Multi-motor starting control method, system and device

Abstract

The present invention discloses a multi-motor starting control method, system and equipment, and belongs to the field of mining equipment control technology. In view of the problem in the prior art that when operating mining equipment, such as a rock drilling trolley, multiple motors must be started in a fixed order or multiple motors must be started in sequence after a fixed interval of subjective time, the present invention provides a multi-motor starting control method, system and mining equipment using the system, the system includes a signal generating unit, a controller, a motor starting control unit, and a power distribution unit; at the same time, a control method based on the system is disclosed. It can realize that when the start buttons of multiple motors are activated in no sequence, the controller outputs the motor starting control signal in sequence according to the order in which the start buttons of each motor are activated, and automatically adds a certain delay between the start control signals of each motor to achieve staggered starting. Overall, the service life is extended, the maintenance cycle is extended, and the overall cost is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of mining equipment control, and more specifically, to a multi-motor starting control method, system and equipment. Background Art

[0002] A rock drilling rig (also called a drilling rig) is a rock drilling equipment that uses the drill and blast method for tunnel and underground engineering. It can move and support multiple rock drills to perform drilling operations at the same time. According to the number of rock drills installed, it can be divided into single-arm, double-arm and multi-arm drilling rigs (several arm rock drills correspond to several main motors). The main motor equipped with the rock drilling rig has a large power. When a single motor is started, the starting current is generally more than four times its rated current. When multiple motors are started at the same time, the main current will be even greater. Excessive starting current can easily cause impact on the drive cable, electrical equipment and power grid, which not only affects the service life of the equipment but may also affect the normal operation of other equipment.

[0003] At present, the motor start-up of double-arm or multi-arm rock drilling rigs mainly relies on the subjective interval of activation time of multiple motor start switches to avoid the simultaneous start-up of multiple motors, thereby avoiding various adverse effects caused by this. Therefore, the start-up of multiple main motors of existing rock drilling rigs is generally done by starting them in sequence or manually separately in time-sharing to avoid the simultaneous start-up of multiple motors. Both of the above two starting methods have shortcomings. First, the manual separate start-up method is completely dependent on the operation of the operator. Once the operator mistakenly presses the start buttons of multiple motors at the same time, multiple motors will be started at the same time. Secondly, the time-sharing sequential start-up method requires that the motor started later can only be started or delayed in sequence after receiving the signal that the previous start motor has started. In this case, if the control circuit of the previous motor fails, the subsequent motors cannot be started; and the motor start-up can only be in a fixed order, and the motor start-up order cannot be adjusted at will, which brings inconvenience to the operation.

[0004] The Chinese patent application, application number 201611065895.2, published on June 5, 2018, discloses a PLC-based electrical control system for a rock drilling rig. With PLC control as the core, it can effectively control the start and stop of the main pump motor, air compressor and water pump motor of the rock drilling rig, and has protection measures such as loss of pressure, short circuit, overload, and phase failure, as well as a display and fault alarm function for the working time of three drill arms. The control system has stable performance, reliable quality, and low cost, and provides a useful exploration for the localization of key equipment for tunnel construction. However, the invention does not solve the problem of how to automatically start multiple motors at different peaks and the problem of excessive current when multiple motors are started at the same time. Summary of the invention

[0005] 1. Technical issues to be solved

[0006] In view of the problem in the prior art that when operating a rock drilling rig, multiple motors must be started in a fixed order or multiple motors must be started in sequence after a fixed time interval by human subjectivity, the present invention provides a multi-motor starting control method, system and mining equipment using the system, which can realize that when the start buttons of multiple motors are activated in no sequence, the controller outputs motor starting control signals in sequence according to the order in which the start buttons of each motor are activated, and automatically adds a certain delay between the start control signals of each motor to achieve staggered starting.

[0007] 2. Technical solution

[0008] The purpose of the present invention is achieved through the following technical solutions.

[0009] In order to solve the above problems, the present invention provides a multi-motor starting control method, the steps are as follows:

[0010] The controller defines the motor start enable and the controller internal timer; defines the motor start enable Stn and the controller internal timer Tn, where n represents the motor number. This definition process can facilitate the controller to make response judgments.

[0011] Collect the signals of the motor start switch and the stop switch; and determine the corresponding motor start enable state; the acquisition method can be cyclic acquisition, the purpose is to quickly respond to the operation instructions and monitor the motor operation status in real time. The controller determines whether the motor start enable is activated by receiving the signal from the signal generating unit: if the motor start switch is activated and the stop switch is not activated, it is determined that the motor start enable is activated; if the motor start switch is not activated or the stop switch is activated, it is determined that the motor start enable is not activated.

[0012] The controller outputs a start command to the first corresponding motor start control unit activated according to the order in which the motor start enable Stn is activated, and simultaneously starts the timer corresponding to the motor; the motor start control unit starts the first corresponding motor according to the output command of the controller; after the timer of the first motor is completed, the controller automatically outputs the start signal of the next motor according to the order of activation; if the controller determines that no motor start enable is activated, it repeats the above steps until a motor start enable is activated. The controller outputs the start signal of the next motor, which must meet the following conditions at the same time: first, the motor start enable is activated, and second, the timer started when the controller outputs the previous motor start signal has completed timing or the previous motor start enable fails. This start condition can ensure that the motors are started in sequence and staggered.

[0013] Preferably, if the controller detects that the start enable signals of multiple motors are activated at the same time, the controller outputs the start signals of the motors in sequence according to a preset order, and starts the motors in sequence according to the interval time t set by the timer.

[0014] Preferably, the controller determines whether the motor start enable is activated in the following steps: if the motor start switch is activated and the stop switch is not activated, it is determined that the motor start enable is activated; if the motor start switch is not activated or the stop switch is activated, it is determined that the motor start enable is not activated.

[0015] Preferably, the controller also includes a function of judging whether the emergency stop switch is activated. The controller judges whether the emergency stop switch is activated by receiving a signal from a signal generating unit. If the emergency stop switch is not activated, the emergency stop relay is powered on to provide the main power supply to the motor start control unit. If the emergency stop switch is activated, the emergency stop relay is de-energized, the power supply to the motor start control unit is cut off, and all motor start signals output by the controller are turned off. During underground operations, if an emergency situation requires the motor to stop working, the operator will press the emergency stop switch to generate an emergency stop signal. The controller and the motor start control unit can quickly respond to the emergency stop signal to ensure the safety of underground operations.

[0016] Preferably, the motor starting controller adopts a combination of one or more of direct starting, soft starting, and star-delta starting, and the motor starting mode can be selected by comprehensively considering the working scene, motor selection, and economic efficiency.

[0017] A multi-motor starting control system,

[0018] A signal generating unit, used for generating a start signal, a stop signal and an emergency stop signal;

[0019] The motor start control unit starts the corresponding motor according to the instruction issued by the controller;

[0020] The controller receives the signal from the signal generating unit, and sends a start instruction to the activated motor start control unit in sequence or receives the signal from the signal generating unit again according to the motor start enable state. Specifically, the controller receives the signal from the signal generating unit, determines the motor start enable state, and sends a start instruction to the activated motor start control unit in sequence if it is determined that multiple motor start enable states are activated in sequence or simultaneously; if no motor start enable state is activated, the controller receives the signal from the signal generating unit again.

[0021] Preferably, it also includes a power distribution unit, which converts the external voltage into the power supply voltage required by each unit in the system according to the power supply requirements of each module inside the system, such as powering the controller and the motor starting control unit. The power distribution unit includes a circuit breaker, which is connected in series to the input port of the power supply circuit. When an emergency such as a short circuit or overload occurs in the power supply line, the circuit breaker can quickly respond to cut off the power input, resulting in a circuit breaker protection effect. The motor starting control unit includes an AC contactor and a thermal relay, and the AC contactor, the thermal relay and the motor are coupled to each other through a cable. The circuit structure can effectively provide overload protection for the motor.

[0022] Preferably, the system further comprises a display, and the controller and the display are coupled to each other by a CAN bus. When the operator needs to know the working status of the system in real time, the operating status information of the system can be obtained through the display to assist the operator in making a judgment.

[0023] A multi-motor starting control device, on which the multi-motor starting control system according to any one of claims 6 to 8 is installed, such as a motor control module or a control assembly.

[0024] A rock drilling trolley is provided with the multi-motor starting control system or the multi-motor starting control device installed thereon, which certainly includes but is not limited to the corresponding equipment of the rock drilling trolley and the rock drilling rig.

[0025] 3. Beneficial effects

[0026] Compared with the prior art, the advantages of the present invention are: it can ensure that when a mining equipment equipped with multiple main motors starts the motor, the controller outputs the motor start control signal in sequence according to the order in which the start buttons of each motor are activated, and automatically adds a certain delay between the start control signals of each motor to achieve staggered start; and multiple motors can work independently without affecting each other, and the motor start sequence can be adjusted at will without following a fixed order. Moreover, the start of a certain motor in the present invention is judged by whether the controller receives the motor start enable signal, not the signal of the previous start motor completing the start. Therefore, when the start circuit of a certain motor fails, it will not affect the start of other motors. The continuous operation of the system can be guaranteed, and the energy consumption and impact on the electrode caused by the motor shutdown start can be prevented, which saves a lot of energy and extends the service life of the motor, and overall extends the use cycle and maintenance cycle, and the overall cost is greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a system block diagram of Embodiment 1 of the present invention;

[0028] Figure 2It is a partial circuit schematic diagram of embodiment 1 of the present invention;

[0029] Figure 3 is another partial circuit schematic diagram of Embodiment 1 of the present invention;

[0030] Figure 4 This is a control flow chart of the method of embodiment 1 of the present invention;

[0031] Figure 5 is a system block diagram of Embodiment 2 of the present invention;

[0032] Figure 6 It is a partial circuit schematic diagram of embodiment 2 of the present invention;

[0033] Figure 7 is another partial circuit schematic diagram of Embodiment 2 of the present invention;

[0034] Figure 8 This is a method control flow chart of Example 2 of the present invention. DETAILED DESCRIPTION

[0035] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0036] Example 1

[0037] At present, the motor start of double-arm or multi-arm rock drilling rigs mainly relies on the operator to subjectively space the activation time of each motor start switch to avoid the simultaneous start of multiple motors, thereby avoiding various adverse effects caused by this. This start-up method is generally divided into two methods: manual start-up and time-sharing start-up. Both of the above start-up methods have shortcomings. First, the manual start-up method is completely dependent on the operation of the operator. Once the operator mistakenly presses the start buttons of multiple motors at the same time, multiple motors will be started at the same time. Secondly, the time-sharing start-up method requires that the motor started later can only be started or delayed in sequence after receiving the signal that the previous motor has started. In this case, if the control circuit of the previous motor fails, the subsequent motors cannot be started; and the motor start-up can only be in a fixed order, and the motor start-up order cannot be adjusted at will, which brings inconvenience to the operation.

[0038] In response to the above problems, we have made corresponding improvements, such as Figure 1As shown, a multi-motor starting control system disclosed in this embodiment includes: a power distribution unit, a controller, a display, a signal generating unit, a motor starting control unit, and a main motor. The power distribution unit sends signals to the controller and the motor control starting unit. The controller receives the signal from the signal generating unit and interacts with the display. The controller controls the corresponding motor control starting unit to drive the motor. It should be noted that this embodiment takes dual motors as an example, but the present invention is not limited to dual motors, and can also be extended to the application of multiple motors, such as the three motor application methods that we will elaborate in detail in Example 2. Moreover, this embodiment adopts a star-delta step-down starting method for the start of each motor, but the present invention is not limited to this starting method. In the actual application of the main motor start of the rock drilling rig, the starting methods of a single motor include direct start, step-down start and soft start, etc. Different starting methods are used in different situations.

[0039] In the above system, the power distribution unit includes a transformer and several cables, which are used to receive the grid voltage and convert the grid voltage into the required voltage, which is output to the controller and the motor start control unit respectively. The signal generating unit includes a start switch and an emergency stop switch. The operator presses the start switch to start the corresponding motor. The emergency stop switch is used for emergency stop protection. When an emergency occurs and the rotation of the motor needs to be stopped immediately, the operator presses the emergency stop switch to stop the motor. The controller is used to receive the signal from the signal generating unit and output the control signal to each motor start control unit respectively; at the same time, the controller also exchanges information with the display through the CAN bus. The controller can be a microprocessor, but in an alternative solution, the controller can be any conventional processor, controller, microcontroller or state machine. The controller can also be implemented as a combination of computer devices (such as a combination of DSP and microprocessor, multiple microprocessors, one or more microprocessors cooperating with a DSP core, or any other type of configuration). The display is used to display the starting state of the motor, and a display device provided in the prior art for this purpose can be used. The motor control unit includes a star-delta contactor and a thermal relay. The star-delta contactor is used for power supply switching in the star-delta starting mode. It should be noted that this embodiment adopts the star-delta starting mode, but it is not limited to this starting mode in actual application; the thermal relay is used for overload protection of the motor. The main motor is used to provide motive power to the hydraulic system, and various types of motors provided in the prior art for this purpose can be used.

[0040] At present, the motor start-up of a double-arm or multi-arm rock drilling trolley mainly relies on subjective human intervals of the activation time of multiple motor start switches to avoid the simultaneous start-up of multiple motors, thereby avoiding various adverse effects caused thereby. Therefore, the multiple main motors of the existing rock drilling trolley are generally started in a time-sharing or manual manner to avoid the simultaneous start-up of multiple motors. However, the manual separate start-up method completely depends on the operation of the operator. Once the operator mistakenly presses the start buttons of multiple motors at the same time, multiple motors will be started at the same time. The disadvantage of time-sharing sequential start-up is that if the control circuit of the previous motor fails, the subsequent motors cannot be started; and the motor start-up can only be in a fixed order, and the motor start-up order cannot be adjusted at will, which brings inconvenience to the operation. In order to solve the above problems, the present invention improves the circuit design based on the prior art, and redesigns the start-up control method to achieve automatic peak-shifting start-up of the motor when the rock drilling trolley is working.

[0041] like Figure 2 and Figure 3 As shown, it is a specific circuit schematic diagram of this embodiment. Transformer T16 constitutes a corresponding power distribution unit. The 380VAC three-phase AC power from the power grid is input to the input port of transformer T16 through circuit breaker F19. The AC power of the power grid also powers the motor. If other types of motors need to be transformed or AC to DC, they need to be transformed or converted accordingly to power the motor. This is the prior art and will not be described in detail. Preferably, circuit breaker F19 is used to generate circuit breaker protection when the power supply line is short-circuited, overloaded or other emergency situations occur. Transformer T16 outputs 24V voltage to the power supply terminal VB of controller C1 after transformation. Preferably, a circuit breaker F17 for protecting the power supply circuit can also be set between transformer T16 and controller C1. The VSS terminal of controller C1 outputs a stable voltage, which passes through the emergency stop switch S128, the start switch 1S105 and 2S105, and the stop switch 1S106 and 2S106, and then reaches the 5 input ports IN_0 to IN_4 of controller C1. The three output ports OUT_0, OUT_1 and OUT_2 of the controller C1 are connected to the emergency stop relay K128, the start relays 1K11 and 2K11 respectively.

[0042] Transformer T16 also outputs 110V voltage to the static contact of switch K128 through voltage transformation. The moving contact of switch K128 is respectively connected to the starting control circuits of the two main motors. The starting control circuits of the two main motors adopt similar circuit design. Each starting control circuit includes a thermal relay and an AC contactor. The auxiliary contact 1K01 and the auxiliary contact 1K02 are connected in series and then connected to the coil of the AC contactor 1K03. The auxiliary contact 1K03 is connected in series with each other and then connected to the coil of the AC contactor 1K02. The auxiliary contact 1K01 and the auxiliary contact 1K03 are connected in parallel and then connected to the coil of the AC contactor 1K01. The above three circuits are connected in parallel with the auxiliary contact 1K11 and the auxiliary contact of the thermal relay 1F01 and then connected to the moving contact of switch K128. The starting control circuit can be easily expanded accordingly as the number of motors increases, and the circuit design can effectively, stably and quickly respond to the starting signal.

[0043] like Figure 4 As shown in FIG. 1 , it is a start-up control flow chart of the present invention. In order to facilitate the controller to determine the state of the signal generator, the following two states of the controller are first defined:

[0044] St1 indicates whether the condition that the start switch 1S105 is activated and the stop switch 1S106 is not activated is true, otherwise it is false;

[0045] St2 indicates whether the condition that the start switch 2S105 is activated and the stop switch 2S106 is not activated is true, otherwise it is false;

[0046] Step 1, determine whether the emergency stop switch S128 is activated: if so, de-energize K128, and de-energize 1K11 and 2K11, and then repeat step 1; if not, proceed to step 2.

[0047] Step 2, determine whether St1 is activated first, or whether St1 and St2 are activated at the same time: if so, 1K11 is powered on and timer T1 starts timing; if not, proceed to step 3.

[0048] Step 201, after timer T1 starts timing, determine whether T1 time has arrived: if so, proceed to step 202; if not, activate St2, and cyclically wait for timer T1 time to arrive, so that 2K11 is powered on.

[0049] Step 202, determine whether St2 is activated: if so, 2K11 is powered; if not, 2K11 is de-energized.

[0050] Step 3, determine whether St2 is activated first: if so, 2K11 is powered and timer T2 starts timing; if not, 2K11 is not powered.

[0051] Step 301, after timer T2 starts timing, determine whether T2 time has arrived: if so, proceed to step 302; if not, activate St1, and cyclically wait for timer T2 time to arrive, so that 1K11 is powered on.

[0052] Step 302, determine whether St1 is activated: if so, 1K11 is powered; if not, 1K11 is de-energized.

[0053] Step 4, determine whether both 1K11 and 2K11 are powered off: if so, return to step 1; if not, return to step 2.

[0054] In summary, the specific process of the dual-motor starting control system is as follows: if the controller detects that the emergency stop switch S128 is not activated, the emergency stop relay K128 is driven to be energized; if S128 is activated, K128 is de-energized, and 1K11 and 2K11 are de-energized; the controller collects signals from the motor starting switch 1S105 or 2S105, and the stop switch 1S106 or 2S106; the condition for the motor 1 starting enable St1 to be activated is that 1S105 is activated and 1S106 is not activated, which can be expressed in this embodiment as the motor 1 starting switch is pressed and the stop switch is pressed; similarly, the condition for the motor 2 starting enable St2 to be activated is that 2S105 is activated and 2S106 is not activated; Figure 2 As described above, under the premise that the motor is not started, the controller detects the activation order of the two motor start enable St1 and St2. If the controller detects that a motor start enable St n is activated first, the controller outputs the start command of the motor, so that the corresponding motor start relay is energized. At this time, the timer T inside the controller n Start timing; when the start enable of the remaining unstarted motors is activated, the controller will start timing at the above timer T n After the timing is completed, the start signal of this motor is automatically output, and the corresponding motor start relay is energized; if the controller does not detect the start enable St of any motor n If activated, it returns to restart execution; motors 1 and 2 are started by star-delta voltage reduction after the corresponding starting relays 1K11 and 2K11 are energized.

[0055] It can be seen from the above control process that the controller outputs the motor start control signal in sequence according to the order in which the motor start buttons are activated, and automatically adds a certain delay between the motor start control signals to achieve staggered start; and multiple motors can work independently of each other without affecting each other, and the motor start sequence can be adjusted at will without following a fixed order. Moreover, the start of the next motor in this embodiment is determined by whether the controller receives the motor start enable signal, and not by the signal that the previous start motor completes the start. Therefore, when the start circuit of the previous motor fails, it will not affect the start of the next motor.

[0056] Example 2

[0057] This embodiment takes three motors as an example. Figure 5 As shown, the control circuit of this embodiment is expanded accordingly on the basis of the dual motor control circuit, and a motor and a motor start control circuit are added. It should be noted that the present invention is not limited to three motors, and can also be extended to applications with more than three motors. Moreover, this embodiment adopts a star-delta step-down starting method for starting each motor, but the present invention is not limited to this starting method. In the actual application of the main motor starting of the rock drilling rig, the starting methods of a single motor include direct starting, step-down starting and soft starting, etc.

[0058] like Figure 6 and Figure 7 As shown, it is a specific circuit schematic diagram of this embodiment. The 380VAC three-phase AC power from the power grid is input to the input port of the transformer T16 through the circuit breaker F19. The circuit breaker F19 is used to generate circuit breaker protection when the power supply line is short-circuited, overloaded, or other emergency situations. The transformer T16 outputs a 24V voltage to the power supply terminal VB of the controller C1 after voltage transformation, and also passes through the circuit breaker F17 used to protect the power supply circuit. The VSS terminal of the controller C1 outputs a stable voltage, which passes through the emergency stop switch S128, the start switch 1S105, 2S105 and 3S105, the stop switch 1S106, 2S106 and 3S106, and then reaches the 7 input ports IN_0 to IN_6 of the controller C1. The 4 output signal ports OUT_0 to OUT_3 of the controller C1 are respectively connected to the emergency stop relay K128 and the start relays 1K11, 2K11, and 3K11.

[0059] Transformer T16 also outputs 110V voltage to the static contact of switch K128 through voltage transformation. The moving contact of switch K128 is respectively connected to the starting control circuits of the three main motors. After K128 is energized, it outputs electrical signals to the starting control circuits of each main motor. The starting control circuits of the three main motors adopt similar circuit designs. Similar to the starting control circuits of the dual motors, each starting control circuit includes a thermal relay and an AC contactor. The starting control circuit can be easily expanded as the number of motors increases, and the circuit design can effectively, stably and quickly respond to the starting signal.

[0060] like Figure 8 As shown in FIG. 1 , it is a start-up control flow chart of this embodiment. First, the following three states and a timer of the controller are defined:

[0061] St1 indicates whether the condition that the start switch 1S105 is activated and the stop switch 1S106 is not activated is true, otherwise it is false;

[0062] St2 indicates whether the condition that the start switch 2S105 is activated and the stop switch 2S106 is not activated is true, otherwise it is false;

[0063] St3 indicates whether the condition that the start switch 3S105 is activated and the stop switch 3S106 is not activated is true, otherwise it is false;

[0064] Define the controller internal timer T n , T n The condition for starting timing is that the controller outputs the start command of the corresponding motor, and the timing time is set to the minimum interval time t between the starts of the two motors.

[0065] Step 1, determine whether S128 is activated: if so, make 1K11, 2K11, and 3K11 all power off, and then repeat step 1; if not, proceed to step 2.

[0066] Step 2, determine whether St1 is activated, or whether St1, St2, and St3 are activated at the same time: if so, 1K11 is powered on and timer T1 starts timing; if not, 1K11 is de-energized and step 202 is executed.

[0067] Step 201, after timer T1 starts timing, determine whether T1 time has arrived: if so, execute step 202; if not, execute step 3.

[0068] Step 202, determine whether St2 is activated, or whether St2 and St3 are activated at the same time: if so, 2K11 is powered on, timer T2 starts timing, and step 203 is executed; if not, 2K11 is de-energized, and it is determined whether St3 is activated: if so, step 302 is executed; if not, 3K11 is de-energized, and step 4 is executed.

[0069] Step 203, after timer T2 starts timing, determine whether T2 time has arrived: if so, determine whether St3 is activated and execute step 204; if not, activate St3 and then cyclically determine whether timer T2 time has arrived. As long as T2 time has arrived, 3K11 will be powered on.

[0070] Step 204, determine whether St3 is activated: if so, 3K11 is powered; if not, 3K11 is de-energized and step 4 is executed.

[0071] Step 3, determine whether St2 is activated, or whether St2 and St3 are activated at the same time: if so, then cyclically determine whether the timer T1 time has arrived. As long as the T1 time has arrived, 2K11 will be powered on, timer T2 will start timing, and execute step 203; if not, execute step 301.

[0072] Step 301, determine whether St3 is activated: if so, then timer T1 starts timing, and cyclically determines whether T1 time has arrived. As long as T1 time has arrived, step 302 is executed; if not, 3K11 is disconnected from power.

[0073] Step 302, 3K11 is powered on, timer T3 starts timing, and it is determined whether the timer T3 time has arrived: if so, step 303 is executed; if not, St2 is activated, and then it is cyclically determined whether the T3 time has arrived. As long as the T3 time has arrived, 2K11 is powered on.

[0074] Step 303, determine whether St2 is activated: if so, 2K11 is powered; if not, 2K11 is de-energized and step 4 is executed.

[0075] Step 4: When it is determined that 1K11, 2K11, and 3K11 are all not powered, return to step 1.

[0076] Specifically, the specific process of the three-motor starting control system is as follows:

[0077] First, determine whether the emergency stop switch S128 is activated. If the controller detects that the emergency stop switch S128 is not activated, the emergency stop relay K128 is driven to be energized; if S128 is activated, K128 is de-energized, and 1K11, 2K11, and 3K11 are de-energized; the controller collects signals from the start switches 1S105, 2S105, and 3S105, as well as the stop switches 1S106, 2S106, and 3S106 to determine the activation status of states St1, St2, and St3; the condition for the motor 1 start enable St1 to be activated is that 1S105 is activated and 1S106 is not activated, and the motor 2 start enable St The condition for motor 2 to be activated is that 2S105 is activated and 2S106 is not activated, and the condition for motor 3 start enable St3 to be activated is that 3S105 is activated and 3S106 is not activated; under the premise that the motor is not started, the controller detects the activation order of the three motor start enable St1, St2, and St3. If the controller detects that the motor start enable St1 is activated first, the controller outputs the start command of the motor to energize the corresponding motor start relay 1K11, and the timer T1 inside the controller starts timing; when the start enable of one of the remaining unstarted motors is activated, the controller will start the timer T1 in the above timer T2. n After the timing is completed, the start signal of this motor is automatically output, and the corresponding motor start relay is energized; if the controller detects that the start enable of multiple motors among the remaining unstarted motors is activated at the same time, the controller will output the start signal of these motors in sequence according to the set interval time t after completing the timing of the previous motor start timer in the default order, so that the corresponding motor start relay is energized; if the controller does not detect that the start enable Stn of any motor is activated, it returns to restart the execution; motors 1, 2, and 3 are started by star-delta voltage reduction after the corresponding start relays 1K11, 2K11, and 3K11 are energized. In summary, when multiple motor start enable Stn are activated, the controller starts each motor in sequence at a set interval in a default order. This default order can be preset according to requirements.

[0078] The above motor starting method overcomes the defects of the manual starting method and the automatic time-sharing starting method in the prior art. This scheme uses whether the controller receives the motor start enable signal as the judgment condition, and does not use the signal of the previous start motor completing the start as the judgment condition. Therefore, when the start circuit of a motor fails, it will not affect the start of other motors. According to the judgment condition, the corresponding first preset motor that meets the start condition can be started first, and then other motors can be started in sequence. In actual work, it is also ensured that all motors do not need to be shut down before restarting. For example, when the third motor is originally pressed when the stop switch is pressed, it cannot be started. At this time, it only needs to release the stop switch and press the start switch of the third motor to start the third motor. There is no need to completely stop the entire system as before. All motors are started one by one in sequence, which can ensure the continuous operation of the system, and also prevent the energy consumption generated by the motor shutdown and start and the impact on the electrode, saving a lot of energy and extending the service life of the motor. Overall, the use cycle is extended, the maintenance cycle is extended, and the overall cost is greatly reduced.

[0079] Those skilled in the art will appreciate that all or part of the processes in the above-described embodiments can be accomplished by instructing the relevant hardware through a computer program, and the program can be stored in, for example, a random access memory (RAM), a flash memory, a read-only memory (ROM), an electrically programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a register, a hard disk, a removable disk, a CD-ROM, or any other form of computer-readable medium known in the art. An exemplary storage medium is coupled to a controller so that the controller can read / write information from / to the storage medium. In an alternative, the storage medium can be integrated into the controller.

[0080] In summary, the present invention discloses a multi-motor start-up control method, system and device. When engineers operate a rock drilling rig to work, they do not need to start the motors in a fixed order, nor do they need to worry that a failure of a motor will affect the start of other motors. The present invention ensures that when a rock drilling rig equipped with multiple main motors starts the motors, the controller outputs motor start control signals in sequence according to the order in which the start buttons of each motor are activated, and automatically adds a certain delay between the start control signals of each motor to achieve staggered start; and truly realizes that multiple motors work independently of each other without affecting each other, and the motor start sequence can be adjusted at will without following a fixed order.

[0081] The above schematically describes the invention and its implementation methods, which is not restrictive. Without departing from the spirit or basic features of the invention, the invention can be implemented in other specific forms. What is shown in the accompanying drawings is only one of the implementation methods of the invention. The actual structure is not limited to this, and any figure mark in the claims should not limit the claims involved. Therefore, if a person of ordinary skill in the art is inspired by it, without departing from the purpose of the invention, a structural method and an embodiment similar to the technical solution are designed without creativity, which should all fall within the scope of protection of this patent. In addition, the word "including" does not exclude other elements or steps, and the word "one" before the element does not exclude the inclusion of "multiple" elements. The multiple elements stated in the product claim can also be implemented by one element through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any specific order. The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical content disclosed by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and so on quoted in this specification are only for the convenience of description, and are not used to limit the scope of implementation. The change or adjustment of their relative relationship should also be regarded as the scope of implementation of the present invention without substantially changing the technical content.

Claims

1. A multi-motor starting control method, the steps are as follows: The controller defines the motor start enable and the controller internal timer; Collect the signals of the motor start switch and stop switch; according to the signals of the start switch and stop switch of each motor, determine whether the start enable of the corresponding motor is activated; The controller outputs a start instruction to the first activated corresponding motor start control unit according to the order in which the motor start enable is activated, and simultaneously starts the timer corresponding to the motor; the motor start control unit starts the first corresponding motor according to the output instruction of the controller; after the timer of the first motor is completed, the controller automatically outputs the start signal of the next motor according to the order of activation; if the controller determines that no motor start enable is activated, the above steps are repeated until a motor start enable is activated; if the controller detects that the start enable signals of multiple motors are activated at the same time, the controller outputs the start signals of the motors in sequence according to the preset order, and starts the motors in sequence according to the interval time set by the timer; the motor start control unit adopts a combination of one or more methods selected from the group consisting of direct start, soft start, and star-delta start.

2. A multi-motor starting control method according to claim 1, characterized in that: The controller determines whether the motor start enable is activated in the following steps: if the motor start switch is activated and the stop switch is not activated, it is determined that the motor start enable is activated; if the motor start switch is not activated or the stop switch is activated, it is determined that the motor start enable is not activated.

3. A multi-motor starting control method according to claim 1 or 2, characterized in that: The controller also includes a function of determining whether the emergency stop switch is activated. If the emergency stop switch is not activated, the motor start control unit provides power; if the emergency stop switch is activated, the power supply of the motor start control unit is cut off and the motor start signal is turned off.

4. A system based on the multi-motor starting control method according to any one of claims 1 to 3, characterized in that: include, A signal generating unit, used for generating a start signal, a stop signal and an emergency stop signal; The motor start control unit starts the corresponding motor according to the instruction issued by the controller; The controller receives the signal from the signal generating unit, and sends a start instruction to the activated motor start control unit in turn or receives the signal from the signal generating unit again according to the motor start enabling state.

5. The system according to claim 4, characterized in that It also includes a power distribution unit, which is used to convert the external voltage into the power supply voltage required by each unit inside the system to provide power to each unit.

6. The system according to claim 4, characterized in that The system also includes a display, and the controller and the display are information coupled using a CAN bus.

7. A multi-motor starting control device, characterized in that: The device is equipped with a system of a multi-motor starting control method as described in any one of claims 4-6.

8. A rock drilling rig, characterized in that: The drilling rig is equipped with a system of the multi-motor starting control method described in any one of claims 4 to 6 or a multi-motor starting control device described in claim 7.

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