Control method of coal cutter towline trolley

Abstract

The application provides a control method of a coal cutter towline trolley, which is executed by a towline control system, the system comprising a towline controller arranged in a machine head roadway, a self-driven towline trolley arranged on a scraper, and a cable reel arranged at a machine tail side; the method comprising the following steps: the towline controller acquires a first operation parameter from the coal cutter, a second operation parameter from the self-driven towline trolley, and a third parameter reflecting the state of a cable clamp plate; the towline controller generates a control instruction based on the first operation parameter, the second operation parameter, and the third parameter and sends the control instruction to the self-driven towline trolley to control the operation speed and direction of the self-driven towline trolley, so that the self-driven towline trolley is kept in synchronous motion with the coal cutter and the cable clamp plate is kept in a preset stacking state. The control method of the application can effectively adapt to the bending deformation of the scraper, realizes intelligent control based on multi-source information, has a safety protection function, and improves the reliability, safety, and automation level of the towline system.

Description

Technical Field

[0001] This invention belongs to the field of equipment control technology for fully mechanized coal mining faces, specifically relating to a control method for a coal mining machine cable-dragging trolley.

[0002] In fully mechanized coal mining faces, the coal mining machine needs to drag a large number of cables and hydraulic pipelines during operation. These cables are usually protected by cable clamps and placed in the cable trough of the scraper conveyor. When the coal mining machine cuts the coal face back and forth, its oblique cutting process easily causes the cable clamps to bend and stack repeatedly in the cable trough. When the number of stacked layers is too high, it will cause a series of serious problems: the cable clamps may fall out of the cable trough; the hydraulic supports may crush the cable clamps when moving, resulting in the cables or water pipes being pulled apart. These problems not only affect production efficiency and equipment safety, but also heavily rely on manual intervention, hindering the development of automation and intelligence in fully mechanized mining faces. Especially in steeply inclined faces, when the coal mining machine descends, the cable clamps tend to roll towards the machine head due to gravity, posing a significant safety threat to the workers below.

[0003] To solve the above problems, existing technologies typically employ a cable-dragging trolley to pull the cable clamps, such as... Figure 1 The structure shown is used to ensure that the cable clamps are always stacked in two layers by controlling the cable-dragging trolley to follow the coal mining machine in the same direction at half speed. Currently, there are three main methods for controlling the cable-dragging trolley: The first method is as follows Figure 2 As shown, the cable trolley is pulled by a circular chain. A sprocket is arranged on each side of the machine, at the head and tail. The circular chains are looped around each other to form a circular loop (e.g., ...). Figure 3 The tail section is driven by a motor with variable frequency speed control. The motor communicates with the coal mining machine through a signal line to obtain information such as the speed of the coal mining machine in real time, and adjusts the output shaft speed to control the speed and direction of the cable trolley.

[0004] The second method is as follows Figure 4 As shown, the coal mining machine and the cable trolley are connected by a steel wire rope. Pulleys are arranged as shown in the figure below. By changing the direction of the tension through the pulleys, the cable trolley is pulled to run at half speed in the same direction as the coal mining machine.

[0005] The third method is as follows Figure 5 As shown, the cable-draft trolley is connected to a hydraulic (or electrical) drive device located on the tail side of the machine via a steel wire rope. When the coal mining machine moves towards the hydraulic winch, the hydraulic winch's winding drum winds up the steel wire rope. The steel wire rope maintains tension during the winding process, and the cable-draft trolley moves towards the hydraulic winch. When the coal mining machine moves away from the hydraulic winch, the hydraulic winch's winding drum winds in the opposite direction, thus achieving automatic cable dragging.

[0006] However, these existing methods cannot operate stably in downhole applications and have obvious drawbacks: 1. When the scraper conveyor experiences vertical or horizontal bending, the cable trolley is prone to jamming during cross-section transitions, and the drive chain or wire rope can easily interfere with the chain track, causing the drive chain to stop. Figure 6 and Figure 7 As shown; 2. The control strategy is too simplistic, adjusting the traction speed of the cable-stayed trolley based on only a limited number of physical parameters (such as the speed of the coal mining machine), which cannot meet the needs of complex working conditions. 3. When the steel wire rope is pulling the cable trolley, it is subjected to significant force. Because the steel wire rope is exposed and lacks protection, there is a risk of sudden breakage, which seriously threatens personal safety. 4. The cable trolley itself lacks a tipping or sliding protection mechanism. When used on a steep working face, if the wire rope breaks, the cable trolley may roll out of control and cause injury to the workers below. Summary of the Invention

[0007] The purpose of this invention is to address the shortcomings of existing technologies by providing a control method for a coal mining machine cable-dragging trolley. This method can effectively adapt to the bending deformation of the scraper conveyor, achieve intelligent control based on multi-source information, and has comprehensive safety protection functions, thereby improving the reliability, safety, and automation level of the cable-dragging system.

[0008] This invention provides a control method for a cable-dragging trolley of a coal mining machine. The control method is executed by a cable-dragging control system, which includes a cable-dragging controller arranged in the head roadway, a self-driven cable-dragging trolley arranged on the scraper conveyor, and a cable reel arranged at the tail side of the machine. The method includes the following steps: The cable drag controller acquires a first operating parameter from the coal mining machine, a second operating parameter from the self-driving cable drag trolley, and a third parameter reflecting the state of the cable clamps. The tow cable controller generates control commands based on the first operating parameter, the second operating parameter, and the third parameter; The cable controller sends the control command to the self-drive cable trolley to control its running speed and direction, so that the self-drive cable trolley moves synchronously with the coal mining machine and keeps the cable clamps in a preset stacked state.

[0009] Preferably, the first operating parameter includes the operating speed and position of the coal mining machine; the second operating parameter includes the operating speed and position of the self-driven cable trolley; and the third parameter includes the tension of the cable clamp at the coal mining machine and / or the output torque of the drive motor of the self-driven cable trolley.

[0010] Preferably, the step of controlling the self-driven cable-stayed trolley to maintain synchronous movement with the coal mining machine specifically involves controlling the running direction of the self-driven cable-stayed trolley to always be the same as the running direction of the coal mining machine, and the running speed to be approximately half the running speed of the coal mining machine.

[0011] Preferably, the method further includes a safety protection step: when the tow cable controller detects a malfunction or stall in the self-driven tow cable trolley, it controls the brakes of the self-driven tow cable trolley to apply the brakes to prevent it from sliding down.

[0012] Preferably, the self-drive cable trolley travels on the pins and grooves of the scraper conveyor via guide shoes and support shoes at its bottom.

[0013] Preferably, the cable reel dynamically winds up and unwinds the power supply cable connected between the cable reel and the self-drive cable trolley according to the position information of the self-drive cable trolley.

[0014] Preferably, the power supply cable includes a first power supply cable and a second power supply cable arranged in the cable trough of the scraper conveyor. The first power supply cable connects the cable controller and the cable reel, and the second power supply cable connects the cable reel and the self-drive cable trolley to supply power to the self-drive cable trolley.

[0015] Preferably, the self-drive towing trolley is equipped with a position encoder, which transmits the speed and position information of the towing trolley to the towing controller.

[0016] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0017] The positive and progressive effects of this invention are as follows: According to the control method of the coal mining machine cable-dragging trolley of the present invention, at the hardware level, a self-driven cable-dragging trolley including a motor and transmission system is used to pull the cable clamp, eliminating the need for an external traction mechanism to drive the cable-dragging trolley, reducing space occupation, and simplifying the installation structure of the cable-dragging trolley. Secondly, the cable-dragging trolley is arranged on the pin row and groove side of the scraper conveyor, which can effectively adapt to the bending deformation of the scraper conveyor and prevent jamming. In addition, the cable-dragging controller is arranged on the equipment train in the head roadway, drawing on the arrangement of the frequency converter of the non-machine-mounted coal mining machine, which can move with the equipment when the three machines are advancing in the working face, making installation convenient. Finally, by combining the operating parameters of the coal mining machine, the self-driven cable-dragging trolley, and the cable clamp, the self-driven cable-dragging trolley is controlled to maintain synchronous movement with the coal mining machine, realizing intelligent control based on multi-source information, improving the reliability, safety, and automation level of control. Attached Figure Description

[0018] Figure 1This is a schematic diagram of the control principle of cable clamps in existing technology.

[0019] Figure 2 This is a schematic diagram of the first chain-driven cable-stayed trolley control method in the prior art.

[0020] Figure 3 This is a schematic diagram of the chain drive principle in existing technology.

[0021] Figure 4 This is a schematic diagram of the second type of wire rope traction cable trolley control method in the prior art.

[0022] Figure 5 This is a schematic diagram of the third type of winch drum cable trolley control method in the prior art.

[0023] Figure 6 This is a schematic diagram of a chain path bending causing jamming in existing technology.

[0024] Figure 7 This is a schematic diagram of cable tray bending causing jamming in existing technology.

[0025] Figure 8 This is a schematic diagram of the control system of the control method for the coal mining machine cable-dragging trolley in an embodiment of the present invention.

[0026] Figure 9 This is a schematic diagram of the operation mode of the cable-dragging trolley on the scraper conveyor in the control method of the coal mining machine cable-dragging trolley in the embodiment of the present invention.

[0027] Figure 10 This is a flowchart of the control method for the coal mining machine cable-dragging trolley in an embodiment of the present invention.

[0028] Figure 11 This is a schematic diagram of the control parameters for the control method of the coal mining machine cable-dragging trolley in an embodiment of the present invention.

[0029] Figure 12 This is a schematic diagram illustrating the working process of the control method for the coal mining machine cable-dragging trolley in an embodiment of the present invention. Detailed Implementation

[0030] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings. Example

[0031] like Figures 8 to 12 As shown, this embodiment discloses a control method for a coal mining machine cable-dragging trolley, which is executed by a cable-dragging control system. Specifically, as... Figure 8 and Figure 9 As shown, the tow cable control system includes a tow cable controller 1, a self-driven tow cable trolley 2, a cable reel 3, a first power supply cable 4, a second power supply cable 5, and a third power supply cable 6.

[0032] like Figure 8 As shown, the cable controller 1 is located on the equipment train in the head roadway. It supplies power to the self-driven cable trolley 2 and cable drum 3 via cables, and communicates with the coal mining machine and the self-driven cable trolley 2 to obtain information in real time and execute matching control operations.

[0033] Here, the arrangement of the cable-stayed controller 1 is based on the arrangement of the frequency converter of the non-machine-mounted coal mining machine. This way, it can move along with the equipment when the three machines are advancing in the working face, making installation and control convenient.

[0034] like Figure 8 and Figure 9 As shown, the self-driving cable-dragging trolley 2 is mounted on the scraper conveyor and can move left and right on the conveyor on its own, thereby dragging the cable clamps to keep them in a preset folded state. In practical applications, keeping the cable clamps in a double-folded state is sufficient to meet the requirements of the coal mining environment.

[0035] In this embodiment, the self-driving cable trolley 2 includes a motor and a transmission system, and can drive itself to move on the scraper conveyor without the need for an additional external traction mechanism to move the cable trolley. This reduces the space occupied by the external traction mechanism and simplifies the installation structure of the cable trolley.

[0036] In addition, such as Figure 9 As shown, the self-drive cable trolley 2 is specifically arranged on the pin row and groove side of the scraper conveyor. In this way, the cable trolley 2 can effectively adapt to the bending deformation of the scraper conveyor and prevent jamming, that is, prevent the occurrence of... Figure 6 and Figure 7 The existing technology shown presents a jamming situation. Specifically, the self-propelled cable-stayed trolley 2 travels by straddling the pin rows and trough sides of the scraper conveyor via guide shoes and support shoes at its bottom. This travel method is the same as that of a coal mining machine and can adapt well to the horizontal and vertical bending of the scraper conveyor.

[0037] like Figure 8 As shown, the cable reel 3 is located at the tail end of the machine and is used to dynamically wind up and unwind the second power supply cable 5 of the cable trolley 2 according to its position. The cable controller 1 controls the motor of the cable reel 3 to operate automatically according to the running status of the self-driven cable trolley 2, thereby preventing the cable from accumulating or being damaged in the cable trough.

[0038] The first power supply cable 4 is arranged in the cable trough of the scraper conveyor and is used to connect the cable controller 1 and the cable reel 3, thereby supplying power to the self-drive cable trolley 2.

[0039] The second power supply cable 5 is arranged in the cable trough of the scraper conveyor and is used to connect the cable reel 3 and the self-drive cable trolley 2, thereby supplying power to the self-drive cable trolley 2.

[0040] The third power supply cable 6 is arranged in the cable trough of the scraper conveyor and is used to connect the cable controller 1 and the cable reel 3, thereby supplying power to the cable reel 3.

[0041] In other words, regarding power supply: the cable pull controller 1 is located on the equipment train in the headworks roadway. It is connected to the cable reel 3 via the first power supply cable 4, and then to the self-driven cable pull trolley 2 via the second power supply cable 5, thus supplying it with power. Simultaneously, the cable pull controller 1 supplies power to the cable reel 3 via the third power supply cable 6. Regarding communication: the cable pull controller 1 establishes a communication connection with the coal mining machine (not shown in the figure) to obtain the machine's operating data in real time; simultaneously, the cable pull controller 1 also communicates with the self-driven cable pull trolley 2 to obtain data fed back from its position encoder and send control commands.

[0042] like Figure 10 As shown, based on the above-described cable-draft control system, the control method for the coal mining machine cable-draft trolley in this embodiment includes the following steps: Step S1: The cable controller 1 acquires the first operating parameters from the coal mining machine, the second operating parameters from the self-driving cable trolley 2, and the third parameter reflecting the status of the cable clamp.

[0043] Step S2: The tow cable controller 1 generates control commands based on the first operating parameters, the second operating parameters, and the third parameters.

[0044] Step S3: The cable controller 1 sends control commands to the self-drive cable trolley 2 to control its running speed and direction, so that the self-drive cable trolley 2 moves synchronously with the coal mining machine and keeps the cable clamps in the preset stacked state.

[0045] Specifically, such as Figure 11 As shown, the first operating parameter includes the operating speed and position of the coal mining machine. The second operating parameter includes the operating speed and position of the self-propelled cable trolley 2. The third parameter includes the tension of the cable clamp at the coal mining machine and / or the output torque of the drive motor of the self-propelled cable trolley 2 (i.e., Figure 11 (Variable frequency torque in the process). In this way, by combining the operating parameters of the coal mining machine, the self-driven cable trolley, and the cable clamp, the self-driven cable trolley is controlled to maintain synchronous movement with the coal mining machine, realizing intelligent control based on multi-source information. It can generate precise speed and direction control commands through the built-in control algorithm, which can effectively improve the reliability, safety, and automation level of control.

[0046] In one specific embodiment, the step of the cable controller 1 controlling the self-driven cable trolley 2 to keep synchronous with the coal mining machine is as follows: the self-driven cable trolley 2 is controlled to always run in the same direction as the coal mining machine, and its running speed is about half the running speed of the coal mining machine.

[0047] Specifically, such as Figure 12 As shown, the specific control process of the tow cable controller 1 is as follows: Initially, the coal mining machine is located at the head of the machine, and the self-driving cable-stayed trolley 2 is located in the middle of the working face. When the coal mining machine moves to the right, the cable-stayed controller 1 controls the self-driving cable-stayed trolley 2 to move to the right. When the coal mining machine reaches the tail of the machine, the self-driving cable-stayed trolley 2 is exactly at the tail of the machine. Then, when the coal mining machine moves to the left, the cable-stayed controller 1 controls the self-driving cable-stayed trolley 2 to move to the left. When the coal mining machine reaches the head of the machine, the self-driving cable-stayed trolley 2 is at the middle of the working face, completing one work cycle. Throughout the entire process, the speed of the self-driving cable-stayed trolley 2 is always controlled at approximately half the speed of the coal mining machine, and the direction remains consistent.

[0048] In this way, the cable reel 3 can dynamically wind up and unwind the power supply cable connected between the cable reel 3 and the self-drive cable trolley 2 according to the position information of the self-drive cable trolley 2, so that the cable clamps can always be kept in a state where they do not pile up or become overly tense.

[0049] In the aforementioned control process, the cable towing controller 1, acting as a central processing unit, continuously receives speed / position signals from the coal mining machine, speed / position feedback signals from the encoder of the self-driven cable towing trolley 2, and signals from the cable clamp tension sensor (or inverter torque). The cable towing controller 1 comprehensively calculates and judges these parameters, generating a corresponding speed setpoint through its internal control algorithm, and sends it to the inverter driver of the self-driven cable towing trolley 2. This precisely adjusts the motor speed of the self-driven cable towing trolley 2, forming a dynamic, closed-loop feedback control system. This multi-parameter fusion control strategy, compared to control relying solely on a single speed signal, better ensures system stability and synchronization accuracy under complex conditions such as load changes and scraper conveyor fluctuations.

[0050] In some embodiments, the cable-stayed trolley control method further includes a safety protection step: when the cable-stayed controller 1 detects a malfunction or stall in the self-driven cable-stayed trolley 2, it controls the brake of the self-driven cable-stayed trolley 2 to apply the brakes to prevent it from sliding down. Specifically, the self-driven cable-stayed trolley 2 has an integrated brake (not shown in the figure). When the system detects any abnormality, such as excessive speed, communication loss, or motor overload, the cable-stayed controller 1 will immediately issue a braking command to engage the brakes, firmly locking the cable-stayed trolley 2 in its current position, preventing it from sliding down the steep working surface due to loss of power, thus ensuring safety.

[0051] In addition, in order to acquire the speed and position information of the self-driven cable towing trolley 2, a position encoder is installed in the self-driven cable towing trolley 2, and the speed and position information of the cable towing trolley can be transmitted to the cable towing controller 1 through the position encoder.

[0052] The control method for the coal mining machine cable-dragging trolley involved in this embodiment has the following advantages: High adaptability: The self-drive cable trolley mimics the walking mode of a coal mining machine, directly straddling the pin rack and trough side of the scraper conveyor. This fundamentally avoids the jamming problem caused by the narrow space of the cable trough and the bending of the scraper conveyor, and has a strong adaptability to the complex working conditions of the working face.

[0053] Intelligent control: It adopts a fusion control strategy based on multi-source information such as coal mining machine speed, cable trolley position speed, cable tension, and motor torque, forming a dynamic feedback closed loop. It has high control accuracy and fast response, and can effectively cope with various complex working conditions, ensuring the synchronization and reliability of the cable.

[0054] High safety: The elimination of external traction chains or wire ropes prevents accidents caused by their breakage. Furthermore, the cable trolley has its own brakes, providing effective anti-slip protection and greatly enhancing the system's inherent safety level.

[0055] Facilitates automation: The control method in this embodiment reduces manual intervention, and the control system has a reasonable layout (the cable controller moves with the equipment train), which is conducive to the comprehensive automation and intelligent construction of the fully mechanized mining face.

[0056] The scope of protection of this invention is not limited to the embodiments described above. Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its scope and spirit. If these modifications and variations fall within the scope of the claims of this invention and their equivalents, then the intent of this invention also includes these modifications and variations.

Claims

1. A control method for a cable-dragging trolley of a coal mining machine, characterized in that, The control method is executed by a cable control system, which includes a cable controller arranged in the headway, a self-driven cable trolley arranged on the scraper conveyor, and a cable reel arranged on the tail side. The method includes the following steps: The cable drag controller acquires a first operating parameter from the coal mining machine, a second operating parameter from the self-driving cable drag trolley, and a third parameter reflecting the state of the cable clamps. The tow cable controller generates control commands based on the first operating parameter, the second operating parameter, and the third parameter; The cable controller sends the control command to the self-drive cable trolley to control its running speed and direction, so that the self-drive cable trolley moves synchronously with the coal mining machine and keeps the cable clamps in a preset stacked state.

2. The control method according to claim 1, characterized in that, The first operating parameter includes the operating speed and position of the coal mining machine; the second operating parameter includes the operating speed and position of the self-driven cable trolley; and the third parameter includes the tension of the cable clamp at the coal mining machine and / or the output torque of the drive motor of the self-driven cable trolley.

3. The control method according to claim 1 or 2, characterized in that, The specific steps for controlling the self-driven cable-stayed trolley to maintain synchronous movement with the coal mining machine are as follows: the running direction of the self-driven cable-stayed trolley is always the same as the running direction of the coal mining machine, and the running speed is about half the running speed of the coal mining machine.

4. The control method according to claim 3, characterized in that, The method also includes a safety protection step: when the towing cable controller detects a malfunction or stall in the self-driven towing cable trolley, it controls the brakes of the self-driven towing cable trolley to apply the brakes to prevent it from sliding down.

5. The control method according to claim 3, characterized in that, The self-drive cable trolley travels on the pin rack and trough of the scraper conveyor via guide and support slippers at its bottom.

6. The control method according to claim 3, characterized in that, The cable reel dynamically winds up and unwinds the power supply cable connected between the cable reel and the self-drive cable trolley based on the position information of the self-drive cable trolley.

7. The control method according to claim 6, characterized in that, The power supply cable includes a first power supply cable and a second power supply cable arranged in the cable trough of the scraper conveyor. The first power supply cable connects the cable controller and the cable reel, and the second power supply cable connects the cable reel and the self-drive cable trolley to supply power to the self-drive cable trolley.

8. The control method according to claim 3, characterized in that, The self-driving cable trolley is equipped with a position encoder, which transmits the speed and position information of the cable trolley to the cable controller.

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