

[0013] S6, sending the displacement sensor monitoring values ​​on the lifting cylinders on the left and right sides of the belt conveyor tail and the roll angle monitoring values ​​of the inclination sensors on the left and right sides of the belt conveyor tail to the controller;

[0014] S7, repeat step S3; when the height difference △h is greater than the displacement value h, the controller uses the leveling strategy to make the driver control the lifting cylinder with the top in a lower position and the other lifting cylinder on the same side of the lifting cylinder to synchronously rise, and the rising distance is △h; when the height difference △h is less than the displacement value h, the controller uses the leveling strategy to make the driver control the lifting cylinder with the top in a higher position and the other lifting cylinder on the same side of the lifting cylinder to synchronously descend, and the descending distance is △h.

[0015] Furthermore, the leveling strategy is: the driver controls the lifting cylinder to perform rising or falling actions in stages. After each stage of rising or falling action, the controller re-acquires the displacement sensor monitoring value and the inclination sensor monitoring value and performs update calculations, and performs the next stage of rising or falling action according to the updated calculation results.

[0016] Furthermore, the interval between two adjacent stages is 2 seconds.

[0017] Compared with the prior art, the present invention has the following advantages and positive effects:

[0018] The present invention transmits the inclination angle monitoring data of the belt conveyor tail and the lifting height data of the lifting cylinder to the controller through an inclination sensor arranged at the belt conveyor tail and a displacement sensor arranged on the lifting cylinder. Then the controller calculates the height difference between the lifting cylinders according to the trigonometric function principle, and finally compares the height difference with the displacement value of the lifting cylinder at the top end which is at a higher position. According to the comparison result, the lifting height of the lifting cylinder is adjusted, and finally the automatic leveling operation of the belt conveyor tail is realized. Through electronic control and precise leveling strategy, the automatic leveling operation of the belt conveyor tail is effectively realized, the leveling efficiency and accuracy of the belt conveyor tail is improved, and the problems of low efficiency, poor leveling accuracy and poor leveling effect of manual leveling in the prior art are solved, thereby improving the safety and stability of comprehensive mining operations and providing strong technical support for coal mine production. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0020] Figure 1 This is a top view of the layout effect of the belt conveyor tail;

[0021] Figure 2 It is a simple schematic diagram when the height difference △h is greater than the displacement value h;

[0022] Figure 3 This is a simple schematic diagram when the height difference △h is less than the displacement value h. DETAILED DESCRIPTION

[0023] 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, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work, any modifications, equivalent substitutions, improvements, etc., should be included in the protection scope of the present invention.

[0024] like Figure 1 As shown, this embodiment discloses an automatic leveling system for the tail of a coal mine belt conveyor, including a lifting cylinder, a driver, a controller, a tilt sensor, and a displacement sensor;

[0025] There are four lifting cylinders, which are arranged in pairs on the left and right sides of the belt conveyor tail, of which two are arranged in the front-to-back direction of the left side of the belt conveyor tail, and the other two are arranged in the front-to-back direction of the right side of the belt conveyor tail; each lifting cylinder is fixedly connected to a displacement sensor, and the lifting height displacement of the lifting cylinder is monitored by the displacement sensor;

[0026] There are two inclination sensors, which are respectively arranged on the left and right sides of the belt conveyor tail and monitor the inclination angle of the belt conveyor tail. Among them, the pitch angle value of the inclination sensor arranged on the left side of the belt conveyor tail is used to monitor the inclination angle of the left side of the belt conveyor tail in the front-to-back direction, the pitch angle value of the inclination sensor arranged on the right side of the belt conveyor tail is used to monitor the inclination angle of the right side of the belt conveyor tail in the front-to-back direction, and the roll angle value of the inclination sensors arranged on the left and right sides of the belt conveyor tail is used to monitor the inclination angle of the belt conveyor tail in the left-right direction;

[0027] The driver is used to drive the lifting action of the cylinder; the driver is connected to the four lifting cylinder pipelines respectively and realizes the lifting and lowering driving operation of the four lifting cylinders. A dual-speed valve is arranged on the pipeline between the driver and the lifting cylinder to control the oil flow when the lifting cylinder performs the lifting action, thereby realizing precise leveling control.

[0028] The controller is used to receive and process data from the inclination sensor and the displacement sensor, and control the lifting and lowering of the cylinder according to a preset leveling strategy; the signal input end of the controller is respectively connected to the displacement sensor and the inclination sensor circuit and receives the monitoring data of the displacement sensor and the inclination sensor, and the signal output end of the controller is connected to the driver and sends a cylinder driving instruction to the driver.

[0029] The present invention also discloses a leveling method for the leveling system, which is implemented according to the leveling parameters and specifically includes the following steps:

[0030] S1. Lower all four lifting cylinders to their lowest values;

[0031] S2, perform left-side leveling processing through the left-side inclination angle value and the displacement value of the two lifting cylinders on the left side; send the displacement sensor monitoring value on the two lifting cylinders on the left side of the belt conveyor tail and the pitch angle monitoring value of the inclination sensor on the left side of the belt conveyor tail to the controller;

[0032] S3, the controller calculates the height difference △h between the top ends of the two lifting cylinders according to the principle of trigonometric functions; compares the height difference △h with the displacement value h of the lifting cylinder whose top end is at a higher position;

[0033] S4, then Figure 2 , Figure 3 As shown, determine which scenario it belongs to;

[0034] When the height difference △h is greater than the displacement value h, the extended length of the lifting cylinder itself is less than the height difference calculated by the trigonometric function, and the cylinder on the other side needs to be raised for leveling; that is, the controller uses the leveling strategy to control the driver to control the lifting cylinder at the lower position to rise, and the rising distance is △h;

[0035] When the height difference △h is less than the displacement value h, it means that the extended length of the lifting cylinder itself is greater than the height difference calculated by the trigonometric function, so the cylinder at the higher end is lowered for leveling; that is, the controller uses the leveling strategy to control the driver to control the lifting cylinder at the higher position to descend, and the descending distance is △h;

[0036] S5, performing right side leveling processing through the pitch angle value of the inclination sensor on the right side of the belt conveyor tail and the displacement value of the two lifting cylinders on the right side; the operation is consistent with steps S2, S3, and S4;

[0037] S6, sending the monitoring values ​​of the displacement sensors on the lifting cylinders on the left and right sides of the belt conveyor tail and the rolling angle values ​​of the inclination sensors on the left and right sides of the belt conveyor tail to the controller;

[0038] S7, the controller calculates the height difference △h between the top ends of the lifting cylinders on the left and right sides according to the principle of trigonometric functions; compares the height difference △h with the displacement value h of the lifting cylinder whose top end is at a higher position;

[0039] Then as Figure 2 , Figure 3 As shown, determine which scenario it belongs to;

[0040] When the height difference △h is greater than the displacement value h, that is, the extended length of the lifting cylinder itself is less than the height difference calculated by the trigonometric function, the cylinder on the other side needs to be raised for leveling; that is, the controller uses the leveling strategy to make the driver control the lifting cylinder at the lower position at the top and the other lifting cylinder on the same side of the lifting cylinder to rise synchronously, and the rising distance is △h;

[0041] When the height difference △h is less than the displacement value h, it means that the extended length of the lifting cylinder itself is greater than the height difference calculated by the trigonometric function, so the cylinder at the higher end is lowered for leveling; that is, the controller uses the leveling strategy to make the driver control the lifting cylinder at the top in a higher position and the other lifting cylinder on the same side of the lifting cylinder to descend synchronously, and the descending distance is △h.

[0042] The controller is equipped with a leveling strategy and can control the driver and lifting cylinder according to the leveling strategy. The leveling strategy is equipped with parameters for leveling the tail of the conveyor belt. The specific parameters are shown in the following table:

[0043] Belt conveyor tail leveling parameters

[0044]

[0045] As can be seen from the above table, in this leveling strategy, the driver controls the lifting cylinder to perform rising or falling actions in stages, with an interval of 2 seconds between two adjacent stages; after each stage of rising or falling action, the controller re-acquires the displacement sensor monitoring value and the inclination sensor monitoring value and performs update calculations, and performs the next stage of rising or falling action based on the updated calculation results.

[0046] The present invention transmits the inclination angle monitoring data of the belt conveyor tail and the lifting height data of the lifting cylinder to the controller through an inclination sensor arranged at the belt conveyor tail and a displacement sensor arranged on the lifting cylinder. Then the controller calculates the height difference between the lifting cylinders according to the trigonometric function principle, and finally compares the height difference with the displacement value of the lifting cylinder at the top end which is at a higher position. According to the comparison result, the lifting height of the lifting cylinder is adjusted, and finally the automatic leveling operation of the belt conveyor tail is realized. Through electronic control and precise leveling strategy, the automatic leveling operation of the belt conveyor tail is effectively realized, the leveling efficiency and accuracy of the belt conveyor tail is improved, and the problems of low efficiency, poor leveling accuracy and poor leveling effect of manual leveling in the prior art are solved, thereby improving the safety and stability of comprehensive mining operations and providing strong technical support for coal mine production.

Claims

1. An automatic leveling system for the tail of a coal mine belt conveyor, characterized in that: The automatic leveling system for the tail of a coal mine belt conveyor includes a lifting cylinder, a driver, a controller, an inclination sensor, and a displacement sensor; there are four lifting cylinders and they are arranged in pairs on the left and right sides of the tail of the belt conveyor, and the lifting cylinders are fixedly connected with displacement sensors and the lifting height displacement of the lifting cylinders is monitored through the displacement sensors; there are two inclination sensors, which are respectively arranged on the left and right sides of the tail of the belt conveyor and monitor the inclination angle of the tail of the belt conveyor; the driver is respectively connected to the four lifting cylinder pipelines and realizes the lifting and lowering drive operations of the four lifting cylinders; the signal input end of the controller is respectively connected to the displacement sensor and the inclination sensor circuits and receives the monitoring data of the displacement sensor and the inclination sensor, and the signal output end of the controller is connected to the driver and sends a cylinder driving instruction to the driver.

2. The automatic leveling system for the tail of a coal mine belt conveyor according to claim 1, characterized in that: A dual-speed valve is arranged on the pipeline between the driver and the lifting cylinder to control the oil flow rate when the lifting cylinder performs a lifting action.

3. A leveling method for the automatic leveling system at the tail of a coal mine belt conveyor as claimed in claim 2, characterized in that: The following steps are involved: S1. Lower all four lifting cylinders to their lowest values; S2, sending the displacement sensor monitoring values ​​on the two lifting cylinders on the left side of the belt conveyor tail and the pitch angle monitoring value of the inclination sensor on the left side of the belt conveyor tail to the controller; S3, the controller calculates the height difference △h between the top ends of the two lifting cylinders according to the principle of trigonometric functions; compares the height difference △h with the displacement value h of the lifting cylinder whose top end is at a higher position; S4. When the height difference △h is greater than the displacement value h, the controller uses the leveling strategy to make the driver control the lifting cylinder at the lower position to ascend, and the ascending distance is △h; when the height difference △h is less than the displacement value h, the controller uses the leveling strategy to make the driver control the lifting cylinder at the higher position to descend, and the descending distance is △h; S5, sending the displacement sensor monitoring values ​​on the two lifting cylinders on the right side of the belt conveyor tail and the pitch angle monitoring value of the inclination sensor on the right side of the belt conveyor tail to the controller; repeating steps S3 and S4 to perform leveling operation on the right side of the belt conveyor tail; S6, sending the displacement sensor monitoring values ​​on the lifting cylinders on the left and right sides of the belt conveyor tail and the roll angle monitoring values ​​of the inclination sensors on the left and right sides of the belt conveyor tail to the controller; S7, repeat step S3; when the height difference △h is greater than the displacement value h, the controller uses the leveling strategy to make the driver control the lifting cylinder with the top in a lower position and the other lifting cylinder on the same side of the lifting cylinder to synchronously rise, and the rising distance is △h; when the height difference △h is less than the displacement value h, the controller uses the leveling strategy to make the driver control the lifting cylinder with the top in a higher position and the other lifting cylinder on the same side of the lifting cylinder to synchronously descend, and the descending distance is △h.

4. The leveling method of the automatic leveling system of the tail of a coal mine belt conveyor according to claim 3, characterized in that: The leveling strategy is: the driver controls the lifting cylinder to perform rising or falling actions in stages. After each stage of rising or falling action, the controller re-acquires the displacement sensor monitoring value and the inclination sensor monitoring value and performs update calculations, and performs the next stage of rising or falling action according to the updated calculation results.

5. The leveling method of the automatic leveling system of the tail of a coal mine belt conveyor according to claim 4, characterized in that: The interval between two adjacent stages is 2 seconds.

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